START UP BEHAVIOR...  Loaded 10 colors.
Loading: /ms/data/motion/liedown.pos
*** PAUSED ***
Press the "back" button to leave battery display
BATTERY REPORT:
        Power Remain:   100%
        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:        8.039
        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:    29.81
        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: -42.426 0 0.0999981
*** PAUSED ***
Ran for 2.132 seconds
23.0959 4.07242 0 -42.426 -42.426 -42.426 
Forwrd command=-42.43  Actual=  23.1
Strafe command=     0  Actual= 4.072
Clearing data...
*** UNPAUSED ***
Velocity is: -120.852 91 -0.109727
Velocity is: -120.852 91 -0.109727
*** PAUSED ***
Ran for 15.338 seconds
-97.9628 56.5589 0 -120.852 -120.852 -120.852 
Forwrd command=-120.9  Actual=-97.96
Strafe command=    91  Actual= 56.56
*** UNPAUSED ***
Velocity is: -117 50.988 -0.0702113
*** PAUSED ***
Ran for 18 seconds
-95.0992 29.0747 0 -117 -117 -117 
Forwrd command=  -117  Actual= -95.1
Strafe command= 50.99  Actual= 29.07
*** UNPAUSED ***
Velocity is: -119.556 8.988 -0.0692194
*** PAUSED ***
Ran for 15.883 seconds
*** UNPAUSED ***
Velocity is: -119.556 8.988 -0.0537477
*** PAUSED ***
Ran for 16.552 seconds
-98.4625 -1.71867 0 -119.556 -119.556 -119.556 
Forwrd command=-119.6  Actual=-98.46
Strafe command= 8.988  Actual=-1.719
*** UNPAUSED ***
Velocity is: -127.278 -24.99 -0.0134369
*** PAUSED ***
Ran for 16.301 seconds
-108.566 -14.2929 0 -127.278 -127.278 -127.278 
Forwrd command=-127.3  Actual=-108.6
Strafe command=-24.99  Actual=-14.29
*** UNPAUSED ***
*** PAUSED ***
*** UNPAUSED ***
Velocity is: -127.278 -64.988 0.0537477
*** PAUSED ***
Ran for 14.83 seconds
-118.618 -34.0132 0 -127.278 -127.278 -127.278 
Forwrd command=-127.3  Actual=-118.6
Strafe command=-64.99  Actual=-34.01
[oid:80000038,prio:1] OVirtualRobotComm : JAM. SHUTDOWN...
[oid:80000044,prio:1] FtpPI::ListenCont() : FAILED. listenMsg->error 2
^]
telnet> q
Connection closed.
7 Ethans-Baby:~>telnet 172.16.1.2 59000                                                       <---0
Trying 172.16.1.2...
Connected to 172.16.1.2.
Escape character is '^]'.
[oid:0x8000003e] /MS/OPEN-R/SYSTEM/OBJS/EMGCYMON.BIN
[oid:0x8000003f] /MS/OPEN-R/SYSTEM/OBJS/NETCONFS.BIN
[oid:0x80000040] /MS/OPEN-R/SYSTEM/OBJS/ANTTCPIO.BIN
[oid:0x80000041] /MS/OPEN-R/SYSTEM/OBJS/HOOKACT.BIN
[RobotDesign:ERS-210,odrexecMODE3]
[oid:0x80000042] /MS/OPEN-R/MW/OBJS/MAINOBJ.BIN
[oid:0x80000043] /MS/OPEN-R/MW/OBJS/MOTOOBJ.BIN
[oid:0x80000044] /MS/OPEN-R/MW/OBJS/TINYFTPD.BIN
[oid:0x80000045] /MS/OPEN-R/MW/OBJS/SNDPLAY.BIN
[oid:0x80000046] /MS/OPEN-R/SYSTEM/OBJS/TCPGW.BIN
No. Name             Context    OID
-------------------------------------------
  1 systemCore       0x801edbe0 0xffffffff 
  2 (Handler)        0x801ee9e0 ---------- 
  3 mCOOPReflector   0x801f21c0 0x8000000b 
  4 uniMailer        0x801f2320 0x8000000c 
  5 mCOOPFaultHandle 0x801f2480 0x8000000d 
  6 mDriveFaultHandl 0x801f25e0 0x8000000e 
  7 registryManager  0x801f2740 0x8000000f 
  8 addressManager   0x801f28a0 0x80000010 
  9 kernelModeLib    0x801f2a00 0x80000011 
 10 mCoreReflector   0x801f2b60 0x80000012 
 11 idle             0x801f2cc0 0x80000013 
 12 exceptionHandler 0x801f2e20 0x80000014 
 13 analyzer         0x801f2f80 0x80000015 
 14 mDriveReflector  0x801f7f80 0x80000016 
 15 obletManager     0x801f7e20 0x80000017 
 16 installer        0x801f7cc0 0x80000018 
 17 driverManager    0x801f7b60 0x80000019 
 18 objectManager    0x801f7a00 0x8000001a 
 19 mClassReflector  0x801f78a0 0x8000001b 
 20 mSystemReflector 0x801f7740 0x8000001c 
 21 mAVFaultHandler  0x801f75e0 0x8000001d 
 22 mAVReflector     0x801f7480 0x8000001e 
 23 mAVInit          0x801f7320 0x8000001f 
 24 avManager        0x801f71c0 0x80000020 
 25 eventManager     0x801fb780 0x80000021 
 26 downloader       0x801fb200 0x80000028 
 27 fileSystemManage 0x801fb0a0 0x80000029 
 28 openrBusManager  0x801faf40 0x8000002a 
 29 (Handler)        0x801fc1c0 ---------- 
 30 bmnDriver        0x801fade0 0x8000002b 
 31 (Handler)        0x801fc8a0 ---------- 
 32 fbkDriver        0x801fac80 0x8000002c 
 33 cardManager      0x801fab20 0x8000002d 
 34 (Handler)        0x801ffc80 ---------- 
 35 memoryStickDrive 0x801fa9c0 0x8000002e 
 36 (Handler)        0x801fca00 ---------- 
 37 fatFileSystem    0x801fcf80 0x8000002f 
 38 memoryStickWatch 0x801fce20 0x80000030 
 39 oobjectManager   0x801fccc0 0x80000031 
 40 aperiosClass     0x801fcb60 0x80000032 
 41 opowerManager    0x801fb620 0x80000033 
 42 oserviceManager  0x801fb4c0 0x80000034 
 43 ovirtualRobot    0x801fb360 0x80000035 
 44 odesignedRobot   0x801fc740 0x80000036 
 45 osystemLogger    0x801fc5e0 0x80000037 
 46 ovirtualRobotCom 0x801fc480 0x80000038 
 47 ovirtualRobotAud 0x801fc320 0x80000039 
 48 IPStack          0x80200780 0x8000003a 
 49 OrinocoDriver    0x80200620 0x8000003b 
 50 (Handler)        0x801ffb20 ---------- 
 51 OrinocoEnabler   0x802004c0 0x8000003c 
 52 hookConsoleIO    0x80200360 0x8000003d 
 53 emergencyMonitor 0x80200200 0x8000003e 
 54 netconf          0x802000a0 0x8000003f 
 55 anttcpio         0x801fff40 0x80000040 
 56 hookConsoleIOAct 0x801ffde0 0x80000041 
 57 MainObj          0x801ff9c0 0x80000042 
 58 MotoObj          0x80201780 0x80000043 
 59 TinyFTPD         0x80201620 0x80000044 
 60 SoundPlay        0x802014c0 0x80000045 
 61 tcpgw            0x80201360 0x80000046 
MotoObj::DoInit() 
MainObj::DoInit() 
MainObj::DoInit()-DONE
SoundManager::LoadBuffer() of 19642 bytes
SoundManager::LoadBuffer() of 4782 bytes
MotoObj::DoInit()-DONE
TCPGateway::StartListening(): Waiting connection at port#59010  packet<8192>
TCPGateway::StartListening(): Waiting connection at port#59011  packet<8192>
TCPGateway::StartListening(): Waiting connection at port#59001  packet<1024>
MotoObj::DoStart() 
MainObj::DoStart() 
SoundPlay Registering SoundManager
MotoObj::DoStart()-DONE
MotoObj-GOTSOUNDMANAGER...done
MotoObj Registering MotionManager
MainObj::DoStart()-DONE
MainObj Registering EventTranslatorQueue
SoundPlay-GOTEventTranslatorQueue...MainObj Registering WorldState
done
MotoObj-GOTWORLDSTATE...done
MotoObj-GOTEventTranslatorQueue...done
MainObj-GOTWORLDSTATE...MAIN INIT MOTMAN...done
MainObj-GOTSOUNDMANAGER...done
START UP BEHAVIOR...  Loaded 10 colors.
Loading: /ms/data/motion/liedown.pos
*** PAUSED ***
Press the "back" button to leave battery display
BATTERY REPORT:
        Power Remain:   77%
        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:        7.579
        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:    30.71
        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 ***
*** PAUSED ***
*** UNPAUSED ***
Velocity is: -133.704 -105 0.185474
*** PAUSED ***
Ran for 12.698 seconds
-134.262 -35.9754 0 -133.704 -133.704 -133.704 
Forwrd command=-133.7  Actual=-134.3
Strafe command=  -105  Actual=-35.98
*** UNPAUSED ***
Velocity is: -75.852 -105.994 0.246953
*** PAUSED ***
Ran for 20.045 seconds
-72.7734 -36.2835 0 -75.852 -75.852 -75.852 
Forwrd command=-75.85  Actual=-72.77
Strafe command=  -106  Actual=-36.28
*** UNPAUSED ***
*** PAUSED ***
*** UNPAUSED ***
Velocity is: -77.13 -59.99 0.0702113
*** PAUSED ***
Ran for 24.559 seconds
-62.6731 -39.9272 0 -77.13 -77.13 -77.13 
Forwrd command=-77.13  Actual=-62.67
Strafe command=-59.99  Actual=-39.93
*** UNPAUSED ***
Velocity is: -81 -22.988 0.0205312
*** PAUSED ***
Ran for 25.405 seconds
-68.9189 -14.6492 0 -81 -81 -81 
Forwrd command=   -81  Actual=-68.92
Strafe command=-22.99  Actual=-14.65
*** UNPAUSED ***
Velocity is: -78.426 24.99 -0.0537477
*** PAUSED ***
Ran for 25.777 seconds
-63.6295 14.1063 0 -78.426 -78.426 -78.426 
Forwrd command=-78.43  Actual=-63.63
Strafe command= 24.99  Actual= 14.11
*** UNPAUSED ***
Velocity is: -78.426 67.998 -0.0888711
*** PAUSED ***
Ran for 22.407 seconds
-65.8042 46.0766 0 -78.426 -78.426 -78.426 
Forwrd command=-78.43  Actual= -65.8
Strafe command=    68  Actual= 46.08
*** UNPAUSED ***
Velocity is: -78.426 116.998 -0.13278
*** PAUSED ***
Ran for 16.251 seconds
-67.8346 80.8422 0 -78.426 -78.426 -78.426 
Forwrd command=-78.43  Actual=-67.83
Strafe command=   117  Actual= 80.84
*** UNPAUSED ***
Velocity is: -24.426 117.992 -0.0793044
*** PAUSED ***
Ran for 22.674 seconds
-26.3974 72.5263 0 -24.426 -24.426 -24.426 
Forwrd command=-24.43  Actual= -26.4
Strafe command=   118  Actual= 72.53
*** UNPAUSED ***
Velocity is: -25.704 66.99 -0.0617383
*** PAUSED ***
Ran for 29.025 seconds
-29.6186 46.4919 0 -25.704 -25.704 -25.704 
Forwrd command= -25.7  Actual=-29.62
Strafe command= 66.99  Actual= 46.49
*** UNPAUSED ***
Velocity is: -26.982 -70.994 0.0537477
*** PAUSED ***
Ran for 33.238 seconds
-35.4257 -33.035 0 -26.982 -26.982 -26.982 
Forwrd command=-26.98  Actual=-35.43
Strafe command=-70.99  Actual=-33.03
*** UNPAUSED ***
Velocity is: -30.852 -119.994 0.13278
*** PAUSED ***
Ran for 22.183 seconds
*** UNPAUSED ***
Velocity is: -30.852 -119.994 0.121026
*** PAUSED ***
Ran for 22.128 seconds
-38.8699 -64.6904 0 -30.852 -30.852 -30.852 
Forwrd command=-30.85  Actual=-38.87
Strafe command=  -120  Actual=-64.69
Saving data to '/ms/bs2fs.txt'...
0 rows written
Saving data to '/ms/bs2fr.txt'...
0 rows written
Saving data to '/ms/bs2sr.txt'...
0 rows written
Saving data to '/ms/bs2br.txt'...
0 rows written
Saving data to '/ms/bs2bs.txt'...
11 rows written
Saving data to '/ms/bs2rr.txt'...
0 rows written
MotoObj::DoStop()...
MotoObj::DoStop()-DONE
MainObj::DoStop()...
[oid:80000044,prio:1] FtpPI::ListenCont() : FAILED. listenMsg->error 2
~Controller()...
~Controller()-DONE
MainObj::DoStop()-DONE
Connection closed by foreign host.
