Loading: /ms/data/motion/liedown.pos
*** PAUSED ***
Press the "back" button to leave battery display
BATTERY REPORT:
        Power Remain:   96%
        Capacity:       0
**0> Mode Switch
  1> Background Behaviors
  2> TekkotsuMon
  3> Status Reports
  4> File Access
  5> Walk Edit
  6> Posture Editor
  7> Vision
  8> Shutdown?
  9. Help

        Voltage:        7.848
        Current:        0
  2> TekkotsuMon
  3> Status Reports
  4> File Access
  5> Walk Edit
  6> Posture Editor
  7> Vision
  8> Shutdown?
  9. Help
SoundManager::LoadBuffer() of 45954 bytes
START UP BEHAVIOR-DONE

        Temperature:    29.91
        Flags:  BatteryConnect Discharging PowerGood 
SoundManager::LoadBuffer() of 8888 bytes
SoundManager::LoadBuffer() of 2042 bytes
SoundManager::LoadBuffer() of 2308 bytes
SoundManager::LoadBuffer() of 56586 bytes
SoundManager::LoadBuffer() of 10754 bytes
CONTROLLER-INIT...Loading: /ms/data/motion/walk.prm
Assuming old-format walk parameter file
DONE
Root Control:
**0> Mode Switch
*** UNPAUSED ***
Velocity is: 94.932 0 -0.152531
*** PAUSED ***
Ran for 1.951 seconds
*** UNPAUSED ***
*** PAUSED ***
[oid:80000044,prio:1] FtpPI::ReceiveCont() : FAILED. receiveMsg->error 3
*** UNPAUSED ***
Velocity is: 160.704 29.988 0.0222178
*** PAUSED ***
Ran for 16.439 seconds
25.9999 133.758 0 1 0 0 0 0 0 0 0 0 160.704 
0 0 0 0 25.9999 133.758 0 1 0 0 0 0 29.988 
0 0 0 0 0 0 0 0 25.9999 133.758 0 1 0.0222178 
Forwrd command= 160.7  Actual=    26
Strafe command= 29.99  Actual= 133.8
*** UNPAUSED ***
Velocity is: 159.426 77 0.0463685
*** PAUSED ***
Ran for 12.29 seconds
61.9642 149.595 0 1 0 0 0 0 0 0 0 0 159.426 
0 0 0 0 61.9642 149.595 0 1 0 0 0 0 77 
0 0 0 0 0 0 0 0 61.9642 149.595 0 1 0.0463685 
Forwrd command= 159.4  Actual= 61.96
Strafe command=    77  Actual= 149.6
*** UNPAUSED ***
Velocity is: 159.426 119.994 0.0793044
*** PAUSED ***
Ran for 8.985 seconds
79.4908 170.469 0 1 0 0 0 0 0 0 0 0 159.426 
0 0 0 0 79.4908 170.469 0 1 0 0 0 0 119.994 
0 0 0 0 0 0 0 0 79.4908 170.469 0 1 0.0793044 
Forwrd command= 159.4  Actual= 79.49
Strafe command=   120  Actual= 170.5
*** UNPAUSED ***
Velocity is: 88.704 119 0.0537477
*** PAUSED ***
Ran for 13.893 seconds
90.0176 83.9428 0 1 0 0 0 0 0 0 0 0 88.704 
0 0 0 0 90.0176 83.9428 0 1 0 0 0 0 119 
0 0 0 0 0 0 0 0 90.0176 83.9428 0 1 0.0537477 
Forwrd command=  88.7  Actual= 90.02
Strafe command=   119  Actual= 83.94
*** UNPAUSED ***
Velocity is: 88.704 75.992 0.0537477
Velocity is: 88.704 75.992 0.0222178
*** PAUSED ***
Ran for 19.194 seconds
63.2467 67.8238 0 1 0 0 0 0 0 0 0 0 88.704 
0 0 0 0 63.2467 67.8238 0 1 0 0 0 0 75.992 
0 0 0 0 0 0 0 0 63.2467 67.8238 0 1 0.0222178 
Forwrd command=  88.7  Actual= 63.25
Strafe command= 75.99  Actual= 67.82
*** UNPAUSED ***
Velocity is: 90 35.994 0.0024642
*** PAUSED ***
Ran for 22.814 seconds
33.532 58.0792 0 1 0 0 0 0 0 0 0 0 90 
0 0 0 0 33.532 58.0792 0 1 0 0 0 0 35.994 
0 0 0 0 0 0 0 0 33.532 58.0792 0 1 0.0024642 
Forwrd command=    90  Actual= 33.53
Strafe command= 35.99  Actual= 58.08
*** UNPAUSED ***
Velocity is: 34.704 105.994 0.000272322
*** PAUSED ***
Ran for 19.009 seconds
90.6448 12.7393 0 1 0 0 0 0 0 0 0 0 34.704 
0 0 0 0 90.6448 12.7393 0 1 0 0 0 0 105.994 
0 0 0 0 0 0 0 0 90.6448 12.7393 0 1 0.000272322 
Forwrd command=  34.7  Actual= 90.64
Strafe command=   106  Actual= 12.74
*** UNPAUSED ***
Velocity is: 33.426 65.996 0.00988346
Velocity is: 33.426 65.996 0.00109816
*** PAUSED ***
Ran for 30.362 seconds
48.8898 18.767 0 1 0 0 0 0 0 0 0 0 33.426 
0 0 0 0 48.8898 18.767 0 1 0 0 0 0 65.996 
0 0 0 0 0 0 0 0 48.8898 18.767 0 1 0.00109816 
Forwrd command= 33.43  Actual= 48.89
Strafe command=    66  Actual= 18.77
Saving data to '/ms/fs2fs.txt'...
24 rows written
Saving data to '/ms/fs2fr.txt'...
0 rows written
Saving data to '/ms/fs2sr.txt'...
0 rows written
Saving data to '/ms/fs2br.txt'...
0 rows written
Saving data to '/ms/fs2bs.txt'...
0 rows written
Saving data to '/ms/fs2rr.txt'...
0 rows written
Press the "back" button to leave battery display
BATTERY REPORT:
        Power Remain:   33%
        Capacity:       0
        Voltage:        7.235
        Current:        0
        Temperature:    31.36
        Flags:  BatteryConnect Discharging PowerGood 
BATTERY REPORT:
        Power Remain:   33%
        Capacity:       0
        Voltage:        7.248
        Current:        0
        Temperature:    31.12
        Flags:  BatteryConnect Discharging PowerGood 
BATTERY REPORT:
        Power Remain:   33%
        Capacity:       0
        Voltage:        7.248
        Current:        0
        Temperature:    31.36
        Flags:  BatteryConnect Discharging PowerGood 
BATTERY REPORT:
        Power Remain:   33%
        Capacity:       0
        Voltage:        7.248
        Current:        0
        Temperature:    31.12
        Flags:  BatteryConnect Discharging PowerGood 
BATTERY REPORT:
        Power Remain:   33%
        Capacity:       0
        Voltage:        7.248
        Current:        0
        Temperature:    31.12
        Flags:  BatteryConnect Discharging PowerGood 
BATTERY REPORT:
        Power Remain:   33%
        Capacity:       0
        Voltage:        7.248
        Current:        0
        Temperature:    31.12
        Flags:  BatteryConnect Discharging ExternalPower PowerGood 
BATTERY REPORT:
        Power Remain:   33%
        Capacity:       0
        Voltage:        7.248
        Current:        0
        Temperature:    31.27
        Flags:  BatteryConnect Discharging ExternalPower PowerGood 
BATTERY REPORT:
        Power Remain:   33%
        Capacity:       0
        Voltage:        7.41
        Current:        0
        Temperature:    31.27
        Flags:  BatteryConnect Discharging ExternalPower PowerGood 
BATTERY REPORT:
        Power Remain:   80%
        Capacity:       0
        Voltage:        7.41
        Current:        0
        Temperature:    31.27
        Flags:  BatteryConnect Discharging ExternalPower PowerGood 
BATTERY REPORT:
        Power Remain:   80%
        Capacity:       0
        Voltage:        7.41
        Current:        0
        Temperature:    29.81
        Flags:  BatteryConnect Discharging ExternalPower PowerGood 
BATTERY REPORT:
        Power Remain:   80%
        Capacity:       0
        Voltage:        7.4
        Current:        0
        Temperature:    29.81
        Flags:  BatteryConnect Discharging ExternalPower PowerGood 
BATTERY REPORT:
        Power Remain:   80%
        Capacity:       0
        Voltage:        7.4
        Current:        0
        Temperature:    29.81
        Flags:  Discharging ExternalPower PowerGood 
BATTERY REPORT:
        Power Remain:   80%
        Capacity:       0
        Voltage:        7.4
        Current:        0
        Temperature:    29.81
        Flags:  Discharging ExternalPower PowerGood 
BATTERY REPORT:
        Power Remain:   80%
        Capacity:       0
        Voltage:        7.4
        Current:        0
        Temperature:    29.81
        Flags:  Discharging ExternalPower PowerGood 
BATTERY REPORT:
        Power Remain:   80%
        Capacity:       0
        Voltage:        7.4
        Current:        0
        Temperature:    29.81
        Flags:  Discharging ExternalPower PowerGood 
BATTERY REPORT:
        Power Remain:   80%
        Capacity:       0
        Voltage:        7.4
        Current:        0
        Temperature:    29.81
        Flags:  ExternalPower PowerGood 
BATTERY REPORT:
        Power Remain:   100%
        Capacity:       0
        Voltage:        7.4
        Current:        0
        Temperature:    29.81
        Flags:  ExternalPower PowerGood 
BATTERY REPORT:
        Power Remain:   100%
        Capacity:       0
        Voltage:        7.4
        Current:        0
        Temperature:    30.04
        Flags:  ExternalPower PowerGood 
BATTERY REPORT:
        Power Remain:   100%
        Capacity:       0
        Voltage:        8.272
        Current:        0
        Temperature:    30.04
        Flags:  ExternalPower PowerGood 
BATTERY REPORT:
        Power Remain:   100%
        Capacity:       0
        Voltage:        8.272
        Current:        0
        Temperature:    30.04
        Flags:  ExternalPower PowerGood 
BATTERY REPORT:
        Power Remain:   100%
        Capacity:       0
        Voltage:        8.272
        Current:        0
        Temperature:    30.04
        Flags:  BatteryConnect ExternalPower PowerGood 
BATTERY REPORT:
        Power Remain:   100%
        Capacity:       0
        Voltage:        8.272
        Current:        0
        Temperature:    30.04
        Flags:  BatteryConnect ExternalPower PowerGood 
BATTERY REPORT:
        Power Remain:   100%
        Capacity:       0
        Voltage:        8.272
        Current:        0
        Temperature:    30.04
        Flags:  BatteryConnect ExternalPower PowerGood 
BATTERY REPORT:
        Power Remain:   100%
        Capacity:       0
        Voltage:        8.272
        Current:        0
        Temperature:    30.04
        Flags:  BatteryConnect ExternalPower PowerGood 
BATTERY REPORT:
        Power Remain:   100%
        Capacity:       0
        Voltage:        8.272
        Current:        0
        Temperature:    30.04
        Flags:  BatteryConnect ExternalPower PowerGood 
BATTERY REPORT:
        Power Remain:   100%
        Capacity:       0
        Voltage:        8.272
        Current:        0
        Temperature:    30.04
        Flags:  BatteryConnect Discharging ExternalPower PowerGood 
BATTERY REPORT:
        Power Remain:   100%
        Capacity:       0
        Voltage:        8.272
        Current:        0
        Temperature:    29.96
        Flags:  BatteryConnect Discharging ExternalPower PowerGood 
BATTERY REPORT:
        Power Remain:   100%
        Capacity:       0
        Voltage:        8.272
        Current:        0
        Temperature:    29.96
        Flags:  BatteryConnect Discharging ExternalPower PowerGood 
BATTERY REPORT:
        Power Remain:   100%
        Capacity:       0
        Voltage:        8.272
        Current:        0
        Temperature:    29.96
        Flags:  BatteryConnect Discharging PowerGood 
BATTERY REPORT:
        Power Remain:   100%
        Capacity:       0
        Voltage:        8.019
        Current:        0
        Temperature:    30.01
        Flags:  BatteryConnect Discharging PowerGood 
BATTERY REPORT:
        Power Remain:   100%
        Capacity:       0
        Voltage:        7.852
        Current:        0
        Temperature:    30.04
        Flags:  BatteryConnect Discharging PowerGood 
*** UNPAUSED ***
Velocity is: 142.704 -31.99 -0.0793044
*** PAUSED ***
Ran for 15.244 seconds
-13.9106 113.292 0 1 0 0 0 0 0 0 0 0 142.704 
0 0 0 0 -13.9106 113.292 0 1 0 0 0 0 -31.99 
0 0 0 0 0 0 0 0 -13.9106 113.292 0 1 -0.0793044 
Forwrd command= 142.7  Actual=-13.91
Strafe command=-31.99  Actual= 113.3
*** UNPAUSED ***
Velocity is: 147.852 -74.998 -0.0793044
*** PAUSED ***
Ran for 12.692 seconds
-58.0258 118.971 0 1 0 0 0 0 0 0 0 0 147.852 
0 0 0 0 -58.0258 118.971 0 1 0 0 0 0 -74.998 
0 0 0 0 0 0 0 0 -58.0258 118.971 0 1 -0.0793044 
Forwrd command= 147.9  Actual=-58.03
Strafe command=   -75  Actual=   119
*** UNPAUSED ***
*** PAUSED ***
*** UNPAUSED ***
Velocity is: 150.426 -112.994 -0.0990669
*** PAUSED ***
Ran for 11.38 seconds
89.2118 127.408 0 1 0 0 0 0 0 0 0 0 150.426 
0 0 0 0 89.2118 127.408 0 1 0 0 0 0 -112.994 
0 0 0 0 0 0 0 0 89.2118 127.408 0 1 -0.0990669 
Forwrd command= 150.4  Actual= 89.21
Strafe command=  -113  Actual= 127.4
*** UNPAUSED ***
Velocity is: 90 -110.992 -0.0888711
*** PAUSED ***
Ran for 13.804 seconds
86.1104 74.8546 0 1 0 0 0 0 0 0 0 0 90 
0 0 0 0 86.1104 74.8546 0 1 0 0 0 0 -110.992 
0 0 0 0 0 0 0 0 86.1104 74.8546 0 1 -0.0888711 
Forwrd command=    90  Actual= 86.11
Strafe command=  -111  Actual= 74.85
*** UNPAUSED ***
Velocity is: 88.704 -67.998 -0.0793044
*** PAUSED ***
Ran for 23.449 seconds
49.3694 59.8898 0 1 0 0 0 0 0 0 0 0 88.704 
0 0 0 0 49.3694 59.8898 0 1 0 0 0 0 -67.998 
0 0 0 0 0 0 0 0 49.3694 59.8898 0 1 -0.0793044 
Forwrd command=  88.7  Actual= 49.37
Strafe command=   -68  Actual= 59.89
*** UNPAUSED ***
Velocity is: 86.13 -26.992 -0.0702113
*** PAUSED ***
Ran for 30.664 seconds
-6.59741 -53.7316 0 1 0 0 0 0 0 0 0 0 86.13 
0 0 0 0 -6.59741 -53.7316 0 1 0 0 0 0 -26.992 
0 0 0 0 0 0 0 0 -6.59741 -53.7316 0 1 -0.0702113 
Forwrd command= 86.13  Actual=-6.597
Strafe command=-26.99  Actual=-53.73
*** UNPAUSED ***
*** PAUSED ***
*** UNPAUSED ***
Velocity is: 32.13 -107.996 -0.0537477
*** PAUSED ***
Ran for 23.354 seconds
80.1058 18.4939 0 1 0 0 0 0 0 0 0 0 32.13 
0 0 0 0 80.1058 18.4939 0 1 0 0 0 0 -107.996 
0 0 0 0 0 0 0 0 80.1058 18.4939 0 1 -0.0537477 
Forwrd command= 32.13  Actual= 80.11
Strafe command=  -108  Actual= 18.49
*** UNPAUSED ***
Velocity is: 30.852 -63.994 -0.027454
*** PAUSED ***
Ran for 33.736 seconds
43.0576 -7.59222 0 1 0 0 0 0 0 0 0 0 30.852 
0 0 0 0 43.0576 -7.59222 0 1 0 0 0 0 -63.994 
0 0 0 0 0 0 0 0 43.0576 -7.59222 0 1 -0.027454 
Forwrd command= 30.85  Actual= 43.06
Strafe command=-63.99  Actual=-7.592
Saving data to '/ms/fs2fs.txt'...
48 rows written
Saving data to '/ms/fs2fr.txt'...
0 rows written
Saving data to '/ms/fs2sr.txt'...
0 rows written
Saving data to '/ms/fs2br.txt'...
0 rows written
Saving data to '/ms/fs2bs.txt'...
0 rows written
Saving data to '/ms/fs2rr.txt'...
0 rows written
Press the "back" button to leave battery display
BATTERY REPORT:
        Power Remain:   45%
        Capacity:       0
        Voltage:        7.319
        Current:        0
        Temperature:    31.47
        Flags:  BatteryConnect Discharging PowerGood 
BATTERY REPORT:
        Power Remain:   44%
        Capacity:       0
        Voltage:        7.342
        Current:        0
        Temperature:    31.47
        Flags:  BatteryConnect Discharging PowerGood 
MotoObj::DoStop()...
MotoObj::DoStop()-DONE
[oid:80000044,prio:1] FtpPI::ListenCont() : FAILED. listenMsg->error 2
MainObj::DoStop()...
~Controller()...
~Controller()-DONE
MainObj::DoStop()-DONE
Connection closed by foreign host.
