LINUXCNC - 2.6.0~pre Machine configuration directory is '/home/samco/linuxcnc/configs/circblend/axis' Machine configuration file is 'axis.ini' Starting LinuxCNC... io started halcmd loadusr io started task pid=6451 emcTaskInit: using builtin interpreter Can't run a program when not homed ******************** Handle Blend Arc queue empty Adding TC id 2 of type 1 ------------------- Activate tc id = 2 target_vel = 8.333333 final_vel = 0.000000 length = 0.012000 tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.015000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.015000, acc = 15.000000,T = 0.012000, P = 0.000008 tc id = 2, canon_type = 1, mot type = 1 time: 0.001000 primary movement = 7.500000000000e-06 time: 1.000000000000e-03 total movement = 7.500000000000e-06 vel = 1.500000000000e-02 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.030000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.030000, acc = 15.000000,T = 0.012000, P = 0.000030 tc id = 2, canon_type = 1, mot type = 1 time: 0.002000 primary movement = 2.250000000000e-05 time: 2.000000000000e-03 total movement = 2.250000000000e-05 vel = 3.000000000000e-02 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.045000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.045000, acc = 15.000000,T = 0.012000, P = 0.000068 tc id = 2, canon_type = 1, mot type = 1 time: 0.003000 primary movement = 3.750000000000e-05 time: 3.000000000000e-03 total movement = 3.750000000000e-05 vel = 4.500000000000e-02 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.060000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.060000, acc = 15.000000,T = 0.012000, P = 0.000120 tc id = 2, canon_type = 1, mot type = 1 time: 0.004000 primary movement = 5.250000000000e-05 time: 4.000000000000e-03 total movement = 5.250000000000e-05 vel = 6.000000000000e-02 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.075000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.075000, acc = 15.000000,T = 0.012000, P = 0.000188 tc id = 2, canon_type = 1, mot type = 1 time: 0.005000 primary movement = 6.750000000000e-05 time: 5.000000000000e-03 total movement = 6.750000000000e-05 vel = 7.500000000000e-02 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.090000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.090000, acc = 15.000000,T = 0.012000, P = 0.000270 tc id = 2, canon_type = 1, mot type = 1 time: 0.006000 primary movement = 8.250000000000e-05 time: 6.000000000000e-03 total movement = 8.250000000000e-05 vel = 9.000000000000e-02 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.105000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.105000, acc = 15.000000,T = 0.012000, P = 0.000367 tc id = 2, canon_type = 1, mot type = 1 time: 0.007000 primary movement = 9.750000000000e-05 time: 7.000000000000e-03 total movement = 9.750000000000e-05 vel = 1.050000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.120000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.120000, acc = 15.000000,T = 0.012000, P = 0.000480 tc id = 2, canon_type = 1, mot type = 1 time: 0.008000 primary movement = 1.125000000000e-04 time: 8.000000000000e-03 total movement = 1.125000000000e-04 vel = 1.200000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.135000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.135000, acc = 15.000000,T = 0.012000, P = 0.000607 tc id = 2, canon_type = 1, mot type = 1 time: 0.009000 primary movement = 1.275000000000e-04 time: 9.000000000000e-03 total movement = 1.275000000000e-04 vel = 1.350000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.150000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.150000, acc = 15.000000,T = 0.012000, P = 0.000750 tc id = 2, canon_type = 1, mot type = 1 time: 0.010000 primary movement = 1.425000000000e-04 time: 1.000000000000e-02 total movement = 1.425000000000e-04 vel = 1.500000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.165000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.165000, acc = 15.000000,T = 0.012000, P = 0.000907 tc id = 2, canon_type = 1, mot type = 1 time: 0.011000 primary movement = 1.575000000000e-04 time: 1.100000000000e-02 total movement = 1.575000000000e-04 vel = 1.650000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.180000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.180000, acc = 15.000000,T = 0.012000, P = 0.001080 tc id = 2, canon_type = 1, mot type = 1 time: 0.012000 primary movement = 1.725000000000e-04 time: 1.200000000000e-02 total movement = 1.725000000000e-04 vel = 1.800000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.195000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.195000, acc = 15.000000,T = 0.012000, P = 0.001267 tc id = 2, canon_type = 1, mot type = 1 time: 0.013000 primary movement = 1.875000000000e-04 time: 1.300000000000e-02 total movement = 1.875000000000e-04 vel = 1.950000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.210000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.210000, acc = 15.000000,T = 0.012000, P = 0.001470 tc id = 2, canon_type = 1, mot type = 1 time: 0.014000 primary movement = 2.025000000000e-04 time: 1.400000000000e-02 total movement = 2.025000000000e-04 vel = 2.100000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.225000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.225000, acc = 15.000000,T = 0.012000, P = 0.001687 tc id = 2, canon_type = 1, mot type = 1 time: 0.015000 primary movement = 2.175000000000e-04 time: 1.500000000000e-02 total movement = 2.175000000000e-04 vel = 2.250000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.240000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.240000, acc = 15.000000,T = 0.012000, P = 0.001920 tc id = 2, canon_type = 1, mot type = 1 time: 0.016000 primary movement = 2.325000000000e-04 time: 1.600000000000e-02 total movement = 2.325000000000e-04 vel = 2.400000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.255000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.255000, acc = 15.000000,T = 0.012000, P = 0.002168 tc id = 2, canon_type = 1, mot type = 1 time: 0.017000 primary movement = 2.475000000000e-04 time: 1.700000000000e-02 total movement = 2.475000000000e-04 vel = 2.550000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.270000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.270000, acc = 15.000000,T = 0.012000, P = 0.002430 tc id = 2, canon_type = 1, mot type = 1 time: 0.018000 primary movement = 2.625000000000e-04 time: 1.800000000000e-02 total movement = 2.625000000000e-04 vel = 2.700000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.285000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.285000, acc = 15.000000,T = 0.012000, P = 0.002708 tc id = 2, canon_type = 1, mot type = 1 time: 0.019000 primary movement = 2.775000000000e-04 time: 1.900000000000e-02 total movement = 2.775000000000e-04 vel = 2.850000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.300000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.300000, acc = 15.000000,T = 0.012000, P = 0.003000 tc id = 2, canon_type = 1, mot type = 1 time: 0.020000 primary movement = 2.925000000000e-04 time: 2.000000000000e-02 total movement = 2.925000000000e-04 vel = 3.000000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.315000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.315000, acc = 15.000000,T = 0.012000, P = 0.003308 tc id = 2, canon_type = 1, mot type = 1 time: 0.021000 primary movement = 3.075000000000e-04 time: 2.100000000000e-02 total movement = 3.075000000000e-04 vel = 3.150000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.330000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.330000, acc = 15.000000,T = 0.012000, P = 0.003630 tc id = 2, canon_type = 1, mot type = 1 time: 0.022000 primary movement = 3.225000000000e-04 time: 2.200000000000e-02 total movement = 3.225000000000e-04 vel = 3.300000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.345000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.345000, acc = 15.000000,T = 0.012000, P = 0.003968 tc id = 2, canon_type = 1, mot type = 1 time: 0.023000 primary movement = 3.375000000000e-04 time: 2.300000000000e-02 total movement = 3.375000000000e-04 vel = 3.450000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.360000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.360000, acc = 15.000000,T = 0.012000, P = 0.004320 tc id = 2, canon_type = 1, mot type = 1 time: 0.024000 primary movement = 3.525000000000e-04 time: 2.400000000000e-02 total movement = 3.525000000000e-04 vel = 3.600000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.375000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.375000, acc = 15.000000,T = 0.012000, P = 0.004688 tc id = 2, canon_type = 1, mot type = 1 time: 0.025000 primary movement = 3.675000000000e-04 time: 2.500000000000e-02 total movement = 3.675000000000e-04 vel = 3.750000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.390000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.390000, acc = 15.000000,T = 0.012000, P = 0.005070 tc id = 2, canon_type = 1, mot type = 1 time: 0.026000 primary movement = 3.825000000000e-04 time: 2.600000000000e-02 total movement = 3.825000000000e-04 vel = 3.900000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.405000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.405000, acc = 15.000000,T = 0.012000, P = 0.005468 tc id = 2, canon_type = 1, mot type = 1 time: 0.027000 primary movement = 3.975000000000e-04 time: 2.700000000000e-02 total movement = 3.975000000000e-04 vel = 4.050000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.420000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.420000, acc = 15.000000,T = 0.012000, P = 0.005880 tc id = 2, canon_type = 1, mot type = 1 time: 0.028000 primary movement = 4.125000000000e-04 time: 2.800000000000e-02 total movement = 4.125000000000e-04 vel = 4.200000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.413637, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.413637, acc = -6.363160,T = 0.012000, P = 0.006297 on final decel tc id = 2, canon_type = 1, mot type = 1 time: 0.029000 primary movement = 4.168184198697e-04 time: 2.900000000000e-02 total movement = 4.168184198697e-04 vel = 4.136368397394e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.398637, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.398637, acc = -15.000000,T = 0.012000, P = 0.006703 on final decel tc id = 2, canon_type = 1, mot type = 1 time: 0.030000 primary movement = 4.061368397394e-04 time: 3.000000000000e-02 total movement = 4.061368397394e-04 vel = 3.986368397394e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.383637, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.383637, acc = -15.000000,T = 0.012000, P = 0.007094 on final decel tc id = 2, canon_type = 1, mot type = 1 time: 0.031000 primary movement = 3.911368397394e-04 time: 3.100000000000e-02 total movement = 3.911368397394e-04 vel = 3.836368397394e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.368637, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.368637, acc = -15.000000,T = 0.012000, P = 0.007470 on final decel tc id = 2, canon_type = 1, mot type = 1 time: 0.032000 primary movement = 3.761368397394e-04 time: 3.200000000000e-02 total movement = 3.761368397394e-04 vel = 3.686368397394e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.353637, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.353637, acc = -15.000000,T = 0.012000, P = 0.007831 on final decel tc id = 2, canon_type = 1, mot type = 1 time: 0.033000 primary movement = 3.611368397394e-04 time: 3.300000000000e-02 total movement = 3.611368397394e-04 vel = 3.536368397394e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.338637, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.338637, acc = -15.000000,T = 0.012000, P = 0.008178 on final decel tc id = 2, canon_type = 1, mot type = 1 time: 0.034000 primary movement = 3.461368397394e-04 time: 3.400000000000e-02 total movement = 3.461368397394e-04 vel = 3.386368397394e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.323637, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.323637, acc = -15.000000,T = 0.012000, P = 0.008509 on final decel tc id = 2, canon_type = 1, mot type = 1 time: 0.035000 primary movement = 3.311368397394e-04 time: 3.500000000000e-02 total movement = 3.311368397394e-04 vel = 3.236368397394e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.308637, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.308637, acc = -15.000000,T = 0.012000, P = 0.008825 on final decel tc id = 2, canon_type = 1, mot type = 1 time: 0.036000 primary movement = 3.161368397394e-04 time: 3.600000000000e-02 total movement = 3.161368397394e-04 vel = 3.086368397394e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.293637, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.293637, acc = -15.000000,T = 0.012000, P = 0.009126 on final decel tc id = 2, canon_type = 1, mot type = 1 time: 0.037000 primary movement = 3.011368397394e-04 time: 3.700000000000e-02 total movement = 3.011368397394e-04 vel = 2.936368397394e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.278637, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.278637, acc = -15.000000,T = 0.012000, P = 0.009412 on final decel tc id = 2, canon_type = 1, mot type = 1 time: 0.038000 primary movement = 2.861368397394e-04 time: 3.800000000000e-02 total movement = 2.861368397394e-04 vel = 2.786368397394e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.263637, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.263637, acc = -15.000000,T = 0.012000, P = 0.009683 on final decel tc id = 2, canon_type = 1, mot type = 1 time: 0.039000 primary movement = 2.711368397394e-04 time: 3.900000000000e-02 total movement = 2.711368397394e-04 vel = 2.636368397394e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.248637, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.248637, acc = -15.000000,T = 0.012000, P = 0.009939 on final decel tc id = 2, canon_type = 1, mot type = 1 time: 0.040000 primary movement = 2.561368397394e-04 time: 4.000000000000e-02 total movement = 2.561368397394e-04 vel = 2.486368397394e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.233637, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.233637, acc = -15.000000,T = 0.012000, P = 0.010180 on final decel tc id = 2, canon_type = 1, mot type = 1 time: 0.041000 primary movement = 2.411368397394e-04 time: 4.100000000000e-02 total movement = 2.411368397394e-04 vel = 2.336368397394e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.218637, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.218637, acc = -15.000000,T = 0.012000, P = 0.010407 on final decel tc id = 2, canon_type = 1, mot type = 1 time: 0.042000 primary movement = 2.261368397394e-04 time: 4.200000000000e-02 total movement = 2.261368397394e-04 vel = 2.186368397394e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.203637, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.203637, acc = -15.000000,T = 0.012000, P = 0.010618 on final decel tc id = 2, canon_type = 1, mot type = 1 time: 0.043000 primary movement = 2.111368397394e-04 time: 4.300000000000e-02 total movement = 2.111368397394e-04 vel = 2.036368397394e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.188637, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.188637, acc = -15.000000,T = 0.012000, P = 0.010814 on final decel tc id = 2, canon_type = 1, mot type = 1 time: 0.044000 primary movement = 1.961368397394e-04 time: 4.400000000000e-02 total movement = 1.961368397394e-04 vel = 1.886368397394e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.173637, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.173637, acc = -15.000000,T = 0.012000, P = 0.010995 on final decel tc id = 2, canon_type = 1, mot type = 1 time: 0.045000 primary movement = 1.811368397394e-04 time: 4.500000000000e-02 total movement = 1.811368397394e-04 vel = 1.736368397394e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.158637, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.158637, acc = -15.000000,T = 0.012000, P = 0.011161 on final decel tc id = 2, canon_type = 1, mot type = 1 time: 0.046000 primary movement = 1.661368397394e-04 time: 4.600000000000e-02 total movement = 1.661368397394e-04 vel = 1.586368397394e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.143637, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.143637, acc = -15.000000,T = 0.012000, P = 0.011312 on final decel tc id = 2, canon_type = 1, mot type = 1 time: 0.047000 primary movement = 1.511368397394e-04 time: 4.700000000000e-02 total movement = 1.511368397394e-04 vel = 1.436368397394e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.128637, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.128637, acc = -15.000000,T = 0.012000, P = 0.011448 on final decel tc id = 2, canon_type = 1, mot type = 1 time: 0.048000 primary movement = 1.361368397394e-04 time: 4.800000000000e-02 total movement = 1.361368397394e-04 vel = 1.286368397394e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.113637, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.113637, acc = -15.000000,T = 0.012000, P = 0.011570 on final decel tc id = 2, canon_type = 1, mot type = 1 time: 0.049000 primary movement = 1.211368397394e-04 time: 4.900000000000e-02 total movement = 1.211368397394e-04 vel = 1.136368397394e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.098637, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.098637, acc = -15.000000,T = 0.012000, P = 0.011676 on final decel tc id = 2, canon_type = 1, mot type = 1 time: 0.050000 primary movement = 1.061368397394e-04 time: 5.000000000000e-02 total movement = 1.061368397394e-04 vel = 9.863683973944e-02 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.083637, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.083637, acc = -15.000000,T = 0.012000, P = 0.011767 on final decel tc id = 2, canon_type = 1, mot type = 1 time: 0.051000 primary movement = 9.113683973944e-05 time: 5.100000000000e-02 total movement = 9.113683973944e-05 vel = 8.363683973944e-02 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.068637, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.068637, acc = -15.000000,T = 0.012000, P = 0.011843 on final decel tc id = 2, canon_type = 1, mot type = 1 time: 0.052000 primary movement = 7.613683973944e-05 time: 5.200000000000e-02 total movement = 7.613683973944e-05 vel = 6.863683973944e-02 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.053637, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.053637, acc = -15.000000,T = 0.012000, P = 0.011904 on final decel tc id = 2, canon_type = 1, mot type = 1 time: 0.053000 primary movement = 6.113683973944e-05 time: 5.300000000000e-02 total movement = 6.113683973944e-05 vel = 5.363683973944e-02 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.038637, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.038637, acc = -15.000000,T = 0.012000, P = 0.011950 on final decel tc id = 2, canon_type = 1, mot type = 1 time: 0.054000 primary movement = 4.613683973944e-05 time: 5.400000000000e-02 total movement = 4.613683973944e-05 vel = 3.863683973944e-02 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.023637, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.023637, acc = -15.000000,T = 0.012000, P = 0.011981 on final decel tc id = 2, canon_type = 1, mot type = 1 time: 0.055000 primary movement = 3.113683973944e-05 time: 5.500000000000e-02 total movement = 3.113683973944e-05 vel = 2.363683973944e-02 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.008637, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.008637, acc = -15.000000,T = 0.012000, P = 0.011998 on final decel tc id = 2, canon_type = 1, mot type = 1 time: 0.056000 primary movement = 1.613683973944e-05 time: 5.600000000000e-02 total movement = 1.613683973944e-05 vel = 8.636839739438e-03 ------------------- Found newvel = -0.006363, assuming segment is done segment 2 at target in runcycle tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.012000, P = 0.012000 tc id = 2, canon_type = 1, mot type = 1 time: 0.057000 primary movement = 2.486500022825e-06 time: 5.700000000000e-02 total movement = 2.486500022825e-06 vel = 0.000000000000e+00 Finished tc id 2 ******************** Handle Blend Arc queue empty Adding TC id 11 of type 1 ------------------- Activate tc id = 11 target_vel = 10.111863 final_vel = 0.000000 length = 5.894835 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.018201, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.018201, acc = 18.201427,T = 5.894835, P = 0.000009 tc id = 11, canon_type = 1, mot type = 1 time: 0.058000 primary movement = 9.100713436866e-06 time: 5.800000000000e-02 total movement = 9.100713436866e-06 vel = 1.820142687373e-02 ******************** Handle Blend Arc prev_tc progress = 0.000009, aborting arc prev segment parabolic, flagging blend_prev Adding TC id 12 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.054604, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.054604, acc = 36.402854,T = 5.894835, P = 0.000046 tc id = 11, canon_type = 1, mot type = 1 time: 0.059000 primary movement = 3.640285374747e-05 time: 5.900000000000e-02 total movement = 3.640285374747e-05 vel = 5.460428062120e-02 prev segment parabolic, flagging blend_prev tpAddCircle: checking for tangent with previous prev tan = 0.000000 0.000000 -1.000000 this tan = -0.000064 0.000000 -1.000000 u1 = 0.000000 0.000000 -1.000000 u2 = -0.000064 0.000000 -1.000000 Adding TC id 13 of type 2 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.091007, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.091007, acc = 36.402854,T = 5.894835, P = 0.000118 tc id = 11, canon_type = 1, mot type = 1 time: 0.060000 primary movement = 7.280570749493e-05 time: 6.000000000000e-02 total movement = 7.280570749493e-05 vel = 9.100713436866e-02 ******************** Handle Blend Arc prev tan = -1.000000 0.000000 0.000000 this tan = -0.999515 0.000000 0.031155 u1 = -1.000000 0.000000 0.000000 u2 = -0.999515 0.000000 0.031155 Wrong motion type tc = 2, tc2 = 1 prev segment parabolic, flagging blend_prev Adding TC id 15 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.127410, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.127410, acc = 36.402854,T = 5.894835, P = 0.000228 tc id = 11, canon_type = 1, mot type = 1 time: 0.061000 primary movement = 1.092085612424e-04 time: 6.100000000000e-02 total movement = 1.092085612424e-04 vel = 1.274099881161e-01 ******************** Handle Blend Arc prev tan = -0.999515 0.000000 0.031155 this tan = -0.456317 0.000000 -0.889817 u1 = -0.999515 0.000000 0.031155 u2 = -0.456317 0.000000 -0.889817 angle between segs = 1.128105 u1 = -0.999515 0.000000 0.031155 u2 = -0.456317 0.000000 -0.889817 theta=1.006744 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.337347, vr2 = 9.365216 v_goal = 18.730433, max scale = 2.000000 prev length L1 = 2.455192 next length L2 = 0.002191 K = 0.000091 d_geom = 0.001646, d_prev = 2.434195, d_next = 0.001646 R_geom = 0.002601 v_normal = 0.259963 v_plan = 0.259963 R_plan = 0.002601 v_actual = 0.259963 effective a_n = 25.980762 arc length = 0.002934, L_prev = 2.453546, L_next = 0.002737 Check: v_plan = 0.259963, v_para = 0.241985 angle = 1.128105 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.000670 Old target = 2.455192 Target = 2.453546 setting term condition 3 on tc id 15, type 1 Adding TC id 16 of type 2 Adding TC id 16 of type 1 current term = 3, type = 2, id = 16, smoothing = 0 prev term = 3, type = 1, id = 15, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.259963, tc->fv = 0.000000, capped target = 0.259963 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.163813, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.163813, acc = 36.402854,T = 5.894835, P = 0.000373 tc id = 11, canon_type = 1, mot type = 1 time: 0.062000 primary movement = 1.456114149899e-04 time: 6.200000000000e-02 total movement = 1.456114149899e-04 vel = 1.638128418636e-01 ******************** Handle Blend Arc prev tan = -0.456317 0.000000 -0.889817 this tan = -0.800000 0.000000 -0.600000 u1 = -0.456317 0.000000 -0.889817 u2 = -0.800000 0.000000 -0.600000 angle between segs = 0.453444 u1 = -0.456317 0.000000 -0.889817 u2 = -0.800000 0.000000 -0.600000 theta=1.344074 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.365216, vr2 = 10.416625 v_goal = 20.833250, max scale = 2.000000 prev length L1 = 0.002737 next length L2 = 0.002500 K = 0.000248 d_geom = 0.001607, d_prev = 0.001794, d_next = 0.001607 R_geom = 0.006965 v_normal = 0.425383 v_plan = 0.425383 R_plan = 0.006965 v_actual = 0.425383 effective a_n = 25.980762 arc length = 0.003158, L_prev = 0.001131, L_next = 0.003393 Check: v_plan = 0.425383, v_para = 0.275280 angle = 0.453444 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.366581 prev smoothing enabled Old target = 0.002737 Target = 0.001131 setting term condition 3 on tc id 16, type 1 Adding TC id 17 of type 2 Adding TC id 17 of type 1 current term = 3, type = 2, id = 17, smoothing = 1 prev term = 3, type = 1, id = 16, smoothing = 1 prev1_tc-> fv = 0.276119, tc->fv = 0.000000, capped target = 0.276119 current term = 3, type = 1, id = 16, smoothing = 1 prev term = 3, type = 2, id = 16, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.259963, tc->fv = 0.276119, capped target = 0.276119 current term = 3, type = 2, id = 16, smoothing = 0 prev term = 3, type = 1, id = 15, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.259963, tc->fv = 0.259963, capped target = 0.259963 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.200216, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.200216, acc = 36.402854,T = 5.894835, P = 0.000555 tc id = 11, canon_type = 1, mot type = 1 time: 0.063000 primary movement = 1.820142687373e-04 time: 6.300000000000e-02 total movement = 1.820142687373e-04 vel = 2.002156956111e-01 ******************** Handle Blend Arc prev tan = -0.800000 0.000000 -0.600000 this tan = -0.440592 0.000000 -0.897707 u1 = -0.800000 0.000000 -0.600000 u2 = -0.440592 0.000000 -0.897707 angle between segs = 0.471037 u1 = -0.800000 0.000000 -0.600000 u2 = -0.440592 0.000000 -0.897707 theta=1.335278 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 10.416625, vr2 = 9.282907 v_goal = 20.833250, max scale = 2.000000 prev length L1 = 0.003393 next length L2 = 0.009079 K = 0.000239 d_geom = 0.002337, d_prev = 0.002337, d_next = 0.007222 R_geom = 0.009739 v_normal = 0.503007 v_plan = 0.503007 R_plan = 0.009739 v_actual = 0.503007 effective a_n = 25.980762 arc length = 0.004587, L_prev = 0.001056, L_next = 0.015820 Check: v_plan = 0.503007, v_para = 0.550814 blend arc NOT created prev segment parabolic, flagging blend_prev Adding TC id 18 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.236619, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.236619, acc = 36.402854,T = 5.894835, P = 0.000774 tc id = 11, canon_type = 1, mot type = 1 time: 0.064000 primary movement = 2.184171224848e-04 time: 6.400000000000e-02 total movement = 2.184171224848e-04 vel = 2.366185493585e-01 ******************** Handle Blend Arc prev tan = -0.440592 0.000000 -0.897707 this tan = -0.321039 0.000000 -0.947066 u1 = -0.440592 0.000000 -0.897707 u2 = -0.321039 0.000000 -0.947066 angle between segs = 0.129432 u1 = -0.440592 0.000000 -0.897707 u2 = -0.321039 0.000000 -0.947066 theta=1.506080 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.282907, vr2 = 8.799106 v_goal = 18.565815, max scale = 2.000000 prev length L1 = 0.018157 next length L2 = 0.006230 K = 0.000884 d_geom = 0.003679, d_prev = 0.013307, d_next = 0.003679 R_geom = 0.056774 v_normal = 1.214506 v_plan = 1.214506 R_plan = 0.056774 v_actual = 1.214506 effective a_n = 25.980762 arc length = 0.007348, L_prev = 0.014478, L_next = 0.008780 Check: v_plan = 1.214506, v_para = 0.444229 angle = 0.129432 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.202634 Old target = 0.018157 Target = 0.014478 setting term condition 3 on tc id 18, type 1 Adding TC id 19 of type 2 Adding TC id 19 of type 1 current term = 3, type = 2, id = 19, smoothing = 0 prev term = 3, type = 1, id = 18, smoothing = 0 prev1_tc-> fv = 0.469521, tc->fv = 0.000000, capped target = 1.214506 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.273021, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.273021, acc = 36.402854,T = 5.894835, P = 0.001028 tc id = 11, canon_type = 1, mot type = 1 time: 0.065000 primary movement = 2.548199762323e-04 time: 6.500000000000e-02 total movement = 2.548199762323e-04 vel = 2.730214031060e-01 ******************** Handle Blend Arc prev tan = -0.321039 0.000000 -0.947066 this tan = -0.119617 0.000000 -0.992820 u1 = -0.321039 0.000000 -0.947066 u2 = -0.119617 0.000000 -0.992820 angle between segs = 0.206923 u1 = -0.321039 0.000000 -0.947066 u2 = -0.119617 0.000000 -0.992820 theta=1.467335 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.799106, vr2 = 8.393598 v_goal = 17.598212, max scale = 2.000000 prev length L1 = 0.008780 next length L2 = 0.008360 K = 0.000552 d_geom = 0.005825, d_prev = 0.006171, d_next = 0.005825 R_geom = 0.056098 v_normal = 1.207258 v_plan = 1.207258 R_plan = 0.056098 v_actual = 1.207258 effective a_n = 25.980762 arc length = 0.011608, L_prev = 0.002955, L_next = 0.010895 Check: v_plan = 1.207258, v_para = 0.502608 angle = 0.206923 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.467496 prev smoothing enabled Old target = 0.008780 Target = 0.002955 setting term condition 3 on tc id 19, type 1 Adding TC id 20 of type 2 Adding TC id 20 of type 1 current term = 3, type = 2, id = 20, smoothing = 1 prev term = 3, type = 1, id = 19, smoothing = 1 prev1_tc-> fv = 0.432710, tc->fv = 0.000000, capped target = 0.432710 current term = 3, type = 1, id = 19, smoothing = 1 prev term = 3, type = 2, id = 19, smoothing = 0 prev1_tc-> fv = 0.611945, tc->fv = 0.432710, capped target = 0.611945 current term = 3, type = 2, id = 19, smoothing = 0 prev term = 3, type = 1, id = 18, smoothing = 0 prev1_tc-> fv = 0.695582, tc->fv = 0.611945, capped target = 1.214506 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.309424, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.309424, acc = 36.402854,T = 5.894835, P = 0.001320 tc id = 11, canon_type = 1, mot type = 1 time: 0.066000 primary movement = 2.912228299797e-04 time: 6.600000000000e-02 total movement = 2.912228299797e-04 vel = 3.094242568535e-01 prev segment parabolic, flagging blend_prev tpAddCircle: checking for tangent with previous prev tan = -0.119617 0.000000 -0.992820 this tan = -0.001609 -0.999104 -0.042283 u1 = -0.119617 0.000000 -0.992820 u2 = -0.001609 -0.999104 -0.042283 Adding TC id 21 of type 2 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.345827, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.345827, acc = 36.402854,T = 5.894835, P = 0.001647 tc id = 11, canon_type = 1, mot type = 1 time: 0.067000 primary movement = 3.276256837272e-04 time: 6.700000000000e-02 total movement = 3.276256837272e-04 vel = 3.458271106009e-01 ******************** Handle Blend Arc prev tan = -0.002702 -0.999104 -0.042227 this tan = -0.150923 0.000000 -0.988546 u1 = -0.002702 -0.999104 -0.042227 u2 = -0.150923 0.000000 -0.988546 Wrong motion type tc = 2, tc2 = 1 prev segment parabolic, flagging blend_prev Adding TC id 22 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.382230, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.382230, acc = 36.402854,T = 5.894835, P = 0.002011 tc id = 11, canon_type = 1, mot type = 1 time: 0.068000 primary movement = 3.640285374747e-04 time: 6.800000000000e-02 total movement = 3.640285374747e-04 vel = 3.822299643484e-01 ******************** Handle Blend Arc prev tan = -0.150923 0.000000 -0.988546 this tan = -0.563337 0.000000 -0.826227 u1 = -0.150923 0.000000 -0.988546 u2 = -0.563337 0.000000 -0.826227 angle between segs = 0.446917 u1 = -0.150923 0.000000 -0.988546 u2 = -0.563337 0.000000 -0.826227 theta=1.347338 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.429893, vr2 = 10.086005 v_goal = 20.172010, max scale = 2.000000 prev length L1 = 0.013252 next length L2 = 0.005325 K = 0.000252 d_geom = 0.003920, d_prev = 0.010907, d_next = 0.003920 R_geom = 0.017248 v_normal = 0.669412 v_plan = 0.669412 R_plan = 0.017248 v_actual = 0.669412 effective a_n = 25.980762 arc length = 0.007708, L_prev = 0.009332, L_next = 0.006731 Check: v_plan = 0.669412, v_para = 0.367528 angle = 0.446917 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.295782 Old target = 0.013252 Target = 0.009332 setting term condition 3 on tc id 22, type 1 Adding TC id 23 of type 2 Adding TC id 23 of type 1 current term = 3, type = 2, id = 23, smoothing = 0 prev term = 3, type = 1, id = 22, smoothing = 0 prev1_tc-> fv = 0.480886, tc->fv = 0.000000, capped target = 0.669412 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.418633, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.418633, acc = 36.402854,T = 5.894835, P = 0.002412 tc id = 11, canon_type = 1, mot type = 1 time: 0.069000 primary movement = 4.004313912221e-04 time: 6.900000000000e-02 total movement = 4.004313912221e-04 vel = 4.186328180959e-01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.455036, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.455036, acc = 36.402854,T = 5.894835, P = 0.002849 tc id = 11, canon_type = 1, mot type = 1 time: 0.070000 primary movement = 4.368342449696e-04 time: 7.000000000000e-02 total movement = 4.368342449696e-04 vel = 4.550356718433e-01 ******************** Handle Blend Arc prev tan = -0.563337 0.000000 -0.826227 this tan = -0.997199 0.000000 -0.074790 u1 = -0.563337 0.000000 -0.826227 u2 = -0.997199 0.000000 -0.074790 angle between segs = 0.897518 u1 = -0.563337 0.000000 -0.826227 u2 = -0.997199 0.000000 -0.074790 theta=1.122038 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 10.086005, vr2 = 8.356705 v_goal = 20.172010, max scale = 2.000000 prev length L1 = 0.006731 next length L2 = 0.004011 K = 0.000119 d_geom = 0.003146, d_prev = 0.005579, d_next = 0.003146 R_geom = 0.006533 v_normal = 0.412001 v_plan = 0.412001 R_plan = 0.006533 v_actual = 0.412001 effective a_n = 25.980762 arc length = 0.005864, L_prev = 0.003585, L_next = 0.004876 Check: v_plan = 0.412001, v_para = 0.347383 angle = 0.897518 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.295379 Old target = 0.006731 Target = 0.003585 setting term condition 3 on tc id 23, type 1 Adding TC id 24 of type 2 Adding TC id 24 of type 1 current term = 3, type = 2, id = 24, smoothing = 0 prev term = 3, type = 1, id = 23, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.412001, tc->fv = 0.000000, capped target = 0.412001 current term = 3, type = 1, id = 23, smoothing = 0 prev term = 3, type = 2, id = 23, smoothing = 0 prev1_tc-> fv = 0.655816, tc->fv = 0.412001, capped target = 1.707212 current term = 3, type = 2, id = 23, smoothing = 0 prev term = 3, type = 1, id = 22, smoothing = 0 prev1_tc-> fv = 0.532173, tc->fv = 0.655816, capped target = 0.669412 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.491439, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.491439, acc = 36.402854,T = 5.894835, P = 0.003322 tc id = 11, canon_type = 1, mot type = 1 time: 0.071000 primary movement = 4.732370987171e-04 time: 7.100000000000e-02 total movement = 4.732370987171e-04 vel = 4.914385255908e-01 ******************** Handle Blend Arc prev tan = -0.997199 0.000000 -0.074790 this tan = -0.609711 0.000000 -0.792624 u1 = -0.997199 0.000000 -0.074790 u2 = -0.609711 0.000000 -0.792624 angle between segs = 0.840241 u1 = -0.997199 0.000000 -0.074790 u2 = -0.609711 0.000000 -0.792624 theta=1.150676 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.356705, vr2 = 10.513602 v_goal = 21.027204, max scale = 2.000000 prev length L1 = 0.004876 next length L2 = 0.003280 K = 0.000128 d_geom = 0.002482, d_prev = 0.003879, d_next = 0.002482 R_geom = 0.005557 v_normal = 0.379961 v_plan = 0.379961 R_plan = 0.005557 v_actual = 0.379961 effective a_n = 25.980762 arc length = 0.004669, L_prev = 0.002394, L_next = 0.004078 Check: v_plan = 0.379961, v_para = 0.280069 angle = 0.840241 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.309422 Old target = 0.004876 Target = 0.002394 setting term condition 3 on tc id 24, type 1 Adding TC id 25 of type 2 Adding TC id 25 of type 1 current term = 3, type = 2, id = 25, smoothing = 0 prev term = 3, type = 1, id = 24, smoothing = 0 prev1_tc-> fv = 0.374262, tc->fv = 0.000000, capped target = 0.379961 current term = 3, type = 1, id = 24, smoothing = 0 prev term = 3, type = 2, id = 24, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.412001, tc->fv = 0.374262, capped target = 1.140052 current term = 3, type = 2, id = 24, smoothing = 0 prev term = 3, type = 1, id = 23, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.412001, tc->fv = 0.412001, capped target = 0.412001 current term = 3, type = 1, id = 23, smoothing = 0 prev term = 3, type = 2, id = 23, smoothing = 0 prev1_tc-> fv = 0.655816, tc->fv = 0.412001, capped target = 1.707212 current term = 3, type = 2, id = 23, smoothing = 0 prev term = 3, type = 1, id = 22, smoothing = 0 prev1_tc-> fv = 0.532173, tc->fv = 0.655816, capped target = 0.669412 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.527841, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.527841, acc = 36.402854,T = 5.894835, P = 0.003831 tc id = 11, canon_type = 1, mot type = 1 time: 0.072000 primary movement = 5.096399524645e-04 time: 7.200000000000e-02 total movement = 5.096399524645e-04 vel = 5.278413793383e-01 ******************** Handle Blend Arc prev tan = -0.609711 0.000000 -0.792624 this tan = -1.000000 0.000000 0.000000 u1 = -0.609711 0.000000 -0.792624 u2 = -1.000000 0.000000 0.000000 angle between segs = 0.915101 u1 = -0.609711 0.000000 -0.792624 u2 = -1.000000 0.000000 0.000000 theta=1.113246 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 10.513602, vr2 = 8.333300 v_goal = 21.027204, max scale = 2.000000 prev length L1 = 0.004078 next length L2 = 0.004000 K = 0.000116 d_geom = 0.003145, d_prev = 0.003213, d_next = 0.003145 R_geom = 0.006386 v_normal = 0.407333 v_plan = 0.407333 R_plan = 0.006386 v_actual = 0.407333 effective a_n = 25.980762 arc length = 0.005844, L_prev = 0.000934, L_next = 0.004855 Check: v_plan = 0.407333, v_para = 0.346410 angle = 0.915101 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.479324 prev smoothing enabled Old target = 0.004078 Target = 0.000934 setting term condition 3 on tc id 25, type 1 Adding TC id 26 of type 2 Adding TC id 26 of type 1 current term = 3, type = 2, id = 26, smoothing = 1 prev term = 3, type = 1, id = 25, smoothing = 1 prev1_tc-> fv = 0.265836, tc->fv = 0.000000, capped target = 0.265836 current term = 3, type = 1, id = 25, smoothing = 1 prev term = 3, type = 2, id = 25, smoothing = 0 prev1_tc-> fv = 0.375948, tc->fv = 0.265836, capped target = 0.375948 current term = 3, type = 2, id = 25, smoothing = 0 prev term = 3, type = 1, id = 24, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.379961, tc->fv = 0.375948, capped target = 0.379961 current term = 3, type = 1, id = 24, smoothing = 0 prev term = 3, type = 2, id = 24, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.412001, tc->fv = 0.379961, capped target = 1.140052 current term = 3, type = 2, id = 24, smoothing = 0 prev term = 3, type = 1, id = 23, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.412001, tc->fv = 0.412001, capped target = 0.412001 current term = 3, type = 1, id = 23, smoothing = 0 prev term = 3, type = 2, id = 23, smoothing = 0 prev1_tc-> fv = 0.655816, tc->fv = 0.412001, capped target = 1.707212 current term = 3, type = 2, id = 23, smoothing = 0 prev term = 3, type = 1, id = 22, smoothing = 0 prev1_tc-> fv = 0.532173, tc->fv = 0.655816, capped target = 0.669412 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.564244, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.564244, acc = 36.402854,T = 5.894835, P = 0.004377 tc id = 11, canon_type = 1, mot type = 1 time: 0.073000 primary movement = 5.460428062120e-04 time: 7.300000000000e-02 total movement = 5.460428062120e-04 vel = 5.642442330857e-01 ******************** Handle Blend Arc prev tan = -1.000000 0.000000 0.000000 this tan = -0.903278 0.000000 0.429057 u1 = -1.000000 0.000000 0.000000 u2 = -0.903278 0.000000 0.429057 angle between segs = 0.443448 u1 = -1.000000 0.000000 0.000000 u2 = -0.903278 0.000000 0.429057 theta=1.349072 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.333300, vr2 = 9.225626 v_goal = 18.451251, max scale = 2.000000 prev length L1 = 0.004855 next length L2 = 0.002214 K = 0.000254 d_geom = 0.001377, d_prev = 0.003518, d_next = 0.001377 R_geom = 0.006110 v_normal = 0.398435 v_plan = 0.398435 R_plan = 0.006110 v_actual = 0.398435 effective a_n = 25.980762 arc length = 0.002710, L_prev = 0.003478, L_next = 0.003051 Check: v_plan = 0.398435, v_para = 0.244949 angle = 0.443448 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.172181 Old target = 0.004855 Target = 0.003478 setting term condition 3 on tc id 26, type 1 Adding TC id 27 of type 2 Adding TC id 27 of type 1 current term = 3, type = 2, id = 27, smoothing = 0 prev term = 3, type = 1, id = 26, smoothing = 0 prev1_tc-> fv = 0.285110, tc->fv = 0.000000, capped target = 0.398435 current term = 3, type = 1, id = 26, smoothing = 0 prev term = 3, type = 2, id = 26, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.407333, tc->fv = 0.285110, capped target = 1.656168 current term = 3, type = 2, id = 26, smoothing = 1 prev term = 3, type = 1, id = 25, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.407333, tc->fv = 0.407333, capped target = 0.407333 current term = 3, type = 1, id = 25, smoothing = 1 prev term = 3, type = 2, id = 25, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.379961, tc->fv = 0.407333, capped target = 0.407333 current term = 3, type = 2, id = 25, smoothing = 0 prev term = 3, type = 1, id = 24, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.379961, tc->fv = 0.379961, capped target = 0.379961 current term = 3, type = 1, id = 24, smoothing = 0 prev term = 3, type = 2, id = 24, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.412001, tc->fv = 0.379961, capped target = 1.140052 current term = 3, type = 2, id = 24, smoothing = 0 prev term = 3, type = 1, id = 23, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.412001, tc->fv = 0.412001, capped target = 0.412001 current term = 3, type = 1, id = 23, smoothing = 0 prev term = 3, type = 2, id = 23, smoothing = 0 prev1_tc-> fv = 0.655816, tc->fv = 0.412001, capped target = 1.707212 current term = 3, type = 2, id = 23, smoothing = 0 prev term = 3, type = 1, id = 22, smoothing = 0 prev1_tc-> fv = 0.532173, tc->fv = 0.655816, capped target = 0.669412 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.600647, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.600647, acc = 36.402854,T = 5.894835, P = 0.004960 tc id = 11, canon_type = 1, mot type = 1 time: 0.074000 primary movement = 5.824456599594e-04 time: 7.400000000000e-02 total movement = 5.824456599594e-04 vel = 6.006470868332e-01 ******************** Handle Blend Arc prev tan = -0.903278 0.000000 0.429057 this tan = -0.986394 0.000000 -0.164399 u1 = -0.903278 0.000000 0.429057 u2 = -0.986394 0.000000 -0.164399 angle between segs = 0.608597 u1 = -0.903278 0.000000 0.429057 u2 = -0.986394 0.000000 -0.164399 theta=1.266498 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.225626, vr2 = 8.448247 v_goal = 18.451251, max scale = 2.000000 prev length L1 = 0.003051 next length L2 = 0.003041 K = 0.000182 d_geom = 0.002155, d_prev = 0.002163, d_next = 0.002155 R_geom = 0.006861 v_normal = 0.422205 v_plan = 0.422205 R_plan = 0.006861 v_actual = 0.422205 effective a_n = 25.980762 arc length = 0.004176, L_prev = 0.000896, L_next = 0.003928 Check: v_plan = 0.422205, v_para = 0.304138 angle = 0.608597 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.486584 prev smoothing enabled Old target = 0.003051 Target = 0.000896 setting term condition 3 on tc id 27, type 1 Adding TC id 28 of type 2 Adding TC id 28 of type 1 current term = 3, type = 2, id = 28, smoothing = 1 prev term = 3, type = 1, id = 27, smoothing = 1 prev1_tc-> fv = 0.243977, tc->fv = 0.000000, capped target = 0.243977 current term = 3, type = 1, id = 27, smoothing = 1 prev term = 3, type = 2, id = 27, smoothing = 0 prev1_tc-> fv = 0.345035, tc->fv = 0.243977, capped target = 0.345035 current term = 3, type = 2, id = 27, smoothing = 0 prev term = 3, type = 1, id = 26, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.398435, tc->fv = 0.345035, capped target = 0.398435 current term = 3, type = 1, id = 26, smoothing = 0 prev term = 3, type = 2, id = 26, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.407333, tc->fv = 0.398435, capped target = 1.656168 current term = 3, type = 2, id = 26, smoothing = 1 prev term = 3, type = 1, id = 25, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.407333, tc->fv = 0.407333, capped target = 0.407333 current term = 3, type = 1, id = 25, smoothing = 1 prev term = 3, type = 2, id = 25, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.379961, tc->fv = 0.407333, capped target = 0.407333 current term = 3, type = 2, id = 25, smoothing = 0 prev term = 3, type = 1, id = 24, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.379961, tc->fv = 0.379961, capped target = 0.379961 current term = 3, type = 1, id = 24, smoothing = 0 prev term = 3, type = 2, id = 24, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.412001, tc->fv = 0.379961, capped target = 1.140052 current term = 3, type = 2, id = 24, smoothing = 0 prev term = 3, type = 1, id = 23, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.412001, tc->fv = 0.412001, capped target = 0.412001 current term = 3, type = 1, id = 23, smoothing = 0 prev term = 3, type = 2, id = 23, smoothing = 0 prev1_tc-> fv = 0.655816, tc->fv = 0.412001, capped target = 1.707212 current term = 3, type = 2, id = 23, smoothing = 0 prev term = 3, type = 1, id = 22, smoothing = 0 prev1_tc-> fv = 0.532173, tc->fv = 0.655816, capped target = 0.669412 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.637050, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.637050, acc = 36.402854,T = 5.894835, P = 0.005579 tc id = 11, canon_type = 1, mot type = 1 time: 0.075000 primary movement = 6.188485137069e-04 time: 7.500000000000e-02 total movement = 6.188485137069e-04 vel = 6.370499405806e-01 ******************** Handle Blend Arc prev tan = -0.986394 0.000000 -0.164399 this tan = -0.485643 0.000000 0.874157 u1 = -0.986394 0.000000 -0.164399 u2 = -0.485643 0.000000 0.874157 angle between segs = 1.228846 u1 = -0.986394 0.000000 -0.164399 u2 = -0.485643 0.000000 0.874157 theta=0.956373 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.448247, vr2 = 9.532990 v_goal = 19.065981, max scale = 2.000000 prev length L1 = 0.003928 next length L2 = 0.006177 K = 0.000081 d_geom = 0.003206, d_prev = 0.003206, d_next = 0.005254 R_geom = 0.004545 v_normal = 0.343621 v_plan = 0.343621 R_plan = 0.004545 v_actual = 0.343621 effective a_n = 25.980762 arc length = 0.005585, L_prev = 0.000722, L_next = 0.009148 Check: v_plan = 0.343621, v_para = 0.408044 blend arc NOT created prev segment parabolic, flagging blend_prev Adding TC id 29 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.673453, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.673453, acc = 36.402854,T = 5.894835, P = 0.006234 tc id = 11, canon_type = 1, mot type = 1 time: 0.076000 primary movement = 6.552513674544e-04 time: 7.600000000000e-02 total movement = 6.552513674544e-04 vel = 6.734527943281e-01 ******************** Handle Blend Arc prev tan = -0.485643 0.000000 0.874157 this tan = -0.928477 0.000000 0.371391 u1 = -0.485643 0.000000 0.874157 u2 = -0.928477 0.000000 0.371391 angle between segs = 0.683191 u1 = -0.485643 0.000000 0.874157 u2 = -0.928477 0.000000 0.371391 theta=1.229201 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.532990, vr2 = 8.975239 v_goal = 19.065981, max scale = 2.000000 prev length L1 = 0.012355 next length L2 = 0.005385 K = 0.000161 d_geom = 0.004219, d_prev = 0.010514, d_next = 0.004219 R_geom = 0.011867 v_normal = 0.555260 v_plan = 0.555260 R_plan = 0.011867 v_actual = 0.555260 effective a_n = 25.980762 arc length = 0.008107, L_prev = 0.008136, L_next = 0.006551 Check: v_plan = 0.555260, v_para = 0.417133 angle = 0.683191 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.341497 prev smoothing enabled Old target = 0.012355 Target = 0.008136 setting term condition 3 on tc id 29, type 1 Adding TC id 30 of type 2 Adding TC id 30 of type 1 current term = 3, type = 2, id = 30, smoothing = 1 prev term = 3, type = 1, id = 29, smoothing = 1 prev1_tc-> fv = 0.493177, tc->fv = 0.000000, capped target = 0.493177 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.709856, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.709856, acc = 36.402854,T = 5.894835, P = 0.006926 tc id = 11, canon_type = 1, mot type = 1 time: 0.077000 primary movement = 6.916542212018e-04 time: 7.700000000000e-02 total movement = 6.916542212018e-04 vel = 7.098556480756e-01 ******************** Handle Blend Arc prev tan = -0.928477 0.000000 0.371391 this tan = -0.307003 0.000000 0.951709 u1 = -0.928477 0.000000 0.371391 u2 = -0.307003 0.000000 0.951709 angle between segs = 0.878248 u1 = -0.928477 0.000000 0.371391 u2 = -0.307003 0.000000 0.951709 theta=1.131672 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.975239, vr2 = 8.756181 v_goal = 17.950478, max scale = 2.000000 prev length L1 = 0.006551 next length L2 = 0.003257 K = 0.000122 d_geom = 0.002480, d_prev = 0.005403, d_next = 0.002480 R_geom = 0.005279 v_normal = 0.370340 v_plan = 0.370340 R_plan = 0.005279 v_actual = 0.370340 effective a_n = 25.980762 arc length = 0.004636, L_prev = 0.004072, L_next = 0.004035 Check: v_plan = 0.370340, v_para = 0.320433 angle = 0.878248 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.230224 Old target = 0.006551 Target = 0.004072 setting term condition 3 on tc id 30, type 1 Adding TC id 31 of type 2 Adding TC id 31 of type 1 current term = 3, type = 2, id = 31, smoothing = 0 prev term = 3, type = 1, id = 30, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.370340, tc->fv = 0.000000, capped target = 0.370340 current term = 3, type = 1, id = 30, smoothing = 0 prev term = 3, type = 2, id = 30, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.555260, tc->fv = 0.370340, capped target = 1.938869 current term = 3, type = 2, id = 30, smoothing = 1 prev term = 3, type = 1, id = 29, smoothing = 1 prev1_tc-> fv = 0.528399, tc->fv = 0.555260, capped target = 0.555260 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.746259, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.746259, acc = 36.402854,T = 5.894835, P = 0.007654 tc id = 11, canon_type = 1, mot type = 1 time: 0.078000 primary movement = 7.280570749493e-04 time: 7.800000000000e-02 total movement = 7.280570749493e-04 vel = 7.462585018230e-01 prev segment parabolic, flagging blend_prev tpAddCircle: checking for tangent with previous prev tan = -0.307003 0.000000 0.951709 this tan = -0.166639 0.000000 0.986018 u1 = -0.307003 0.000000 0.951709 u2 = -0.166639 0.000000 0.986018 Adding TC id 32 of type 2 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.782661, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.782661, acc = 36.402854,T = 5.894835, P = 0.008418 tc id = 11, canon_type = 1, mot type = 1 time: 0.079000 primary movement = 7.644599286968e-04 time: 7.900000000000e-02 total movement = 7.644599286968e-04 vel = 7.826613555705e-01 ******************** Handle Blend Arc prev tan = -0.073872 0.000000 0.997268 this tan = -0.894427 0.000000 0.447214 u1 = -0.073872 0.000000 0.997268 u2 = -0.894427 0.000000 0.447214 Wrong motion type tc = 2, tc2 = 1 prev segment parabolic, flagging blend_prev Adding TC id 33 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.819064, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.819064, acc = 36.402854,T = 5.894835, P = 0.009219 tc id = 11, canon_type = 1, mot type = 1 time: 0.080000 primary movement = 8.008627824442e-04 time: 8.000000000000e-02 total movement = 8.008627824442e-04 vel = 8.190642093180e-01 ******************** Handle Blend Arc prev tan = -0.894427 0.000000 0.447214 this tan = -0.970143 0.000000 -0.242536 u1 = -0.894427 0.000000 0.447214 u2 = -0.970143 0.000000 -0.242536 angle between segs = 0.708626 u1 = -0.894427 0.000000 0.447214 u2 = -0.970143 0.000000 -0.242536 theta=1.216483 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.316913, vr2 = 8.589769 v_goal = 18.633825, max scale = 2.000000 prev length L1 = 0.002236 next length L2 = 0.002062 K = 0.000155 d_geom = 0.001402, d_prev = 0.001544, d_next = 0.001402 R_geom = 0.003791 v_normal = 0.313846 v_plan = 0.313846 R_plan = 0.003791 v_actual = 0.313846 effective a_n = 25.980762 arc length = 0.002687, L_prev = 0.000834, L_next = 0.002721 Check: v_plan = 0.313846, v_para = 0.252488 angle = 0.708626 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.627206 prev smoothing enabled Old target = 0.002236 Target = 0.000834 setting term condition 3 on tc id 33, type 1 Adding TC id 34 of type 2 Adding TC id 34 of type 1 current term = 3, type = 2, id = 34, smoothing = 1 prev term = 3, type = 1, id = 33, smoothing = 1 prev1_tc-> fv = 0.167211, tc->fv = 0.000000, capped target = 0.167211 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.855467, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.855467, acc = 36.402854,T = 5.894835, P = 0.010056 tc id = 11, canon_type = 1, mot type = 1 time: 0.081000 primary movement = 8.372656361917e-04 time: 8.100000000000e-02 total movement = 8.372656361917e-04 vel = 8.554670630654e-01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.891870, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.891870, acc = 36.402854,T = 5.894835, P = 0.010930 tc id = 11, canon_type = 1, mot type = 1 time: 0.082000 primary movement = 8.736684899392e-04 time: 8.200000000000e-02 total movement = 8.736684899392e-04 vel = 8.918699168129e-01 ******************** Handle Blend Arc prev tan = -0.970143 0.000000 -0.242536 this tan = -0.144454 0.000000 -0.989511 u1 = -0.970143 0.000000 -0.242536 u2 = -0.144454 0.000000 -0.989511 angle between segs = 1.180856 u1 = -0.970143 0.000000 -0.242536 u2 = -0.144454 0.000000 -0.989511 theta=0.980368 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.589769, vr2 = 8.421664 v_goal = 17.179538, max scale = 2.000000 prev length L1 = 0.002721 next length L2 = 0.006923 K = 0.000085 d_geom = 0.002119, d_prev = 0.002119, d_next = 0.005917 R_geom = 0.003162 v_normal = 0.286598 v_plan = 0.286598 R_plan = 0.003162 v_actual = 0.286598 effective a_n = 25.980762 arc length = 0.003733, L_prev = 0.000602, L_next = 0.011726 Check: v_plan = 0.286598, v_para = 0.458126 blend arc NOT created prev segment parabolic, flagging blend_prev Adding TC id 35 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.928273, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.928273, acc = 36.402854,T = 5.894835, P = 0.011840 tc id = 11, canon_type = 1, mot type = 1 time: 0.083000 primary movement = 9.100713436866e-04 time: 8.300000000000e-02 total movement = 9.100713436866e-04 vel = 9.282727705604e-01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.964676, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.964676, acc = 36.402854,T = 5.894835, P = 0.012787 tc id = 11, canon_type = 1, mot type = 1 time: 0.084000 primary movement = 9.464741974341e-04 time: 8.400000000000e-02 total movement = 9.464741974341e-04 vel = 9.646756243078e-01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.001078, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.001078, acc = 36.402854,T = 5.894835, P = 0.013769 tc id = 11, canon_type = 1, mot type = 1 time: 0.085000 primary movement = 9.828770511816e-04 time: 8.500000000000e-02 total movement = 9.828770511816e-04 vel = 1.001078478055e+00 ******************** Handle Blend Arc prev tan = -0.144454 0.000000 -0.989511 this tan = -0.894427 0.000000 0.447214 u1 = -0.144454 0.000000 -0.989511 u2 = -0.894427 0.000000 0.447214 angle between segs = 1.889483 u1 = -0.144454 0.000000 -0.989511 u2 = -0.894427 0.000000 0.447214 theta=0.626055 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.421664, vr2 = 9.316913 v_goal = 18.633825, max scale = 2.000000 prev length L1 = 0.013845 next length L2 = 0.001118 K = 0.000041 d_geom = 0.000852, d_prev = 0.012815, d_next = 0.000852 R_geom = 0.000616 v_normal = 0.126538 v_plan = 0.126538 R_plan = 0.000616 v_actual = 0.126538 effective a_n = 25.980762 arc length = 0.001164, L_prev = 0.012993, L_next = 0.001384 Check: v_plan = 0.126538, v_para = 0.175041 blend arc NOT created prev segment parabolic, flagging blend_prev Adding TC id 36 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.037481, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.037481, acc = 36.402854,T = 5.894835, P = 0.014789 tc id = 11, canon_type = 1, mot type = 1 time: 0.086000 primary movement = 1.019279904929e-03 time: 8.600000000000e-02 total movement = 1.019279904929e-03 vel = 1.037481331803e+00 ******************** Handle Blend Arc prev tan = -0.894427 0.000000 0.447214 this tan = -0.970143 0.000000 -0.242536 u1 = -0.894427 0.000000 0.447214 u2 = -0.970143 0.000000 -0.242536 angle between segs = 0.708626 u1 = -0.894427 0.000000 0.447214 u2 = -0.970143 0.000000 -0.242536 theta=1.216483 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.316913, vr2 = 8.589769 v_goal = 18.633825, max scale = 2.000000 prev length L1 = 0.002236 next length L2 = 0.002062 K = 0.000155 d_geom = 0.001402, d_prev = 0.001544, d_next = 0.001402 R_geom = 0.003791 v_normal = 0.313846 v_plan = 0.313846 R_plan = 0.003791 v_actual = 0.313846 effective a_n = 25.980762 arc length = 0.002687, L_prev = 0.000834, L_next = 0.002721 Check: v_plan = 0.313846, v_para = 0.252488 angle = 0.708626 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.627206 prev smoothing enabled Old target = 0.002236 Target = 0.000834 setting term condition 3 on tc id 36, type 1 Adding TC id 37 of type 2 Adding TC id 37 of type 1 current term = 3, type = 2, id = 37, smoothing = 1 prev term = 3, type = 1, id = 36, smoothing = 1 prev1_tc-> fv = 0.167211, tc->fv = 0.000000, capped target = 0.167211 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.073884, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.073884, acc = 36.402854,T = 5.894835, P = 0.015844 tc id = 11, canon_type = 1, mot type = 1 time: 0.087000 primary movement = 1.055682758677e-03 time: 8.700000000000e-02 total movement = 1.055682758677e-03 vel = 1.073884185550e+00 ******************** Handle Blend Arc prev tan = -0.970143 0.000000 -0.242536 this tan = -0.213538 0.000000 -0.976935 u1 = -0.970143 0.000000 -0.242536 u2 = -0.213538 0.000000 -0.976935 angle between segs = 1.110623 u1 = -0.970143 0.000000 -0.242536 u2 = -0.213538 0.000000 -0.976935 theta=1.015485 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.589769, vr2 = 8.530081 v_goal = 17.179538, max scale = 2.000000 prev length L1 = 0.002721 next length L2 = 0.009366 K = 0.000092 d_geom = 0.002098, d_prev = 0.002098, d_next = 0.008140 R_geom = 0.003382 v_normal = 0.296413 v_plan = 0.296413 R_plan = 0.003382 v_actual = 0.296413 effective a_n = 25.980762 arc length = 0.003756, L_prev = 0.000622, L_next = 0.016634 Check: v_plan = 0.296413, v_para = 0.536297 blend arc NOT created prev segment parabolic, flagging blend_prev Adding TC id 38 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.110287, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.110287, acc = 36.402854,T = 5.894835, P = 0.016936 tc id = 11, canon_type = 1, mot type = 1 time: 0.088000 primary movement = 1.092085612424e-03 time: 8.800000000000e-02 total movement = 1.092085612424e-03 vel = 1.110287039298e+00 ******************** Handle Blend Arc prev tan = -0.213538 0.000000 -0.976935 this tan = -0.988936 0.000000 -0.148340 u1 = -0.213538 0.000000 -0.976935 u2 = -0.988936 0.000000 -0.148340 angle between segs = 1.206712 u1 = -0.213538 0.000000 -0.976935 u2 = -0.988936 0.000000 -0.148340 theta=0.967441 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.530081, vr2 = 8.426528 v_goal = 17.060162, max scale = 2.000000 prev length L1 = 0.018732 next length L2 = 0.003034 K = 0.000083 d_geom = 0.002402, d_prev = 0.017048, d_next = 0.002402 R_geom = 0.003485 v_normal = 0.300917 v_plan = 0.300917 R_plan = 0.003485 v_actual = 0.300917 effective a_n = 25.980762 arc length = 0.004206, L_prev = 0.016330, L_next = 0.003665 Check: v_plan = 0.300917, v_para = 0.303356 blend arc NOT created prev segment parabolic, flagging blend_prev Adding TC id 39 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.146690, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.146690, acc = 36.402854,T = 5.894835, P = 0.018065 tc id = 11, canon_type = 1, mot type = 1 time: 0.089000 primary movement = 1.128488466171e-03 time: 8.900000000000e-02 total movement = 1.128488466171e-03 vel = 1.146689893045e+00 ******************** Handle Blend Arc prev tan = -0.988936 0.000000 -0.148340 this tan = -0.830221 0.000000 0.557434 u1 = -0.988936 0.000000 -0.148340 u2 = -0.830221 0.000000 0.557434 angle between segs = 0.740182 u1 = -0.988936 0.000000 -0.148340 u2 = -0.830221 0.000000 0.557434 theta=1.200705 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.426528, vr2 = 10.037446 v_goal = 20.074893, max scale = 2.000000 prev length L1 = 0.006067 next length L2 = 0.008431 K = 0.000148 d_geom = 0.004868, d_prev = 0.004868, d_next = 0.006994 R_geom = 0.012548 v_normal = 0.570963 v_plan = 0.570963 R_plan = 0.012548 v_actual = 0.570963 effective a_n = 25.980762 arc length = 0.009288, L_prev = 0.001199, L_next = 0.011995 Check: v_plan = 0.570963, v_para = 0.463384 angle = 0.740182 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.802374 prev smoothing enabled Old target = 0.006067 Target = 0.001199 setting term condition 3 on tc id 39, type 1 Adding TC id 40 of type 2 Adding TC id 40 of type 1 current term = 3, type = 2, id = 40, smoothing = 1 prev term = 3, type = 1, id = 39, smoothing = 1 prev1_tc-> fv = 0.190717, tc->fv = 0.000000, capped target = 0.190717 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.183093, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.183093, acc = 36.402854,T = 5.894835, P = 0.019230 tc id = 11, canon_type = 1, mot type = 1 time: 0.090000 primary movement = 1.164891319919e-03 time: 9.000000000000e-02 total movement = 1.164891319919e-03 vel = 1.183092746793e+00 ******************** Handle Blend Arc prev tan = -0.830221 0.000000 0.557434 this tan = -0.951034 0.000000 -0.309086 u1 = -0.830221 0.000000 0.557434 u2 = -0.951034 0.000000 -0.309086 angle between segs = 0.905524 u1 = -0.830221 0.000000 0.557434 u2 = -0.951034 0.000000 -0.309086 theta=1.118034 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 10.037446, vr2 = 8.762357 v_goal = 20.074893, max scale = 2.000000 prev length L1 = 0.011995 next length L2 = 0.004206 K = 0.000118 d_geom = 0.003321, d_prev = 0.010428, d_next = 0.003321 R_geom = 0.006828 v_normal = 0.421178 v_plan = 0.421178 R_plan = 0.006828 v_actual = 0.421178 effective a_n = 25.980762 arc length = 0.006183, L_prev = 0.008673, L_next = 0.005090 Check: v_plan = 0.421178, v_para = 0.364246 angle = 0.905524 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.196969 Old target = 0.011995 Target = 0.008673 setting term condition 3 on tc id 40, type 1 Adding TC id 41 of type 2 Adding TC id 41 of type 1 current term = 3, type = 2, id = 41, smoothing = 0 prev term = 3, type = 1, id = 40, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.421178, tc->fv = 0.000000, capped target = 0.421178 current term = 3, type = 1, id = 40, smoothing = 0 prev term = 3, type = 2, id = 40, smoothing = 1 prev1_tc-> fv = 0.561249, tc->fv = 0.421178, capped target = 4.130190 current term = 3, type = 2, id = 40, smoothing = 1 prev term = 3, type = 1, id = 39, smoothing = 1 prev1_tc-> fv = 0.190717, tc->fv = 0.561249, capped target = 0.561249 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.219496, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.219496, acc = 36.402854,T = 5.894835, P = 0.020431 tc id = 11, canon_type = 1, mot type = 1 time: 0.091000 primary movement = 1.201294173666e-03 time: 9.100000000000e-02 total movement = 1.201294173666e-03 vel = 1.219495600540e+00 ******************** Handle Blend Arc prev tan = -0.951034 0.000000 -0.309086 this tan = -0.917556 0.000000 0.397607 u1 = -0.951034 0.000000 -0.309086 u2 = -0.917556 0.000000 0.397607 angle between segs = 0.723140 u1 = -0.951034 0.000000 -0.309086 u2 = -0.917556 0.000000 0.397607 theta=1.209226 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.762357, vr2 = 9.082065 v_goal = 18.164130, max scale = 2.000000 prev length L1 = 0.005090 next length L2 = 0.003270 K = 0.000151 d_geom = 0.002414, d_prev = 0.003991, d_next = 0.002414 R_geom = 0.006384 v_normal = 0.407254 v_plan = 0.407254 R_plan = 0.006384 v_actual = 0.407254 effective a_n = 25.980762 arc length = 0.004616, L_prev = 0.002676, L_next = 0.004125 Check: v_plan = 0.407254, v_para = 0.315446 angle = 0.723140 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.287013 Old target = 0.005090 Target = 0.002676 setting term condition 3 on tc id 41, type 1 Adding TC id 42 of type 2 Adding TC id 42 of type 1 current term = 3, type = 2, id = 42, smoothing = 0 prev term = 3, type = 1, id = 41, smoothing = 0 prev1_tc-> fv = 0.372144, tc->fv = 0.000000, capped target = 0.407254 current term = 3, type = 1, id = 41, smoothing = 0 prev term = 3, type = 2, id = 41, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.421178, tc->fv = 0.372144, capped target = 1.274332 current term = 3, type = 2, id = 41, smoothing = 0 prev term = 3, type = 1, id = 40, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.421178, tc->fv = 0.421178, capped target = 0.421178 current term = 3, type = 1, id = 40, smoothing = 0 prev term = 3, type = 2, id = 40, smoothing = 1 prev1_tc-> fv = 0.561249, tc->fv = 0.421178, capped target = 4.130190 current term = 3, type = 2, id = 40, smoothing = 1 prev term = 3, type = 1, id = 39, smoothing = 1 prev1_tc-> fv = 0.190717, tc->fv = 0.561249, capped target = 0.561249 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.255898, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.255898, acc = 36.402854,T = 5.894835, P = 0.021669 tc id = 11, canon_type = 1, mot type = 1 time: 0.092000 primary movement = 1.237697027414e-03 time: 9.200000000000e-02 total movement = 1.237697027414e-03 vel = 1.255898454288e+00 ******************** Handle Blend Arc prev tan = -0.917556 0.000000 0.397607 this tan = -0.940136 0.000000 -0.340799 u1 = -0.917556 0.000000 0.397607 u2 = -0.940136 0.000000 -0.340799 angle between segs = 0.756675 u1 = -0.917556 0.000000 0.397607 u2 = -0.940136 0.000000 -0.340799 theta=1.192459 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.082065, vr2 = 8.863930 v_goal = 18.164130, max scale = 2.000000 prev length L1 = 0.004125 next length L2 = 0.004255 K = 0.000144 d_geom = 0.003169, d_prev = 0.003169, d_next = 0.003282 R_geom = 0.007973 v_normal = 0.455122 v_plan = 0.455122 R_plan = 0.007973 v_actual = 0.455122 effective a_n = 25.980762 arc length = 0.006033, L_prev = 0.000956, L_next = 0.005340 Check: v_plan = 0.455122, v_para = 0.368468 angle = 0.756675 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.484627 prev smoothing enabled Old target = 0.004125 Target = 0.000956 setting term condition 3 on tc id 42, type 1 Adding TC id 43 of type 2 Adding TC id 43 of type 1 current term = 3, type = 2, id = 43, smoothing = 1 prev term = 3, type = 1, id = 42, smoothing = 1 prev1_tc-> fv = 0.249996, tc->fv = 0.000000, capped target = 0.249996 current term = 3, type = 1, id = 42, smoothing = 1 prev term = 3, type = 2, id = 42, smoothing = 0 prev1_tc-> fv = 0.353548, tc->fv = 0.249996, capped target = 0.353548 current term = 3, type = 2, id = 42, smoothing = 0 prev term = 3, type = 1, id = 41, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.407254, tc->fv = 0.353548, capped target = 0.407254 current term = 3, type = 1, id = 41, smoothing = 0 prev term = 3, type = 2, id = 41, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.421178, tc->fv = 0.407254, capped target = 1.274332 current term = 3, type = 2, id = 41, smoothing = 0 prev term = 3, type = 1, id = 40, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.421178, tc->fv = 0.421178, capped target = 0.421178 current term = 3, type = 1, id = 40, smoothing = 0 prev term = 3, type = 2, id = 40, smoothing = 1 prev1_tc-> fv = 0.561249, tc->fv = 0.421178, capped target = 4.130190 current term = 3, type = 2, id = 40, smoothing = 1 prev term = 3, type = 1, id = 39, smoothing = 1 prev1_tc-> fv = 0.190717, tc->fv = 0.561249, capped target = 0.561249 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.292301, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.292301, acc = 36.402854,T = 5.894835, P = 0.022943 tc id = 11, canon_type = 1, mot type = 1 time: 0.093000 primary movement = 1.274099881161e-03 time: 9.300000000000e-02 total movement = 1.274099881161e-03 vel = 1.292301308035e+00 ******************** Handle Blend Arc prev tan = -0.940136 0.000000 -0.340799 this tan = -0.609711 0.000000 -0.792624 u1 = -0.940136 0.000000 -0.340799 u2 = -0.609711 0.000000 -0.792624 angle between segs = 0.567334 u1 = -0.940136 0.000000 -0.340799 u2 = -0.609711 0.000000 -0.792624 theta=1.287129 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.863930, vr2 = 10.513602 v_goal = 21.027204, max scale = 2.000000 prev length L1 = 0.005340 next length L2 = 0.001640 K = 0.000197 d_geom = 0.001010, d_prev = 0.004075, d_next = 0.001010 R_geom = 0.003465 v_normal = 0.300027 v_plan = 0.300027 R_plan = 0.003465 v_actual = 0.300027 effective a_n = 25.980762 arc length = 0.001966, L_prev = 0.004330, L_next = 0.002270 Check: v_plan = 0.300027, v_para = 0.210059 angle = 0.567334 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.118700 Old target = 0.005340 Target = 0.004330 setting term condition 3 on tc id 43, type 1 Adding TC id 44 of type 2 Adding TC id 44 of type 1 current term = 3, type = 2, id = 44, smoothing = 0 prev term = 3, type = 1, id = 43, smoothing = 0 prev1_tc-> fv = 0.242837, tc->fv = 0.000000, capped target = 0.300027 current term = 3, type = 1, id = 43, smoothing = 0 prev term = 3, type = 2, id = 43, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.455122, tc->fv = 0.242837, capped target = 2.062052 current term = 3, type = 2, id = 43, smoothing = 1 prev term = 3, type = 1, id = 42, smoothing = 1 prev1_tc-> fv = 0.433006, tc->fv = 0.455122, capped target = 0.455122 current term = 3, type = 1, id = 42, smoothing = 1 prev term = 3, type = 2, id = 42, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.407254, tc->fv = 0.433006, capped target = 0.433006 current term = 3, type = 2, id = 42, smoothing = 0 prev term = 3, type = 1, id = 41, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.407254, tc->fv = 0.407254, capped target = 0.407254 current term = 3, type = 1, id = 41, smoothing = 0 prev term = 3, type = 2, id = 41, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.421178, tc->fv = 0.407254, capped target = 1.274332 current term = 3, type = 2, id = 41, smoothing = 0 prev term = 3, type = 1, id = 40, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.421178, tc->fv = 0.421178, capped target = 0.421178 current term = 3, type = 1, id = 40, smoothing = 0 prev term = 3, type = 2, id = 40, smoothing = 1 prev1_tc-> fv = 0.561249, tc->fv = 0.421178, capped target = 4.130190 current term = 3, type = 2, id = 40, smoothing = 1 prev term = 3, type = 1, id = 39, smoothing = 1 prev1_tc-> fv = 0.190717, tc->fv = 0.561249, capped target = 0.561249 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.328704, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.328704, acc = 36.402854,T = 5.894835, P = 0.024253 tc id = 11, canon_type = 1, mot type = 1 time: 0.094000 primary movement = 1.310502734909e-03 time: 9.400000000000e-02 total movement = 1.310502734909e-03 vel = 1.328704161782e+00 ******************** Handle Blend Arc prev tan = -0.609711 0.000000 -0.792624 this tan = -0.995037 0.000000 0.099504 u1 = -0.609711 0.000000 -0.792624 u2 = -0.995037 0.000000 0.099504 angle between segs = 1.014769 u1 = -0.609711 0.000000 -0.792624 u2 = -0.995037 0.000000 0.099504 theta=1.063412 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 10.513602, vr2 = 8.374863 v_goal = 21.027204, max scale = 2.000000 prev length L1 = 0.002270 next length L2 = 0.008040 K = 0.000103 d_geom = 0.001681, d_prev = 0.001681, d_next = 0.006852 R_geom = 0.003025 v_normal = 0.280326 v_plan = 0.280326 R_plan = 0.003025 v_actual = 0.280326 effective a_n = 25.980762 arc length = 0.003069, L_prev = 0.000589, L_next = 0.014398 Check: v_plan = 0.280326, v_para = 0.492341 blend arc NOT created prev segment parabolic, flagging blend_prev Adding TC id 45 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.365107, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.365107, acc = 36.402854,T = 5.894835, P = 0.025600 tc id = 11, canon_type = 1, mot type = 1 time: 0.095000 primary movement = 1.346905588656e-03 time: 9.500000000000e-02 total movement = 1.346905588656e-03 vel = 1.365107015530e+00 ******************** Handle Blend Arc prev tan = -0.995037 0.000000 0.099504 this tan = -0.903278 0.000000 -0.429057 u1 = -0.995037 0.000000 0.099504 u2 = -0.903278 0.000000 -0.429057 angle between segs = 0.543117 u1 = -0.995037 0.000000 0.099504 u2 = -0.903278 0.000000 -0.429057 theta=1.299238 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.374863, vr2 = 9.225626 v_goal = 18.451251, max scale = 2.000000 prev length L1 = 0.016080 next length L2 = 0.002214 K = 0.000206 d_geom = 0.001443, d_prev = 0.013705, d_next = 0.001443 R_geom = 0.005184 v_normal = 0.366999 v_plan = 0.366999 R_plan = 0.005184 v_actual = 0.366999 effective a_n = 25.980762 arc length = 0.002816, L_prev = 0.014636, L_next = 0.002985 Check: v_plan = 0.366999, v_para = 0.246171 angle = 0.543117 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.089769 Old target = 0.016080 Target = 0.014636 setting term condition 3 on tc id 45, type 1 Adding TC id 46 of type 2 Adding TC id 46 of type 1 current term = 3, type = 2, id = 46, smoothing = 0 prev term = 3, type = 1, id = 45, smoothing = 0 prev1_tc-> fv = 0.290634, tc->fv = 0.000000, capped target = 0.366999 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.401510, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.401510, acc = 36.402854,T = 5.894835, P = 0.026984 tc id = 11, canon_type = 1, mot type = 1 time: 0.096000 primary movement = 1.383308442404e-03 time: 9.600000000000e-02 total movement = 1.383308442404e-03 vel = 1.401509869277e+00 ******************** Handle Blend Arc prev tan = -0.903278 0.000000 -0.429057 this tan = -0.997459 0.000000 -0.071247 u1 = -0.903278 0.000000 -0.429057 u2 = -0.997459 0.000000 -0.071247 angle between segs = 0.372141 u1 = -0.903278 0.000000 -0.429057 u2 = -0.997459 0.000000 -0.071247 theta=1.384726 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.225626, vr2 = 8.354531 v_goal = 18.451251, max scale = 2.000000 prev length L1 = 0.002985 next length L2 = 0.007018 K = 0.000304 d_geom = 0.001907, d_prev = 0.001907, d_next = 0.005233 R_geom = 0.010132 v_normal = 0.513076 v_plan = 0.513076 R_plan = 0.010132 v_actual = 0.513076 effective a_n = 25.980762 arc length = 0.003771, L_prev = 0.001077, L_next = 0.012128 Check: v_plan = 0.513076, v_para = 0.459425 angle = 0.372141 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.430728 prev smoothing enabled Old target = 0.002985 Target = 0.001077 setting term condition 3 on tc id 46, type 1 Adding TC id 47 of type 2 Adding TC id 47 of type 1 current term = 3, type = 2, id = 47, smoothing = 1 prev term = 3, type = 1, id = 46, smoothing = 1 prev1_tc-> fv = 0.267526, tc->fv = 0.000000, capped target = 0.267526 current term = 3, type = 1, id = 46, smoothing = 1 prev term = 3, type = 2, id = 46, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.366999, tc->fv = 0.267526, capped target = 0.366999 current term = 3, type = 2, id = 46, smoothing = 0 prev term = 3, type = 1, id = 45, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.366999, tc->fv = 0.366999, capped target = 0.366999 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.437913, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.437913, acc = 36.402854,T = 5.894835, P = 0.028403 tc id = 11, canon_type = 1, mot type = 1 time: 0.097000 primary movement = 1.419711296151e-03 time: 9.700000000000e-02 total movement = 1.419711296151e-03 vel = 1.437912723025e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.474316, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.474316, acc = 36.402854,T = 5.894835, P = 0.029859 tc id = 11, canon_type = 1, mot type = 1 time: 0.098000 primary movement = 1.456114149899e-03 time: 9.800000000000e-02 total movement = 1.456114149899e-03 vel = 1.474315576772e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.510718, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.510718, acc = 36.402854,T = 5.894835, P = 0.031352 tc id = 11, canon_type = 1, mot type = 1 time: 0.099000 primary movement = 1.492517003646e-03 time: 9.900000000000e-02 total movement = 1.492517003646e-03 vel = 1.510718430520e+00 ******************** Handle Blend Arc prev tan = -0.997459 0.000000 -0.071247 this tan = -0.898876 0.000000 0.438202 u1 = -0.997459 0.000000 -0.071247 u2 = -0.898876 0.000000 0.438202 angle between segs = 0.524905 u1 = -0.997459 0.000000 -0.071247 u2 = -0.898876 0.000000 0.438202 theta=1.308344 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.354531, vr2 = 9.270796 v_goal = 18.541593, max scale = 2.000000 prev length L1 = 0.012128 next length L2 = 0.004450 K = 0.000213 d_geom = 0.003269, d_prev = 0.010057, d_next = 0.003269 R_geom = 0.012169 v_normal = 0.562282 v_plan = 0.562282 R_plan = 0.012169 v_actual = 0.562282 effective a_n = 25.980762 arc length = 0.006388, L_prev = 0.008859, L_next = 0.005631 Check: v_plan = 0.562282, v_para = 0.347293 angle = 0.524905 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.232921 Old target = 0.012128 Target = 0.008859 setting term condition 3 on tc id 47, type 1 Adding TC id 48 of type 2 Adding TC id 48 of type 1 current term = 3, type = 2, id = 48, smoothing = 0 prev term = 3, type = 1, id = 47, smoothing = 0 prev1_tc-> fv = 0.437753, tc->fv = 0.000000, capped target = 0.562282 current term = 3, type = 1, id = 47, smoothing = 0 prev term = 3, type = 2, id = 47, smoothing = 1 prev1_tc-> fv = 0.429756, tc->fv = 0.437753, capped target = 4.218601 current term = 3, type = 2, id = 47, smoothing = 1 prev term = 3, type = 1, id = 46, smoothing = 1 prev1_tc-> fv = 0.454157, tc->fv = 0.429756, capped target = 0.454157 current term = 3, type = 1, id = 46, smoothing = 1 prev term = 3, type = 2, id = 46, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.366999, tc->fv = 0.454157, capped target = 0.454157 current term = 3, type = 2, id = 46, smoothing = 0 prev term = 3, type = 1, id = 45, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.366999, tc->fv = 0.366999, capped target = 0.366999 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.547121, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.547121, acc = 36.402854,T = 5.894835, P = 0.032881 tc id = 11, canon_type = 1, mot type = 1 time: 0.100000 primary movement = 1.528919857394e-03 time: 1.000000000000e-01 total movement = 1.528919857394e-03 vel = 1.547121284267e+00 ******************** Handle Blend Arc prev tan = -0.898876 0.000000 0.438202 this tan = -0.985030 0.000000 -0.172380 u1 = -0.898876 0.000000 0.438202 u2 = -0.985030 0.000000 -0.172380 angle between segs = 0.626843 u1 = -0.898876 0.000000 0.438202 u2 = -0.985030 0.000000 -0.172380 theta=1.257375 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.270796, vr2 = 8.459941 v_goal = 18.541593, max scale = 2.000000 prev length L1 = 0.005631 next length L2 = 0.002030 K = 0.000177 d_geom = 0.001342, d_prev = 0.004386, d_next = 0.001342 R_geom = 0.004140 v_normal = 0.327952 v_plan = 0.327952 R_plan = 0.004140 v_actual = 0.327952 effective a_n = 25.980762 arc length = 0.002595, L_prev = 0.004289, L_next = 0.002719 Check: v_plan = 0.327952, v_para = 0.248671 angle = 0.626843 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.150752 Old target = 0.005631 Target = 0.004289 setting term condition 3 on tc id 48, type 1 Adding TC id 49 of type 2 Adding TC id 49 of type 1 current term = 3, type = 2, id = 49, smoothing = 0 prev term = 3, type = 1, id = 48, smoothing = 0 prev1_tc-> fv = 0.279013, tc->fv = 0.000000, capped target = 0.327952 current term = 3, type = 1, id = 48, smoothing = 0 prev term = 3, type = 2, id = 48, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.562282, tc->fv = 0.279013, capped target = 2.042427 current term = 3, type = 2, id = 48, smoothing = 0 prev term = 3, type = 1, id = 47, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.562282, tc->fv = 0.562282, capped target = 0.562282 current term = 3, type = 1, id = 47, smoothing = 0 prev term = 3, type = 2, id = 47, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.513076, tc->fv = 0.562282, capped target = 4.218601 current term = 3, type = 2, id = 47, smoothing = 1 prev term = 3, type = 1, id = 46, smoothing = 1 prev1_tc-> fv = 0.454157, tc->fv = 0.513076, capped target = 0.513076 current term = 3, type = 1, id = 46, smoothing = 1 prev term = 3, type = 2, id = 46, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.366999, tc->fv = 0.454157, capped target = 0.454157 current term = 3, type = 2, id = 46, smoothing = 0 prev term = 3, type = 1, id = 45, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.366999, tc->fv = 0.366999, capped target = 0.366999 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.583524, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.583524, acc = 36.402854,T = 5.894835, P = 0.034446 tc id = 11, canon_type = 1, mot type = 1 time: 0.101000 primary movement = 1.565322711141e-03 time: 1.010000000000e-01 total movement = 1.565322711141e-03 vel = 1.583524138015e+00 ******************** Handle Blend Arc prev tan = -0.985030 0.000000 -0.172380 this tan = -0.656179 0.000000 -0.754606 u1 = -0.985030 0.000000 -0.172380 u2 = -0.656179 0.000000 -0.754606 angle between segs = 0.681807 u1 = -0.985030 0.000000 -0.172380 u2 = -0.656179 0.000000 -0.754606 theta=1.229893 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.459941, vr2 = 11.043297 v_goal = 22.086594, max scale = 2.000000 prev length L1 = 0.002719 next length L2 = 0.001524 K = 0.000161 d_geom = 0.000966, d_prev = 0.001930, d_next = 0.000966 R_geom = 0.002722 v_normal = 0.265919 v_plan = 0.265919 R_plan = 0.002722 v_actual = 0.265919 effective a_n = 25.980762 arc length = 0.001856, L_prev = 0.001754, L_next = 0.002082 Check: v_plan = 0.265919, v_para = 0.188564 angle = 0.681807 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.237773 Old target = 0.002719 Target = 0.001754 setting term condition 3 on tc id 49, type 1 Adding TC id 50 of type 2 Adding TC id 50 of type 1 current term = 3, type = 2, id = 50, smoothing = 0 prev term = 3, type = 1, id = 49, smoothing = 0 prev1_tc-> fv = 0.235947, tc->fv = 0.000000, capped target = 0.265919 current term = 3, type = 1, id = 49, smoothing = 0 prev term = 3, type = 2, id = 49, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.327952, tc->fv = 0.235947, capped target = 0.835023 current term = 3, type = 2, id = 49, smoothing = 0 prev term = 3, type = 1, id = 48, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.327952, tc->fv = 0.327952, capped target = 0.327952 current term = 3, type = 1, id = 48, smoothing = 0 prev term = 3, type = 2, id = 48, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.562282, tc->fv = 0.327952, capped target = 2.042427 current term = 3, type = 2, id = 48, smoothing = 0 prev term = 3, type = 1, id = 47, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.562282, tc->fv = 0.562282, capped target = 0.562282 current term = 3, type = 1, id = 47, smoothing = 0 prev term = 3, type = 2, id = 47, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.513076, tc->fv = 0.562282, capped target = 4.218601 current term = 3, type = 2, id = 47, smoothing = 1 prev term = 3, type = 1, id = 46, smoothing = 1 prev1_tc-> fv = 0.454157, tc->fv = 0.513076, capped target = 0.513076 current term = 3, type = 1, id = 46, smoothing = 1 prev term = 3, type = 2, id = 46, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.366999, tc->fv = 0.454157, capped target = 0.454157 current term = 3, type = 2, id = 46, smoothing = 0 prev term = 3, type = 1, id = 45, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.366999, tc->fv = 0.366999, capped target = 0.366999 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.619927, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.619927, acc = 36.402854,T = 5.894835, P = 0.036048 tc id = 11, canon_type = 1, mot type = 1 time: 0.102000 primary movement = 1.601725564888e-03 time: 1.020000000000e-01 total movement = 1.601725564888e-03 vel = 1.619926991762e+00 ******************** Handle Blend Arc prev tan = -0.656179 0.000000 -0.754606 this tan = -0.894427 0.000000 0.447214 u1 = -0.656179 0.000000 -0.754606 u2 = -0.894427 0.000000 0.447214 angle between segs = 1.318700 u1 = -0.656179 0.000000 -0.754606 u2 = -0.894427 0.000000 0.447214 theta=0.911446 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 11.043297, vr2 = 9.316913 v_goal = 22.086594, max scale = 2.000000 prev length L1 = 0.002082 next length L2 = 0.001118 K = 0.000074 d_geom = 0.000779, d_prev = 0.001597, d_next = 0.000779 R_geom = 0.001005 v_normal = 0.161567 v_plan = 0.161567 R_plan = 0.001005 v_actual = 0.161567 effective a_n = 25.980762 arc length = 0.001325, L_prev = 0.001304, L_next = 0.001457 Check: v_plan = 0.161567, v_para = 0.193649 blend arc NOT created prev segment parabolic, flagging blend_prev Adding TC id 51 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.656330, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.656330, acc = 36.402854,T = 5.894835, P = 0.037686 tc id = 11, canon_type = 1, mot type = 1 time: 0.103000 primary movement = 1.638128418636e-03 time: 1.030000000000e-01 total movement = 1.638128418636e-03 vel = 1.656329845510e+00 ******************** Handle Blend Arc prev tan = -0.894427 0.000000 0.447214 this tan = -0.998422 0.000000 -0.056161 u1 = -0.894427 0.000000 0.447214 u2 = -0.998422 0.000000 -0.056161 angle between segs = 0.519838 u1 = -0.894427 0.000000 0.447214 u2 = -0.998422 0.000000 -0.056161 theta=1.310877 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.316913, vr2 = 8.346473 v_goal = 18.633825, max scale = 2.000000 prev length L1 = 0.002236 next length L2 = 0.008013 K = 0.000215 d_geom = 0.001447, d_prev = 0.001447, d_next = 0.006358 R_geom = 0.005440 v_normal = 0.375935 v_plan = 0.375935 R_plan = 0.005440 v_actual = 0.375935 effective a_n = 25.980762 arc length = 0.002828, L_prev = 0.000789, L_next = 0.014579 Check: v_plan = 0.375935, v_para = 0.490672 blend arc NOT created prev segment parabolic, flagging blend_prev Adding TC id 52 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.692733, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.692733, acc = 36.402854,T = 5.894835, P = 0.039361 tc id = 11, canon_type = 1, mot type = 1 time: 0.104000 primary movement = 1.674531272383e-03 time: 1.040000000000e-01 total movement = 1.674531272383e-03 vel = 1.692732699257e+00 ******************** Handle Blend Arc prev tan = -0.998422 0.000000 -0.056161 this tan = -0.972937 0.000000 0.231072 u1 = -0.998422 0.000000 -0.056161 u2 = -0.972937 0.000000 0.231072 angle between segs = 0.289371 u1 = -0.998422 0.000000 -0.056161 u2 = -0.972937 0.000000 0.231072 theta=1.426111 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.346473, vr2 = 8.565101 v_goal = 17.130202, max scale = 2.000000 prev length L1 = 0.016025 next length L2 = 0.004111 K = 0.000393 d_geom = 0.002664, d_prev = 0.012847, d_next = 0.002664 R_geom = 0.018283 v_normal = 0.689211 v_plan = 0.689211 R_plan = 0.018283 v_actual = 0.689211 effective a_n = 25.980762 arc length = 0.005291, L_prev = 0.013361, L_next = 0.005559 Check: v_plan = 0.689211, v_para = 0.346958 angle = 0.289371 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.166232 Old target = 0.016025 Target = 0.013361 setting term condition 3 on tc id 52, type 1 Adding TC id 53 of type 2 Adding TC id 53 of type 1 current term = 3, type = 2, id = 53, smoothing = 0 prev term = 3, type = 1, id = 52, smoothing = 0 prev1_tc-> fv = 0.398395, tc->fv = 0.000000, capped target = 0.689211 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.729136, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.729136, acc = 36.402854,T = 5.894835, P = 0.041072 tc id = 11, canon_type = 1, mot type = 1 time: 0.105000 primary movement = 1.710934126131e-03 time: 1.050000000000e-01 total movement = 1.710934126131e-03 vel = 1.729135553005e+00 ******************** Handle Blend Arc prev tan = -0.972937 0.000000 0.231072 this tan = -0.838444 0.000000 -0.544988 u1 = -0.972937 0.000000 0.231072 u2 = -0.838444 0.000000 -0.544988 angle between segs = 0.809555 u1 = -0.972937 0.000000 0.231072 u2 = -0.838444 0.000000 -0.544988 theta=1.166019 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.565101, vr2 = 9.939011 v_goal = 19.878021, max scale = 2.000000 prev length L1 = 0.005559 next length L2 = 0.002385 K = 0.000134 d_geom = 0.001709, d_prev = 0.004466, d_next = 0.001709 R_geom = 0.003990 v_normal = 0.321950 v_plan = 0.321950 R_plan = 0.003990 v_actual = 0.321950 effective a_n = 25.980762 arc length = 0.003230, L_prev = 0.003849, L_next = 0.003061 Check: v_plan = 0.321950, v_para = 0.251763 angle = 0.809555 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.207877 Old target = 0.005559 Target = 0.003849 setting term condition 3 on tc id 53, type 1 Adding TC id 54 of type 2 Adding TC id 54 of type 1 current term = 3, type = 2, id = 54, smoothing = 0 prev term = 3, type = 1, id = 53, smoothing = 0 prev1_tc-> fv = 0.311277, tc->fv = 0.000000, capped target = 0.321950 current term = 3, type = 1, id = 53, smoothing = 0 prev term = 3, type = 2, id = 53, smoothing = 0 prev1_tc-> fv = 0.563415, tc->fv = 0.311277, capped target = 1.833015 current term = 3, type = 2, id = 53, smoothing = 0 prev term = 3, type = 1, id = 52, smoothing = 0 prev1_tc-> fv = 0.633620, tc->fv = 0.563415, capped target = 0.689211 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.765538, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.765538, acc = 36.402854,T = 5.894835, P = 0.042819 tc id = 11, canon_type = 1, mot type = 1 time: 0.106000 primary movement = 1.747336979878e-03 time: 1.060000000000e-01 total movement = 1.747336979878e-03 vel = 1.765538406752e+00 ******************** Handle Blend Arc prev tan = -0.838444 0.000000 -0.544988 this tan = -0.985030 0.000000 0.172380 u1 = -0.838444 0.000000 -0.544988 u2 = -0.985030 0.000000 0.172380 angle between segs = 0.749621 u1 = -0.838444 0.000000 -0.544988 u2 = -0.985030 0.000000 0.172380 theta=1.195986 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.939011, vr2 = 8.459941 v_goal = 19.878021, max scale = 2.000000 prev length L1 = 0.003061 next length L2 = 0.002030 K = 0.000146 d_geom = 0.001393, d_prev = 0.002252, d_next = 0.001393 R_geom = 0.003542 v_normal = 0.303345 v_plan = 0.303345 R_plan = 0.003542 v_actual = 0.303345 effective a_n = 25.980762 arc length = 0.002655, L_prev = 0.001668, L_next = 0.002667 Check: v_plan = 0.303345, v_para = 0.248671 angle = 0.749621 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.292065 Old target = 0.003061 Target = 0.001668 setting term condition 3 on tc id 54, type 1 Adding TC id 55 of type 2 Adding TC id 55 of type 1 current term = 3, type = 2, id = 55, smoothing = 0 prev term = 3, type = 1, id = 54, smoothing = 0 prev1_tc-> fv = 0.282223, tc->fv = 0.000000, capped target = 0.303345 current term = 3, type = 1, id = 54, smoothing = 0 prev term = 3, type = 2, id = 54, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321950, tc->fv = 0.282223, capped target = 0.794333 current term = 3, type = 2, id = 54, smoothing = 0 prev term = 3, type = 1, id = 53, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321950, tc->fv = 0.321950, capped target = 0.321950 current term = 3, type = 1, id = 53, smoothing = 0 prev term = 3, type = 2, id = 53, smoothing = 0 prev1_tc-> fv = 0.583983, tc->fv = 0.321950, capped target = 1.833015 current term = 3, type = 2, id = 53, smoothing = 0 prev term = 3, type = 1, id = 52, smoothing = 0 prev1_tc-> fv = 0.633620, tc->fv = 0.583983, capped target = 0.689211 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.801941, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.801941, acc = 36.402854,T = 5.894835, P = 0.044603 tc id = 11, canon_type = 1, mot type = 1 time: 0.107000 primary movement = 1.783739833626e-03 time: 1.070000000000e-01 total movement = 1.783739833626e-03 vel = 1.801941260500e+00 ******************** Handle Blend Arc prev tan = -0.985030 0.000000 0.172380 this tan = -0.894427 0.000000 -0.447214 u1 = -0.985030 0.000000 0.172380 u2 = -0.894427 0.000000 -0.447214 angle between segs = 0.636893 u1 = -0.985030 0.000000 0.172380 u2 = -0.894427 0.000000 -0.447214 theta=1.252350 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.459941, vr2 = 9.316913 v_goal = 18.633825, max scale = 2.000000 prev length L1 = 0.002667 next length L2 = 0.003354 K = 0.000174 d_geom = 0.001863, d_prev = 0.001863, d_next = 0.002434 R_geom = 0.005651 v_normal = 0.383153 v_plan = 0.383153 R_plan = 0.005651 v_actual = 0.383153 effective a_n = 25.980762 arc length = 0.003599, L_prev = 0.000805, L_next = 0.004845 Check: v_plan = 0.383153, v_para = 0.304559 angle = 0.636893 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.458729 prev smoothing enabled Old target = 0.002667 Target = 0.000805 setting term condition 3 on tc id 55, type 1 Adding TC id 56 of type 2 Adding TC id 56 of type 1 current term = 3, type = 2, id = 56, smoothing = 1 prev term = 3, type = 1, id = 55, smoothing = 1 prev1_tc-> fv = 0.221384, tc->fv = 0.000000, capped target = 0.221384 current term = 3, type = 1, id = 55, smoothing = 1 prev term = 3, type = 2, id = 55, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.303345, tc->fv = 0.221384, capped target = 0.303345 current term = 3, type = 2, id = 55, smoothing = 0 prev term = 3, type = 1, id = 54, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.303345, tc->fv = 0.303345, capped target = 0.303345 current term = 3, type = 1, id = 54, smoothing = 0 prev term = 3, type = 2, id = 54, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321950, tc->fv = 0.303345, capped target = 0.794333 current term = 3, type = 2, id = 54, smoothing = 0 prev term = 3, type = 1, id = 53, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321950, tc->fv = 0.321950, capped target = 0.321950 current term = 3, type = 1, id = 53, smoothing = 0 prev term = 3, type = 2, id = 53, smoothing = 0 prev1_tc-> fv = 0.583983, tc->fv = 0.321950, capped target = 1.833015 current term = 3, type = 2, id = 53, smoothing = 0 prev term = 3, type = 1, id = 52, smoothing = 0 prev1_tc-> fv = 0.633620, tc->fv = 0.583983, capped target = 0.689211 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.838344, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.838344, acc = 36.402854,T = 5.894835, P = 0.046423 tc id = 11, canon_type = 1, mot type = 1 time: 0.108000 primary movement = 1.820142687373e-03 time: 1.080000000000e-01 total movement = 1.820142687373e-03 vel = 1.838344114247e+00 ******************** Handle Blend Arc prev tan = -0.894427 0.000000 -0.447214 this tan = -0.971554 0.000000 0.236816 u1 = -0.894427 0.000000 -0.447214 u2 = -0.971554 0.000000 0.236816 angle between segs = 0.702735 u1 = -0.894427 0.000000 -0.447214 u2 = -0.971554 0.000000 0.236816 theta=1.219429 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.316913, vr2 = 8.577286 v_goal = 18.633825, max scale = 2.000000 prev length L1 = 0.004845 next length L2 = 0.008234 K = 0.000156 d_geom = 0.003761, d_prev = 0.003761, d_next = 0.006779 R_geom = 0.010260 v_normal = 0.516302 v_plan = 0.516302 R_plan = 0.010260 v_actual = 0.516302 effective a_n = 25.980762 arc length = 0.007210, L_prev = 0.001084, L_next = 0.012707 Check: v_plan = 0.516302, v_para = 0.504241 angle = 0.702735 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.560682 prev smoothing enabled Old target = 0.004845 Target = 0.001084 setting term condition 3 on tc id 56, type 1 Adding TC id 57 of type 2 Adding TC id 57 of type 1 current term = 3, type = 2, id = 57, smoothing = 1 prev term = 3, type = 1, id = 56, smoothing = 1 prev1_tc-> fv = 0.269690, tc->fv = 0.000000, capped target = 0.269690 current term = 3, type = 1, id = 56, smoothing = 1 prev term = 3, type = 2, id = 56, smoothing = 1 prev1_tc-> fv = 0.381399, tc->fv = 0.269690, capped target = 0.381399 current term = 3, type = 2, id = 56, smoothing = 1 prev term = 3, type = 1, id = 55, smoothing = 1 prev1_tc-> fv = 0.375539, tc->fv = 0.381399, capped target = 0.381399 current term = 3, type = 1, id = 55, smoothing = 1 prev term = 3, type = 2, id = 55, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.303345, tc->fv = 0.375539, capped target = 0.375539 current term = 3, type = 2, id = 55, smoothing = 0 prev term = 3, type = 1, id = 54, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.303345, tc->fv = 0.303345, capped target = 0.303345 current term = 3, type = 1, id = 54, smoothing = 0 prev term = 3, type = 2, id = 54, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321950, tc->fv = 0.303345, capped target = 0.794333 current term = 3, type = 2, id = 54, smoothing = 0 prev term = 3, type = 1, id = 53, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321950, tc->fv = 0.321950, capped target = 0.321950 current term = 3, type = 1, id = 53, smoothing = 0 prev term = 3, type = 2, id = 53, smoothing = 0 prev1_tc-> fv = 0.583983, tc->fv = 0.321950, capped target = 1.833015 current term = 3, type = 2, id = 53, smoothing = 0 prev term = 3, type = 1, id = 52, smoothing = 0 prev1_tc-> fv = 0.633620, tc->fv = 0.583983, capped target = 0.689211 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.874747, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.874747, acc = 36.402854,T = 5.894835, P = 0.048279 tc id = 11, canon_type = 1, mot type = 1 time: 0.109000 primary movement = 1.856545541121e-03 time: 1.090000000000e-01 total movement = 1.856545541121e-03 vel = 1.874746967994e+00 ******************** Handle Blend Arc prev tan = -0.971554 0.000000 0.236816 this tan = -1.000000 0.000000 0.000000 u1 = -0.971554 0.000000 0.236816 u2 = -1.000000 0.000000 0.000000 angle between segs = 0.239088 u1 = -0.971554 0.000000 0.236816 u2 = -1.000000 0.000000 0.000000 theta=1.451252 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.577286, vr2 = 8.333300 v_goal = 17.154572, max scale = 2.000000 prev length L1 = 0.012707 next length L2 = 0.008000 K = 0.000477 d_geom = 0.005674, d_prev = 0.009670, d_next = 0.005674 R_geom = 0.047235 v_normal = 1.107786 v_plan = 1.107786 R_plan = 0.047235 v_actual = 1.107786 effective a_n = 25.980762 arc length = 0.011293, L_prev = 0.007034, L_next = 0.010326 Check: v_plan = 1.107786, v_para = 0.489898 angle = 0.239088 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.344516 prev smoothing enabled Old target = 0.012707 Target = 0.007034 setting term condition 3 on tc id 57, type 1 Adding TC id 58 of type 2 Adding TC id 58 of type 1 current term = 3, type = 2, id = 58, smoothing = 1 prev term = 3, type = 1, id = 57, smoothing = 1 prev1_tc-> fv = 0.582062, tc->fv = 0.000000, capped target = 0.582062 current term = 3, type = 1, id = 57, smoothing = 1 prev term = 3, type = 2, id = 57, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.516302, tc->fv = 0.582062, capped target = 0.582062 current term = 3, type = 2, id = 57, smoothing = 1 prev term = 3, type = 1, id = 56, smoothing = 1 prev1_tc-> fv = 0.467116, tc->fv = 0.516302, capped target = 0.516302 current term = 3, type = 1, id = 56, smoothing = 1 prev term = 3, type = 2, id = 56, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.383153, tc->fv = 0.467116, capped target = 0.467116 current term = 3, type = 2, id = 56, smoothing = 1 prev term = 3, type = 1, id = 55, smoothing = 1 prev1_tc-> fv = 0.375539, tc->fv = 0.383153, capped target = 0.383153 current term = 3, type = 1, id = 55, smoothing = 1 prev term = 3, type = 2, id = 55, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.303345, tc->fv = 0.375539, capped target = 0.375539 current term = 3, type = 2, id = 55, smoothing = 0 prev term = 3, type = 1, id = 54, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.303345, tc->fv = 0.303345, capped target = 0.303345 current term = 3, type = 1, id = 54, smoothing = 0 prev term = 3, type = 2, id = 54, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321950, tc->fv = 0.303345, capped target = 0.794333 current term = 3, type = 2, id = 54, smoothing = 0 prev term = 3, type = 1, id = 53, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321950, tc->fv = 0.321950, capped target = 0.321950 current term = 3, type = 1, id = 53, smoothing = 0 prev term = 3, type = 2, id = 53, smoothing = 0 prev1_tc-> fv = 0.583983, tc->fv = 0.321950, capped target = 1.833015 current term = 3, type = 2, id = 53, smoothing = 0 prev term = 3, type = 1, id = 52, smoothing = 0 prev1_tc-> fv = 0.633620, tc->fv = 0.583983, capped target = 0.689211 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.911150, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.911150, acc = 36.402854,T = 5.894835, P = 0.050172 tc id = 11, canon_type = 1, mot type = 1 time: 0.110000 primary movement = 1.892948394868e-03 time: 1.100000000000e-01 total movement = 1.892948394868e-03 vel = 1.911149821742e+00 ******************** Handle Blend Arc prev tan = -1.000000 0.000000 0.000000 this tan = -0.894427 0.000000 0.447214 u1 = -1.000000 0.000000 0.000000 u2 = -0.894427 0.000000 0.447214 angle between segs = 0.463648 u1 = -1.000000 0.000000 0.000000 u2 = -0.894427 0.000000 0.447214 theta=1.338973 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.333300, vr2 = 9.316913 v_goal = 18.633825, max scale = 2.000000 prev length L1 = 0.010326 next length L2 = 0.002236 K = 0.000243 d_geom = 0.001409, d_prev = 0.008317, d_next = 0.001409 R_geom = 0.005969 v_normal = 0.393801 v_plan = 0.393801 R_plan = 0.005969 v_actual = 0.393801 effective a_n = 25.980762 arc length = 0.002768, L_prev = 0.008917, L_next = 0.003063 Check: v_plan = 0.393801, v_para = 0.244949 angle = 0.463648 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.088068 Old target = 0.010326 Target = 0.008917 setting term condition 3 on tc id 58, type 1 Adding TC id 59 of type 2 Adding TC id 59 of type 1 current term = 3, type = 2, id = 59, smoothing = 0 prev term = 3, type = 1, id = 58, smoothing = 0 prev1_tc-> fv = 0.288141, tc->fv = 0.000000, capped target = 0.393801 current term = 3, type = 1, id = 58, smoothing = 0 prev term = 3, type = 2, id = 58, smoothing = 1 prev1_tc-> fv = 0.786169, tc->fv = 0.288141, capped target = 4.246316 current term = 3, type = 2, id = 58, smoothing = 1 prev term = 3, type = 1, id = 57, smoothing = 1 prev1_tc-> fv = 0.837223, tc->fv = 0.786169, capped target = 0.837223 current term = 3, type = 1, id = 57, smoothing = 1 prev term = 3, type = 2, id = 57, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.516302, tc->fv = 0.837223, capped target = 0.837223 current term = 3, type = 2, id = 57, smoothing = 1 prev term = 3, type = 1, id = 56, smoothing = 1 prev1_tc-> fv = 0.468549, tc->fv = 0.516302, capped target = 0.516302 current term = 3, type = 1, id = 56, smoothing = 1 prev term = 3, type = 2, id = 56, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.383153, tc->fv = 0.468549, capped target = 0.468549 current term = 3, type = 2, id = 56, smoothing = 1 prev term = 3, type = 1, id = 55, smoothing = 1 prev1_tc-> fv = 0.375539, tc->fv = 0.383153, capped target = 0.383153 current term = 3, type = 1, id = 55, smoothing = 1 prev term = 3, type = 2, id = 55, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.303345, tc->fv = 0.375539, capped target = 0.375539 current term = 3, type = 2, id = 55, smoothing = 0 prev term = 3, type = 1, id = 54, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.303345, tc->fv = 0.303345, capped target = 0.303345 current term = 3, type = 1, id = 54, smoothing = 0 prev term = 3, type = 2, id = 54, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321950, tc->fv = 0.303345, capped target = 0.794333 current term = 3, type = 2, id = 54, smoothing = 0 prev term = 3, type = 1, id = 53, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321950, tc->fv = 0.321950, capped target = 0.321950 current term = 3, type = 1, id = 53, smoothing = 0 prev term = 3, type = 2, id = 53, smoothing = 0 prev1_tc-> fv = 0.583983, tc->fv = 0.321950, capped target = 1.833015 current term = 3, type = 2, id = 53, smoothing = 0 prev term = 3, type = 1, id = 52, smoothing = 0 prev1_tc-> fv = 0.633620, tc->fv = 0.583983, capped target = 0.689211 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.947553, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.947553, acc = 36.402854,T = 5.894835, P = 0.052102 tc id = 11, canon_type = 1, mot type = 1 time: 0.111000 primary movement = 1.929351248616e-03 time: 1.110000000000e-01 total movement = 1.929351248616e-03 vel = 1.947552675489e+00 ******************** Handle Blend Arc prev tan = -0.894427 0.000000 0.447214 this tan = -0.970143 0.000000 -0.242536 u1 = -0.894427 0.000000 0.447214 u2 = -0.970143 0.000000 -0.242536 angle between segs = 0.708626 u1 = -0.894427 0.000000 0.447214 u2 = -0.970143 0.000000 -0.242536 theta=1.216483 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.316913, vr2 = 8.589769 v_goal = 18.633825, max scale = 2.000000 prev length L1 = 0.003063 next length L2 = 0.002062 K = 0.000155 d_geom = 0.001402, d_prev = 0.002232, d_next = 0.001402 R_geom = 0.003791 v_normal = 0.313846 v_plan = 0.313846 R_plan = 0.003791 v_actual = 0.313846 effective a_n = 25.980762 arc length = 0.002687, L_prev = 0.001661, L_next = 0.002721 Check: v_plan = 0.313846, v_para = 0.252488 angle = 0.708626 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.313603 Old target = 0.003063 Target = 0.001661 setting term condition 3 on tc id 59, type 1 Adding TC id 60 of type 2 Adding TC id 60 of type 1 current term = 3, type = 2, id = 60, smoothing = 0 prev term = 3, type = 1, id = 59, smoothing = 0 prev1_tc-> fv = 0.283897, tc->fv = 0.000000, capped target = 0.313846 current term = 3, type = 1, id = 59, smoothing = 0 prev term = 3, type = 2, id = 59, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.393801, tc->fv = 0.283897, capped target = 0.790749 current term = 3, type = 2, id = 59, smoothing = 0 prev term = 3, type = 1, id = 58, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.393801, tc->fv = 0.393801, capped target = 0.393801 current term = 3, type = 1, id = 58, smoothing = 0 prev term = 3, type = 2, id = 58, smoothing = 1 prev1_tc-> fv = 0.830731, tc->fv = 0.393801, capped target = 4.246316 current term = 3, type = 2, id = 58, smoothing = 1 prev term = 3, type = 1, id = 57, smoothing = 1 prev1_tc-> fv = 0.837223, tc->fv = 0.830731, capped target = 0.837223 current term = 3, type = 1, id = 57, smoothing = 1 prev term = 3, type = 2, id = 57, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.516302, tc->fv = 0.837223, capped target = 0.837223 current term = 3, type = 2, id = 57, smoothing = 1 prev term = 3, type = 1, id = 56, smoothing = 1 prev1_tc-> fv = 0.468549, tc->fv = 0.516302, capped target = 0.516302 current term = 3, type = 1, id = 56, smoothing = 1 prev term = 3, type = 2, id = 56, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.383153, tc->fv = 0.468549, capped target = 0.468549 current term = 3, type = 2, id = 56, smoothing = 1 prev term = 3, type = 1, id = 55, smoothing = 1 prev1_tc-> fv = 0.375539, tc->fv = 0.383153, capped target = 0.383153 current term = 3, type = 1, id = 55, smoothing = 1 prev term = 3, type = 2, id = 55, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.303345, tc->fv = 0.375539, capped target = 0.375539 current term = 3, type = 2, id = 55, smoothing = 0 prev term = 3, type = 1, id = 54, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.303345, tc->fv = 0.303345, capped target = 0.303345 current term = 3, type = 1, id = 54, smoothing = 0 prev term = 3, type = 2, id = 54, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321950, tc->fv = 0.303345, capped target = 0.794333 current term = 3, type = 2, id = 54, smoothing = 0 prev term = 3, type = 1, id = 53, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321950, tc->fv = 0.321950, capped target = 0.321950 current term = 3, type = 1, id = 53, smoothing = 0 prev term = 3, type = 2, id = 53, smoothing = 0 prev1_tc-> fv = 0.583983, tc->fv = 0.321950, capped target = 1.833015 current term = 3, type = 2, id = 53, smoothing = 0 prev term = 3, type = 1, id = 52, smoothing = 0 prev1_tc-> fv = 0.633620, tc->fv = 0.583983, capped target = 0.689211 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.983956, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.983956, acc = 36.402854,T = 5.894835, P = 0.054067 tc id = 11, canon_type = 1, mot type = 1 time: 0.112000 primary movement = 1.965754102363e-03 time: 1.120000000000e-01 total movement = 1.965754102363e-03 vel = 1.983955529237e+00 ******************** Handle Blend Arc prev tan = -0.970143 0.000000 -0.242536 this tan = -0.554700 0.000000 -0.832050 u1 = -0.970143 0.000000 -0.242536 u2 = -0.554700 0.000000 -0.832050 angle between segs = 0.737815 u1 = -0.970143 0.000000 -0.242536 u2 = -0.554700 0.000000 -0.832050 theta=1.201889 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.589769, vr2 = 10.015420 v_goal = 20.030840, max scale = 2.000000 prev length L1 = 0.002721 next length L2 = 0.001803 K = 0.000148 d_geom = 0.001205, d_prev = 0.001959, d_next = 0.001205 R_geom = 0.003117 v_normal = 0.284585 v_plan = 0.284585 R_plan = 0.003117 v_actual = 0.284585 effective a_n = 25.980762 arc length = 0.002300, L_prev = 0.001515, L_next = 0.002400 Check: v_plan = 0.284585, v_para = 0.218661 angle = 0.737815 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.292291 Old target = 0.002721 Target = 0.001515 setting term condition 3 on tc id 60, type 1 Adding TC id 61 of type 2 Adding TC id 61 of type 1 current term = 3, type = 2, id = 61, smoothing = 0 prev term = 3, type = 1, id = 60, smoothing = 0 prev1_tc-> fv = 0.262676, tc->fv = 0.000000, capped target = 0.284585 current term = 3, type = 1, id = 60, smoothing = 0 prev term = 3, type = 2, id = 60, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.313846, tc->fv = 0.262676, capped target = 0.721658 current term = 3, type = 2, id = 60, smoothing = 0 prev term = 3, type = 1, id = 59, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.313846, tc->fv = 0.313846, capped target = 0.313846 current term = 3, type = 1, id = 59, smoothing = 0 prev term = 3, type = 2, id = 59, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.393801, tc->fv = 0.313846, capped target = 0.790749 current term = 3, type = 2, id = 59, smoothing = 0 prev term = 3, type = 1, id = 58, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.393801, tc->fv = 0.393801, capped target = 0.393801 current term = 3, type = 1, id = 58, smoothing = 0 prev term = 3, type = 2, id = 58, smoothing = 1 prev1_tc-> fv = 0.830731, tc->fv = 0.393801, capped target = 4.246316 current term = 3, type = 2, id = 58, smoothing = 1 prev term = 3, type = 1, id = 57, smoothing = 1 prev1_tc-> fv = 0.837223, tc->fv = 0.830731, capped target = 0.837223 current term = 3, type = 1, id = 57, smoothing = 1 prev term = 3, type = 2, id = 57, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.516302, tc->fv = 0.837223, capped target = 0.837223 current term = 3, type = 2, id = 57, smoothing = 1 prev term = 3, type = 1, id = 56, smoothing = 1 prev1_tc-> fv = 0.468549, tc->fv = 0.516302, capped target = 0.516302 current term = 3, type = 1, id = 56, smoothing = 1 prev term = 3, type = 2, id = 56, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.383153, tc->fv = 0.468549, capped target = 0.468549 current term = 3, type = 2, id = 56, smoothing = 1 prev term = 3, type = 1, id = 55, smoothing = 1 prev1_tc-> fv = 0.375539, tc->fv = 0.383153, capped target = 0.383153 current term = 3, type = 1, id = 55, smoothing = 1 prev term = 3, type = 2, id = 55, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.303345, tc->fv = 0.375539, capped target = 0.375539 current term = 3, type = 2, id = 55, smoothing = 0 prev term = 3, type = 1, id = 54, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.303345, tc->fv = 0.303345, capped target = 0.303345 current term = 3, type = 1, id = 54, smoothing = 0 prev term = 3, type = 2, id = 54, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321950, tc->fv = 0.303345, capped target = 0.794333 current term = 3, type = 2, id = 54, smoothing = 0 prev term = 3, type = 1, id = 53, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321950, tc->fv = 0.321950, capped target = 0.321950 current term = 3, type = 1, id = 53, smoothing = 0 prev term = 3, type = 2, id = 53, smoothing = 0 prev1_tc-> fv = 0.583983, tc->fv = 0.321950, capped target = 1.833015 current term = 3, type = 2, id = 53, smoothing = 0 prev term = 3, type = 1, id = 52, smoothing = 0 prev1_tc-> fv = 0.633620, tc->fv = 0.583983, capped target = 0.689211 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.020358, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.020358, acc = 36.402854,T = 5.894835, P = 0.056069 tc id = 11, canon_type = 1, mot type = 1 time: 0.113000 primary movement = 2.002156956111e-03 time: 1.130000000000e-01 total movement = 2.002156956111e-03 vel = 2.020358382984e+00 ******************** Handle Blend Arc prev tan = -0.554700 0.000000 -0.832050 this tan = -0.964205 0.000000 0.265156 u1 = -0.554700 0.000000 -0.832050 u2 = -0.964205 0.000000 0.265156 angle between segs = 1.251160 u1 = -0.554700 0.000000 -0.832050 u2 = -0.964205 0.000000 0.265156 theta=0.945216 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 10.015420, vr2 = 8.642661 v_goal = 20.030840, max scale = 2.000000 prev length L1 = 0.002400 next length L2 = 0.002074 K = 0.000079 d_geom = 0.001575, d_prev = 0.001858, d_next = 0.001575 R_geom = 0.002180 v_normal = 0.237969 v_plan = 0.237969 R_plan = 0.002180 v_actual = 0.237969 effective a_n = 25.980762 arc length = 0.002727, L_prev = 0.000826, L_next = 0.002574 Check: v_plan = 0.237969, v_para = 0.254042 blend arc NOT created prev segment parabolic, flagging blend_prev Adding TC id 62 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.056761, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.056761, acc = 36.402854,T = 5.894835, P = 0.058108 tc id = 11, canon_type = 1, mot type = 1 time: 0.114000 primary movement = 2.038559809858e-03 time: 1.140000000000e-01 total movement = 2.038559809858e-03 vel = 2.056761236732e+00 ******************** Handle Blend Arc prev tan = -0.964205 0.000000 0.265156 this tan = -0.632376 0.000000 0.774661 u1 = -0.964205 0.000000 0.265156 u2 = -0.632376 0.000000 0.774661 angle between segs = 0.617813 u1 = -0.964205 0.000000 0.265156 u2 = -0.632376 0.000000 0.774661 theta=1.261890 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.642661, vr2 = 10.757390 v_goal = 21.514781, max scale = 2.000000 prev length L1 = 0.004148 next length L2 = 0.003163 K = 0.000180 d_geom = 0.002262, d_prev = 0.003094, d_next = 0.002262 R_geom = 0.007087 v_normal = 0.429094 v_plan = 0.429094 R_plan = 0.007087 v_actual = 0.429094 effective a_n = 25.980762 arc length = 0.004378, L_prev = 0.001887, L_next = 0.004064 Check: v_plan = 0.429094, v_para = 0.281173 angle = 0.617813 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.545156 prev smoothing enabled Old target = 0.004148 Target = 0.001887 setting term condition 3 on tc id 62, type 1 Adding TC id 63 of type 2 Adding TC id 63 of type 1 current term = 3, type = 2, id = 63, smoothing = 1 prev term = 3, type = 1, id = 62, smoothing = 1 prev1_tc-> fv = 0.242299, tc->fv = 0.000000, capped target = 0.242299 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.093164, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.093164, acc = 36.402854,T = 5.894835, P = 0.060183 tc id = 11, canon_type = 1, mot type = 1 time: 0.115000 primary movement = 2.074962663606e-03 time: 1.150000000000e-01 total movement = 2.074962663606e-03 vel = 2.093164090479e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.129567, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.129567, acc = 36.402854,T = 5.894835, P = 0.062294 tc id = 11, canon_type = 1, mot type = 1 time: 0.116000 primary movement = 2.111365517353e-03 time: 1.160000000000e-01 total movement = 2.111365517353e-03 vel = 2.129566944227e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.165970, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.165970, acc = 36.402854,T = 5.894835, P = 0.064442 tc id = 11, canon_type = 1, mot type = 1 time: 0.117000 primary movement = 2.147768371100e-03 time: 1.170000000000e-01 total movement = 2.147768371100e-03 vel = 2.165969797974e+00 ******************** Handle Blend Arc prev tan = -0.632376 0.000000 0.774661 this tan = -0.964205 0.000000 -0.265156 u1 = -0.632376 0.000000 0.774661 u2 = -0.964205 0.000000 -0.265156 angle between segs = 1.154545 u1 = -0.632376 0.000000 0.774661 u2 = -0.964205 0.000000 -0.265156 theta=0.993524 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 10.757390, vr2 = 8.642661 v_goal = 21.514781, max scale = 2.000000 prev length L1 = 0.004064 next length L2 = 0.002074 K = 0.000088 d_geom = 0.001552, d_prev = 0.003302, d_next = 0.001552 R_geom = 0.002383 v_normal = 0.248803 v_plan = 0.248803 R_plan = 0.002383 v_actual = 0.248803 effective a_n = 25.980762 arc length = 0.002751, L_prev = 0.002512, L_next = 0.002597 Check: v_plan = 0.248803, v_para = 0.254042 blend arc NOT created prev segment parabolic, flagging blend_prev Adding TC id 64 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.202373, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.202373, acc = 36.402854,T = 5.894835, P = 0.066626 tc id = 11, canon_type = 1, mot type = 1 time: 0.118000 primary movement = 2.184171224848e-03 time: 1.180000000000e-01 total movement = 2.184171224848e-03 vel = 2.202372651722e+00 ******************** Handle Blend Arc prev tan = -0.964205 0.000000 -0.265156 this tan = -0.496139 0.000000 -0.868243 u1 = -0.964205 0.000000 -0.265156 u2 = -0.496139 0.000000 -0.868243 angle between segs = 0.783284 u1 = -0.964205 0.000000 -0.265156 u2 = -0.496139 0.000000 -0.868243 theta=1.179154 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.642661, vr2 = 9.597926 v_goal = 19.195851, max scale = 2.000000 prev length L1 = 0.004148 next length L2 = 0.002016 K = 0.000139 d_geom = 0.001394, d_prev = 0.003205, d_next = 0.001394 R_geom = 0.003375 v_normal = 0.296110 v_plan = 0.296110 R_plan = 0.003375 v_actual = 0.296110 effective a_n = 25.980762 arc length = 0.002643, L_prev = 0.002755, L_next = 0.002637 Check: v_plan = 0.296110, v_para = 0.237635 angle = 0.783284 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.335961 prev smoothing enabled Old target = 0.004148 Target = 0.002755 setting term condition 3 on tc id 64, type 1 Adding TC id 65 of type 2 Adding TC id 65 of type 1 current term = 3, type = 2, id = 65, smoothing = 1 prev term = 3, type = 1, id = 64, smoothing = 1 prev1_tc-> fv = 0.281610, tc->fv = 0.000000, capped target = 0.281610 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.238776, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.238776, acc = 36.402854,T = 5.894835, P = 0.068847 tc id = 11, canon_type = 1, mot type = 1 time: 0.119000 primary movement = 2.220574078595e-03 time: 1.190000000000e-01 total movement = 2.220574078595e-03 vel = 2.238775505469e+00 ******************** Handle Blend Arc prev tan = -0.496139 0.000000 -0.868243 this tan = -0.857493 0.000000 0.514496 u1 = -0.496139 0.000000 -0.868243 u2 = -0.857493 0.000000 0.514496 angle between segs = 1.592070 u1 = -0.496139 0.000000 -0.868243 u2 = -0.857493 0.000000 0.514496 theta=0.774761 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.597926, vr2 = 9.718214 v_goal = 19.436429, max scale = 2.000000 prev length L1 = 0.002637 next length L2 = 0.003499 K = 0.000056 d_geom = 0.002147, d_prev = 0.002147, d_next = 0.002926 R_geom = 0.002102 v_normal = 0.233664 v_plan = 0.233664 R_plan = 0.002102 v_actual = 0.233664 effective a_n = 25.980762 arc length = 0.003346, L_prev = 0.000491, L_next = 0.004850 Check: v_plan = 0.233664, v_para = 0.345525 blend arc NOT created prev segment parabolic, flagging blend_prev Adding TC id 66 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.275178, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.275178, acc = 36.402854,T = 5.894835, P = 0.071104 tc id = 11, canon_type = 1, mot type = 1 time: 0.120000 primary movement = 2.256976932343e-03 time: 1.200000000000e-01 total movement = 2.256976932343e-03 vel = 2.275178359217e+00 ******************** Handle Blend Arc prev tan = -0.857493 0.000000 0.514496 this tan = -0.917556 0.000000 -0.397607 u1 = -0.857493 0.000000 0.514496 u2 = -0.917556 0.000000 -0.397607 angle between segs = 0.949327 u1 = -0.857493 0.000000 0.514496 u2 = -0.917556 0.000000 -0.397607 theta=1.096133 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.718214, vr2 = 9.082065 v_goal = 19.436429, max scale = 2.000000 prev length L1 = 0.006997 next length L2 = 0.003270 K = 0.000111 d_geom = 0.002520, d_prev = 0.005855, d_next = 0.002520 R_geom = 0.004904 v_normal = 0.356949 v_plan = 0.356949 R_plan = 0.004904 v_actual = 0.356949 effective a_n = 25.980762 arc length = 0.004656, L_prev = 0.004477, L_next = 0.004019 Check: v_plan = 0.356949, v_para = 0.326956 angle = 0.949327 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.360142 prev smoothing enabled Old target = 0.006997 Target = 0.004477 setting term condition 3 on tc id 66, type 1 Adding TC id 67 of type 2 Adding TC id 67 of type 1 current term = 3, type = 2, id = 67, smoothing = 1 prev term = 3, type = 1, id = 66, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.356949, tc->fv = 0.000000, capped target = 0.356949 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.311581, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.311581, acc = 36.402854,T = 5.894835, P = 0.073397 tc id = 11, canon_type = 1, mot type = 1 time: 0.121000 primary movement = 2.293379786090e-03 time: 1.210000000000e-01 total movement = 2.293379786090e-03 vel = 2.311581212964e+00 ******************** Handle Blend Arc prev tan = -0.917556 0.000000 -0.397607 this tan = -0.995037 0.000000 0.099504 u1 = -0.917556 0.000000 -0.397607 u2 = -0.995037 0.000000 0.099504 angle between segs = 0.508576 u1 = -0.917556 0.000000 -0.397607 u2 = -0.995037 0.000000 0.099504 theta=1.316508 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.082065, vr2 = 8.374863 v_goal = 18.164130, max scale = 2.000000 prev length L1 = 0.004019 next length L2 = 0.003015 K = 0.000220 d_geom = 0.002062, d_prev = 0.002890, d_next = 0.002062 R_geom = 0.007932 v_normal = 0.453960 v_plan = 0.453960 R_plan = 0.007932 v_actual = 0.453960 effective a_n = 25.980762 arc length = 0.004034, L_prev = 0.001958, L_next = 0.003968 Check: v_plan = 0.453960, v_para = 0.301496 angle = 0.508576 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.315279 Old target = 0.004019 Target = 0.001958 setting term condition 3 on tc id 67, type 1 Adding TC id 68 of type 2 Adding TC id 68 of type 1 current term = 3, type = 2, id = 68, smoothing = 0 prev term = 3, type = 1, id = 67, smoothing = 0 prev1_tc-> fv = 0.347881, tc->fv = 0.000000, capped target = 0.453960 current term = 3, type = 1, id = 67, smoothing = 0 prev term = 3, type = 2, id = 67, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.356949, tc->fv = 0.347881, capped target = 0.932144 current term = 3, type = 2, id = 67, smoothing = 1 prev term = 3, type = 1, id = 66, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.356949, tc->fv = 0.356949, capped target = 0.356949 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.347984, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.347984, acc = 36.402854,T = 5.894835, P = 0.075727 tc id = 11, canon_type = 1, mot type = 1 time: 0.122000 primary movement = 2.329782639838e-03 time: 1.220000000000e-01 total movement = 2.329782639838e-03 vel = 2.347984066712e+00 ******************** Handle Blend Arc prev tan = -0.995037 0.000000 0.099504 this tan = -0.948683 0.000000 -0.316228 u1 = -0.995037 0.000000 0.099504 u2 = -0.948683 0.000000 -0.316228 angle between segs = 0.421419 u1 = -0.995037 0.000000 0.099504 u2 = -0.948683 0.000000 -0.316228 theta=1.360087 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.374863, vr2 = 8.784069 v_goal = 17.568139, max scale = 2.000000 prev length L1 = 0.003968 next length L2 = 0.003162 K = 0.000268 d_geom = 0.002101, d_prev = 0.002754, d_next = 0.002101 R_geom = 0.009825 v_normal = 0.505221 v_plan = 0.505221 R_plan = 0.009825 v_actual = 0.505221 effective a_n = 25.980762 arc length = 0.004140, L_prev = 0.001867, L_next = 0.004223 Check: v_plan = 0.505221, v_para = 0.301496 angle = 0.421419 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.348481 prev smoothing enabled Old target = 0.003968 Target = 0.001867 setting term condition 3 on tc id 68, type 1 Adding TC id 69 of type 2 Adding TC id 69 of type 1 current term = 3, type = 2, id = 69, smoothing = 1 prev term = 3, type = 1, id = 68, smoothing = 1 prev1_tc-> fv = 0.335524, tc->fv = 0.000000, capped target = 0.335524 current term = 3, type = 1, id = 68, smoothing = 1 prev term = 3, type = 2, id = 68, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.453960, tc->fv = 0.335524, capped target = 0.453960 current term = 3, type = 2, id = 68, smoothing = 0 prev term = 3, type = 1, id = 67, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.453960, tc->fv = 0.453960, capped target = 0.453960 current term = 3, type = 1, id = 67, smoothing = 0 prev term = 3, type = 2, id = 67, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.356949, tc->fv = 0.453960, capped target = 0.932144 current term = 3, type = 2, id = 67, smoothing = 1 prev term = 3, type = 1, id = 66, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.356949, tc->fv = 0.356949, capped target = 0.356949 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.384387, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.384387, acc = 36.402854,T = 5.894835, P = 0.078093 tc id = 11, canon_type = 1, mot type = 1 time: 0.123000 primary movement = 2.366185493585e-03 time: 1.230000000000e-01 total movement = 2.366185493585e-03 vel = 2.384386920459e+00 prev segment parabolic, flagging blend_prev tpAddCircle: checking for tangent with previous prev tan = -0.948683 0.000000 -0.316228 this tan = -0.999866 0.000000 0.016391 u1 = -0.948683 0.000000 -0.316228 u2 = -0.999866 0.000000 0.016391 Adding TC id 70 of type 2 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.420790, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.420790, acc = 36.402854,T = 5.894835, P = 0.080496 tc id = 11, canon_type = 1, mot type = 1 time: 0.124000 primary movement = 2.402588347333e-03 time: 1.240000000000e-01 total movement = 2.402588347333e-03 vel = 2.420789774206e+00 prev segment parabolic, flagging blend_prev tpAddCircle: checking for tangent with previous prev tan = -0.891123 0.000000 0.453762 this tan = -0.860002 0.000000 -0.510291 u1 = -0.891123 0.000000 0.453762 u2 = -0.860002 0.000000 -0.510291 Adding TC id 71 of type 2 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.457193, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.457193, acc = 36.402854,T = 5.894835, P = 0.082935 tc id = 11, canon_type = 1, mot type = 1 time: 0.125000 primary movement = 2.438991201080e-03 time: 1.250000000000e-01 total movement = 2.438991201080e-03 vel = 2.457192627954e+00 ******************** Handle Blend Arc prev tan = -0.999943 0.000000 -0.010714 this tan = -0.900349 0.000000 0.435169 u1 = -0.999943 0.000000 -0.010714 u2 = -0.900349 0.000000 0.435169 Wrong motion type tc = 2, tc2 = 1 prev segment parabolic, flagging blend_prev Adding TC id 72 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.493595, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.493595, acc = 36.402854,T = 5.894835, P = 0.085410 tc id = 11, canon_type = 1, mot type = 1 time: 0.126000 primary movement = 2.475394054828e-03 time: 1.260000000000e-01 total movement = 2.475394054828e-03 vel = 2.493595481701e+00 ******************** Handle Blend Arc prev tan = -0.900349 0.000000 0.435169 this tan = -0.921511 0.000000 -0.388351 u1 = -0.900349 0.000000 0.435169 u2 = -0.921511 0.000000 -0.388351 angle between segs = 0.849067 u1 = -0.900349 0.000000 0.435169 u2 = -0.921511 0.000000 -0.388351 theta=1.146263 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.255634, vr2 = 9.043078 v_goal = 18.511267, max scale = 2.000000 prev length L1 = 0.013328 next length L2 = 0.007596 K = 0.000127 d_geom = 0.006330, d_prev = 0.011613, d_next = 0.006330 R_geom = 0.014003 v_normal = 0.603162 v_plan = 0.603162 R_plan = 0.014003 v_actual = 0.603162 effective a_n = 25.980762 arc length = 0.011889, L_prev = 0.006999, L_next = 0.008863 Check: v_plan = 0.603162, v_para = 0.497289 angle = 0.849067 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.474902 prev smoothing enabled Old target = 0.013328 Target = 0.006999 setting term condition 3 on tc id 72, type 1 Adding TC id 73 of type 2 Adding TC id 73 of type 1 current term = 3, type = 2, id = 73, smoothing = 1 prev term = 3, type = 1, id = 72, smoothing = 1 prev1_tc-> fv = 0.482904, tc->fv = 0.000000, capped target = 0.482904 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.529998, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.529998, acc = 36.402854,T = 5.894835, P = 0.087922 tc id = 11, canon_type = 1, mot type = 1 time: 0.127000 primary movement = 2.511796908575e-03 time: 1.270000000000e-01 total movement = 2.511796908575e-03 vel = 2.529998335449e+00 ******************** Handle Blend Arc prev tan = -0.921511 0.000000 -0.388351 this tan = -0.716000 0.000000 -0.698100 u1 = -0.921511 0.000000 -0.388351 u2 = -0.716000 0.000000 -0.698100 angle between segs = 0.373899 u1 = -0.921511 0.000000 -0.388351 u2 = -0.716000 0.000000 -0.698100 theta=1.383847 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.043078, vr2 = 11.638685 v_goal = 23.277370, max scale = 2.000000 prev length L1 = 0.008863 next length L2 = 0.002793 K = 0.000303 d_geom = 0.001761, d_prev = 0.006829, d_next = 0.001761 R_geom = 0.009308 v_normal = 0.491752 v_plan = 0.491752 R_plan = 0.009308 v_actual = 0.491752 effective a_n = 25.980762 arc length = 0.003480, L_prev = 0.007102, L_next = 0.003826 Check: v_plan = 0.491752, v_para = 0.265812 angle = 0.373899 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.115888 Old target = 0.008863 Target = 0.007102 setting term condition 3 on tc id 73, type 1 Adding TC id 74 of type 2 Adding TC id 74 of type 1 current term = 3, type = 2, id = 74, smoothing = 0 prev term = 3, type = 1, id = 73, smoothing = 0 prev1_tc-> fv = 0.323115, tc->fv = 0.000000, capped target = 0.491752 current term = 3, type = 1, id = 73, smoothing = 0 prev term = 3, type = 2, id = 73, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.603162, tc->fv = 0.323115, capped target = 3.382018 current term = 3, type = 2, id = 73, smoothing = 1 prev term = 3, type = 1, id = 72, smoothing = 1 prev1_tc-> fv = 0.482904, tc->fv = 0.603162, capped target = 0.603162 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.566401, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.566401, acc = 36.402854,T = 5.894835, P = 0.090470 tc id = 11, canon_type = 1, mot type = 1 time: 0.128000 primary movement = 2.548199762323e-03 time: 1.280000000000e-01 total movement = 2.548199762323e-03 vel = 2.566401189196e+00 ******************** Handle Blend Arc prev tan = -0.716000 0.000000 -0.698100 this tan = -0.897990 0.000000 0.440015 u1 = -0.716000 0.000000 -0.698100 u2 = -0.897990 0.000000 0.440015 angle between segs = 1.228356 u1 = -0.716000 0.000000 -0.698100 u2 = -0.897990 0.000000 0.440015 theta=0.956618 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 11.638685, vr2 = 9.279944 v_goal = 23.277370, max scale = 2.000000 prev length L1 = 0.003826 next length L2 = 0.005568 K = 0.000081 d_geom = 0.003115, d_prev = 0.003115, d_next = 0.004695 R_geom = 0.004417 v_normal = 0.338754 v_plan = 0.338754 R_plan = 0.004417 v_actual = 0.338754 effective a_n = 25.980762 arc length = 0.005426, L_prev = 0.000711, L_next = 0.008021 Check: v_plan = 0.338754, v_para = 0.431295 blend arc NOT created prev segment parabolic, flagging blend_prev Adding TC id 75 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.602804, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.602804, acc = 36.402854,T = 5.894835, P = 0.093055 tc id = 11, canon_type = 1, mot type = 1 time: 0.129000 primary movement = 2.584602616070e-03 time: 1.290000000000e-01 total movement = 2.584602616070e-03 vel = 2.602804042944e+00 ******************** Handle Blend Arc prev tan = -0.897990 0.000000 0.440015 this tan = -0.970143 0.000000 -0.242536 u1 = -0.897990 0.000000 0.440015 u2 = -0.970143 0.000000 -0.242536 angle between segs = 0.700594 u1 = -0.897990 0.000000 0.440015 u2 = -0.970143 0.000000 -0.242536 theta=1.220499 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.279944, vr2 = 8.589769 v_goal = 18.559889, max scale = 2.000000 prev length L1 = 0.011136 next length L2 = 0.002062 K = 0.000157 d_geom = 0.001399, d_prev = 0.009417, d_next = 0.001399 R_geom = 0.003829 v_normal = 0.315425 v_plan = 0.315425 R_plan = 0.003829 v_actual = 0.315425 effective a_n = 25.980762 arc length = 0.002683, L_prev = 0.009737, L_next = 0.002724 Check: v_plan = 0.315425, v_para = 0.252488 angle = 0.700594 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.125643 Old target = 0.011136 Target = 0.009737 setting term condition 3 on tc id 75, type 1 Adding TC id 76 of type 2 Adding TC id 76 of type 1 current term = 3, type = 2, id = 76, smoothing = 0 prev term = 3, type = 1, id = 75, smoothing = 0 prev1_tc-> fv = 0.283703, tc->fv = 0.000000, capped target = 0.315425 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.639207, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.639207, acc = 36.402854,T = 5.894835, P = 0.095676 tc id = 11, canon_type = 1, mot type = 1 time: 0.130000 primary movement = 2.621005469818e-03 time: 1.300000000000e-01 total movement = 2.621005469818e-03 vel = 2.639206896691e+00 ******************** Handle Blend Arc prev tan = -0.970143 0.000000 -0.242536 this tan = -0.992278 0.000000 0.124035 u1 = -0.970143 0.000000 -0.242536 u2 = -0.992278 0.000000 0.124035 angle between segs = 0.369334 u1 = -0.970143 0.000000 -0.242536 u2 = -0.992278 0.000000 0.124035 theta=1.386129 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.589769, vr2 = 8.398152 v_goal = 17.179538, max scale = 2.000000 prev length L1 = 0.002724 next length L2 = 0.004031 K = 0.000307 d_geom = 0.001702, d_prev = 0.001702, d_next = 0.002736 R_geom = 0.009112 v_normal = 0.486567 v_plan = 0.486567 R_plan = 0.009112 v_actual = 0.486567 effective a_n = 25.980762 arc length = 0.003366, L_prev = 0.001022, L_next = 0.006360 Check: v_plan = 0.486567, v_para = 0.349106 angle = 0.369334 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.412833 prev smoothing enabled Old target = 0.002724 Target = 0.001022 setting term condition 3 on tc id 76, type 1 Adding TC id 77 of type 2 Adding TC id 77 of type 1 current term = 3, type = 2, id = 77, smoothing = 1 prev term = 3, type = 1, id = 76, smoothing = 1 prev1_tc-> fv = 0.251385, tc->fv = 0.000000, capped target = 0.251385 current term = 3, type = 1, id = 76, smoothing = 1 prev term = 3, type = 2, id = 76, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.315425, tc->fv = 0.251385, capped target = 0.315425 current term = 3, type = 2, id = 76, smoothing = 0 prev term = 3, type = 1, id = 75, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.315425, tc->fv = 0.315425, capped target = 0.315425 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.675610, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.675610, acc = 36.402854,T = 5.894835, P = 0.098333 tc id = 11, canon_type = 1, mot type = 1 time: 0.131000 primary movement = 2.657408323565e-03 time: 1.310000000000e-01 total movement = 2.657408323565e-03 vel = 2.675609750439e+00 ******************** Handle Blend Arc prev tan = -0.992278 0.000000 0.124035 this tan = -0.894427 0.000000 -0.447214 u1 = -0.992278 0.000000 0.124035 u2 = -0.894427 0.000000 -0.447214 angle between segs = 0.588003 u1 = -0.992278 0.000000 0.124035 u2 = -0.894427 0.000000 -0.447214 theta=1.276795 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.398152, vr2 = 9.316913 v_goal = 18.633825, max scale = 2.000000 prev length L1 = 0.006360 next length L2 = 0.002236 K = 0.000189 d_geom = 0.001486, d_prev = 0.004986, d_next = 0.001486 R_geom = 0.004908 v_normal = 0.357105 v_plan = 0.357105 R_plan = 0.004908 v_actual = 0.357105 effective a_n = 25.980762 arc length = 0.002886, L_prev = 0.004874, L_next = 0.002986 Check: v_plan = 0.357105, v_para = 0.246855 angle = 0.588003 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.184334 Old target = 0.006360 Target = 0.004874 setting term condition 3 on tc id 77, type 1 Adding TC id 78 of type 2 Adding TC id 78 of type 1 current term = 3, type = 2, id = 78, smoothing = 0 prev term = 3, type = 1, id = 77, smoothing = 0 prev1_tc-> fv = 0.294253, tc->fv = 0.000000, capped target = 0.357105 current term = 3, type = 1, id = 77, smoothing = 0 prev term = 3, type = 2, id = 77, smoothing = 1 prev1_tc-> fv = 0.405167, tc->fv = 0.294253, capped target = 2.320932 current term = 3, type = 2, id = 77, smoothing = 1 prev term = 3, type = 1, id = 76, smoothing = 1 prev1_tc-> fv = 0.403345, tc->fv = 0.405167, capped target = 0.405167 current term = 3, type = 1, id = 76, smoothing = 1 prev term = 3, type = 2, id = 76, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.315425, tc->fv = 0.403345, capped target = 0.403345 current term = 3, type = 2, id = 76, smoothing = 0 prev term = 3, type = 1, id = 75, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.315425, tc->fv = 0.315425, capped target = 0.315425 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.712013, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.712013, acc = 36.402854,T = 5.894835, P = 0.101027 tc id = 11, canon_type = 1, mot type = 1 time: 0.132000 primary movement = 2.693811177312e-03 time: 1.320000000000e-01 total movement = 2.693811177312e-03 vel = 2.712012604186e+00 ******************** Handle Blend Arc prev tan = -0.894427 0.000000 -0.447214 this tan = -0.970143 0.000000 0.242536 u1 = -0.894427 0.000000 -0.447214 u2 = -0.970143 0.000000 0.242536 angle between segs = 0.708626 u1 = -0.894427 0.000000 -0.447214 u2 = -0.970143 0.000000 0.242536 theta=1.216483 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.316913, vr2 = 8.589769 v_goal = 18.633825, max scale = 2.000000 prev length L1 = 0.002986 next length L2 = 0.006185 K = 0.000155 d_geom = 0.002167, d_prev = 0.002167, d_next = 0.004947 R_geom = 0.005857 v_normal = 0.390101 v_plan = 0.390101 R_plan = 0.005857 v_actual = 0.390101 effective a_n = 25.980762 arc length = 0.004151, L_prev = 0.000819, L_next = 0.010203 Check: v_plan = 0.390101, v_para = 0.437321 blend arc NOT created prev segment parabolic, flagging blend_prev Adding TC id 79 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.748415, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.748415, acc = 36.402854,T = 5.894835, P = 0.103757 tc id = 11, canon_type = 1, mot type = 1 time: 0.133000 primary movement = 2.730214031060e-03 time: 1.330000000000e-01 total movement = 2.730214031060e-03 vel = 2.748415457934e+00 ******************** Handle Blend Arc prev tan = -0.970143 0.000000 0.242536 this tan = -0.940136 0.000000 -0.340799 u1 = -0.970143 0.000000 0.242536 u2 = -0.940136 0.000000 -0.340799 angle between segs = 0.592746 u1 = -0.970143 0.000000 0.242536 u2 = -0.940136 0.000000 -0.340799 theta=1.274424 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.589769, vr2 = 8.863930 v_goal = 17.727859, max scale = 2.000000 prev length L1 = 0.012369 next length L2 = 0.004255 K = 0.000188 d_geom = 0.003165, d_prev = 0.010394, d_next = 0.003165 R_geom = 0.010365 v_normal = 0.518920 v_plan = 0.518920 R_plan = 0.010365 v_actual = 0.518920 effective a_n = 25.980762 arc length = 0.006144, L_prev = 0.009204, L_next = 0.005344 Check: v_plan = 0.518920, v_para = 0.357071 angle = 0.592746 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.255873 Old target = 0.012369 Target = 0.009204 setting term condition 3 on tc id 79, type 1 Adding TC id 80 of type 2 Adding TC id 80 of type 1 current term = 3, type = 2, id = 80, smoothing = 0 prev term = 3, type = 1, id = 79, smoothing = 0 prev1_tc-> fv = 0.429308, tc->fv = 0.000000, capped target = 0.518920 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.784818, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.784818, acc = 36.402854,T = 5.894835, P = 0.106524 tc id = 11, canon_type = 1, mot type = 1 time: 0.134000 primary movement = 2.766616884807e-03 time: 1.340000000000e-01 total movement = 2.766616884807e-03 vel = 2.784818311681e+00 ******************** Handle Blend Arc prev tan = -0.940136 0.000000 -0.340799 this tan = -0.567733 0.000000 0.823213 u1 = -0.940136 0.000000 -0.340799 u2 = -0.567733 0.000000 0.823213 angle between segs = 1.314814 u1 = -0.940136 0.000000 -0.340799 u2 = -0.567733 0.000000 0.823213 theta=0.913389 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.863930, vr2 = 10.122939 v_goal = 20.245878, max scale = 2.000000 prev length L1 = 0.005344 next length L2 = 0.001761 K = 0.000074 d_geom = 0.001319, d_prev = 0.004525, d_next = 0.001319 R_geom = 0.001709 v_normal = 0.210689 v_plan = 0.210689 R_plan = 0.001709 v_actual = 0.210689 effective a_n = 25.980762 arc length = 0.002246, L_prev = 0.004025, L_next = 0.002204 Check: v_plan = 0.210689, v_para = 0.221847 blend arc NOT created prev segment parabolic, flagging blend_prev Adding TC id 81 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.821221, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.821221, acc = 36.402854,T = 5.894835, P = 0.109327 tc id = 11, canon_type = 1, mot type = 1 time: 0.135000 primary movement = 2.803019738555e-03 time: 1.350000000000e-01 total movement = 2.803019738555e-03 vel = 2.821221165429e+00 ******************** Handle Blend Arc prev tan = -0.567733 0.000000 0.823213 this tan = -0.970143 0.000000 0.242536 u1 = -0.567733 0.000000 0.823213 u2 = -0.970143 0.000000 0.242536 angle between segs = 0.722068 u1 = -0.567733 0.000000 0.823213 u2 = -0.970143 0.000000 0.242536 theta=1.209762 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 10.122939, vr2 = 8.589769 v_goal = 20.245878, max scale = 2.000000 prev length L1 = 0.003523 next length L2 = 0.002062 K = 0.000152 d_geom = 0.001408, d_prev = 0.002630, d_next = 0.001408 R_geom = 0.003729 v_normal = 0.311250 v_plan = 0.311250 R_plan = 0.003729 v_actual = 0.311250 effective a_n = 25.980762 arc length = 0.002692, L_prev = 0.002115, L_next = 0.002715 Check: v_plan = 0.311250, v_para = 0.252488 angle = 0.722068 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.399664 prev smoothing enabled Old target = 0.003523 Target = 0.002115 setting term condition 3 on tc id 81, type 1 Adding TC id 82 of type 2 Adding TC id 82 of type 1 current term = 3, type = 2, id = 82, smoothing = 1 prev term = 3, type = 1, id = 81, smoothing = 1 prev1_tc-> fv = 0.277616, tc->fv = 0.000000, capped target = 0.277616 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.857624, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.857624, acc = 36.402854,T = 5.894835, P = 0.112166 tc id = 11, canon_type = 1, mot type = 1 time: 0.136000 primary movement = 2.839422592302e-03 time: 1.360000000000e-01 total movement = 2.839422592302e-03 vel = 2.857624019176e+00 ******************** Handle Blend Arc prev tan = -0.970143 0.000000 0.242536 this tan = -0.894427 0.000000 -0.447214 u1 = -0.970143 0.000000 0.242536 u2 = -0.894427 0.000000 -0.447214 angle between segs = 0.708626 u1 = -0.970143 0.000000 0.242536 u2 = -0.894427 0.000000 -0.447214 theta=1.216483 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.589769, vr2 = 9.316913 v_goal = 18.633825, max scale = 2.000000 prev length L1 = 0.002715 next length L2 = 0.001118 K = 0.000155 d_geom = 0.000664, d_prev = 0.001940, d_next = 0.000664 R_geom = 0.001796 v_normal = 0.216016 v_plan = 0.216016 R_plan = 0.001796 v_actual = 0.216016 effective a_n = 25.980762 arc length = 0.001273, L_prev = 0.002051, L_next = 0.001572 Check: v_plan = 0.216016, v_para = 0.178536 angle = 0.708626 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.161141 Old target = 0.002715 Target = 0.002051 setting term condition 3 on tc id 82, type 1 Adding TC id 83 of type 2 Adding TC id 83 of type 1 current term = 3, type = 2, id = 83, smoothing = 0 prev term = 3, type = 1, id = 82, smoothing = 0 prev1_tc-> fv = 0.195402, tc->fv = 0.000000, capped target = 0.216016 current term = 3, type = 1, id = 82, smoothing = 0 prev term = 3, type = 2, id = 82, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.311250, tc->fv = 0.195402, capped target = 0.976560 current term = 3, type = 2, id = 82, smoothing = 1 prev term = 3, type = 1, id = 81, smoothing = 1 prev1_tc-> fv = 0.277616, tc->fv = 0.311250, capped target = 0.311250 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.894027, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.894027, acc = 36.402854,T = 5.894835, P = 0.115042 tc id = 11, canon_type = 1, mot type = 1 time: 0.137000 primary movement = 2.875825446050e-03 time: 1.370000000000e-01 total movement = 2.875825446050e-03 vel = 2.894026872924e+00 ******************** Handle Blend Arc prev tan = -0.894427 0.000000 -0.447214 this tan = -0.377897 0.000000 -0.925848 u1 = -0.894427 0.000000 -0.447214 u2 = -0.377897 0.000000 -0.925848 angle between segs = 0.719625 u1 = -0.894427 0.000000 -0.447214 u2 = -0.377897 0.000000 -0.925848 theta=1.210984 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.316913, vr2 = 9.000761 v_goal = 18.633825, max scale = 2.000000 prev length L1 = 0.001572 next length L2 = 0.002646 K = 0.000152 d_geom = 0.001016, d_prev = 0.001016, d_next = 0.001888 R_geom = 0.002700 v_normal = 0.264830 v_plan = 0.264830 R_plan = 0.002700 v_actual = 0.264830 effective a_n = 25.980762 arc length = 0.001943, L_prev = 0.000556, L_next = 0.004277 Check: v_plan = 0.264830, v_para = 0.292822 blend arc NOT created prev segment parabolic, flagging blend_prev Adding TC id 84 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.930430, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.930430, acc = 36.402854,T = 5.894835, P = 0.117954 tc id = 11, canon_type = 1, mot type = 1 time: 0.138000 primary movement = 2.912228299797e-03 time: 1.380000000000e-01 total movement = 2.912228299797e-03 vel = 2.930429726671e+00 ******************** Handle Blend Arc prev tan = -0.377897 0.000000 -0.925848 this tan = -1.000000 0.000000 0.000000 u1 = -0.377897 0.000000 -0.925848 u2 = -1.000000 0.000000 0.000000 angle between segs = 1.183273 u1 = -0.377897 0.000000 -0.925848 u2 = -1.000000 0.000000 0.000000 theta=0.979160 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.000761, vr2 = 8.333300 v_goal = 18.001521, max scale = 2.000000 prev length L1 = 0.005292 next length L2 = 0.003000 K = 0.000085 d_geom = 0.002365, d_prev = 0.004424, d_next = 0.002365 R_geom = 0.003520 v_normal = 0.302397 v_plan = 0.302397 R_plan = 0.003520 v_actual = 0.302397 effective a_n = 25.980762 arc length = 0.004165, L_prev = 0.002927, L_next = 0.003635 Check: v_plan = 0.302397, v_para = 0.300000 angle = 1.183273 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.446857 prev smoothing enabled Old target = 0.005292 Target = 0.002927 setting term condition 3 on tc id 84, type 1 Adding TC id 85 of type 2 Adding TC id 85 of type 1 current term = 3, type = 2, id = 85, smoothing = 1 prev term = 3, type = 1, id = 84, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.302397, tc->fv = 0.000000, capped target = 0.302397 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.966833, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.966833, acc = 36.402854,T = 5.894835, P = 0.120903 tc id = 11, canon_type = 1, mot type = 1 time: 0.139000 primary movement = 2.948631153545e-03 time: 1.390000000000e-01 total movement = 2.948631153545e-03 vel = 2.966832580418e+00 ******************** Handle Blend Arc prev tan = -1.000000 0.000000 0.000000 this tan = -0.894427 0.000000 -0.447214 u1 = -1.000000 0.000000 0.000000 u2 = -0.894427 0.000000 -0.447214 angle between segs = 0.463648 u1 = -1.000000 0.000000 0.000000 u2 = -0.894427 0.000000 -0.447214 theta=1.338973 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.333300, vr2 = 9.316913 v_goal = 18.633825, max scale = 2.000000 prev length L1 = 0.003635 next length L2 = 0.002236 K = 0.000243 d_geom = 0.001409, d_prev = 0.002527, d_next = 0.001409 R_geom = 0.005969 v_normal = 0.393801 v_plan = 0.393801 R_plan = 0.005969 v_actual = 0.393801 effective a_n = 25.980762 arc length = 0.002768, L_prev = 0.002226, L_next = 0.003063 Check: v_plan = 0.393801, v_para = 0.244949 angle = 0.463648 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.234848 Old target = 0.003635 Target = 0.002226 setting term condition 3 on tc id 85, type 1 Adding TC id 86 of type 2 Adding TC id 86 of type 1 current term = 3, type = 2, id = 86, smoothing = 0 prev term = 3, type = 1, id = 85, smoothing = 0 prev1_tc-> fv = 0.288141, tc->fv = 0.000000, capped target = 0.393801 current term = 3, type = 1, id = 85, smoothing = 0 prev term = 3, type = 2, id = 85, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.302397, tc->fv = 0.288141, capped target = 1.059974 current term = 3, type = 2, id = 85, smoothing = 1 prev term = 3, type = 1, id = 84, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.302397, tc->fv = 0.302397, capped target = 0.302397 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.003235, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.003235, acc = 36.402854,T = 5.894835, P = 0.123888 tc id = 11, canon_type = 1, mot type = 1 time: 0.140000 primary movement = 2.985034007292e-03 time: 1.400000000000e-01 total movement = 2.985034007292e-03 vel = 3.003235434166e+00 ******************** Handle Blend Arc prev tan = -0.894427 0.000000 -0.447214 this tan = -0.995974 0.000000 -0.089638 u1 = -0.894427 0.000000 -0.447214 u2 = -0.995974 0.000000 -0.089638 angle between segs = 0.373889 u1 = -0.894427 0.000000 -0.447214 u2 = -0.995974 0.000000 -0.089638 theta=1.383852 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.316913, vr2 = 8.366982 v_goal = 18.633825, max scale = 2.000000 prev length L1 = 0.003063 next length L2 = 0.005020 K = 0.000303 d_geom = 0.001971, d_prev = 0.001971, d_next = 0.003553 R_geom = 0.010418 v_normal = 0.520248 v_plan = 0.520248 R_plan = 0.010418 v_actual = 0.520248 effective a_n = 25.980762 arc length = 0.003895, L_prev = 0.001093, L_next = 0.008070 Check: v_plan = 0.520248, v_para = 0.388864 angle = 0.373889 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.440624 prev smoothing enabled Old target = 0.003063 Target = 0.001093 setting term condition 3 on tc id 86, type 1 Adding TC id 87 of type 2 Adding TC id 87 of type 1 current term = 3, type = 2, id = 87, smoothing = 1 prev term = 3, type = 1, id = 86, smoothing = 1 prev1_tc-> fv = 0.270718, tc->fv = 0.000000, capped target = 0.270718 current term = 3, type = 1, id = 86, smoothing = 1 prev term = 3, type = 2, id = 86, smoothing = 0 prev1_tc-> fv = 0.382854, tc->fv = 0.270718, capped target = 0.382854 current term = 3, type = 2, id = 86, smoothing = 0 prev term = 3, type = 1, id = 85, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.393801, tc->fv = 0.382854, capped target = 0.393801 current term = 3, type = 1, id = 85, smoothing = 0 prev term = 3, type = 2, id = 85, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.302397, tc->fv = 0.393801, capped target = 1.059974 current term = 3, type = 2, id = 85, smoothing = 1 prev term = 3, type = 1, id = 84, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.302397, tc->fv = 0.302397, capped target = 0.302397 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.039638, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.039638, acc = 36.402854,T = 5.894835, P = 0.126909 tc id = 11, canon_type = 1, mot type = 1 time: 0.141000 primary movement = 3.021436861040e-03 time: 1.410000000000e-01 total movement = 3.021436861040e-03 vel = 3.039638287913e+00 ******************** Handle Blend Arc prev tan = -0.995974 0.000000 -0.089638 this tan = -0.972937 0.000000 0.231072 u1 = -0.995974 0.000000 -0.089638 u2 = -0.972937 0.000000 0.231072 angle between segs = 0.322938 u1 = -0.995974 0.000000 -0.089638 u2 = -0.972937 0.000000 0.231072 theta=1.409327 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.366982, vr2 = 8.565101 v_goal = 17.130202, max scale = 2.000000 prev length L1 = 0.008070 next length L2 = 0.004111 K = 0.000352 d_geom = 0.002726, d_prev = 0.006013, d_next = 0.002726 R_geom = 0.016738 v_normal = 0.659447 v_plan = 0.659447 R_plan = 0.016738 v_actual = 0.659447 effective a_n = 25.980762 arc length = 0.005405, L_prev = 0.005343, L_next = 0.005496 Check: v_plan = 0.659447, v_para = 0.347810 angle = 0.322938 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.271545 Old target = 0.008070 Target = 0.005343 setting term condition 3 on tc id 87, type 1 Adding TC id 88 of type 2 Adding TC id 88 of type 1 current term = 3, type = 2, id = 88, smoothing = 0 prev term = 3, type = 1, id = 87, smoothing = 0 prev1_tc-> fv = 0.402693, tc->fv = 0.000000, capped target = 0.659447 current term = 3, type = 1, id = 87, smoothing = 0 prev term = 3, type = 2, id = 87, smoothing = 1 prev1_tc-> fv = 0.436050, tc->fv = 0.402693, capped target = 2.544506 current term = 3, type = 2, id = 87, smoothing = 1 prev term = 3, type = 1, id = 86, smoothing = 1 prev1_tc-> fv = 0.468898, tc->fv = 0.436050, capped target = 0.468898 current term = 3, type = 1, id = 86, smoothing = 1 prev term = 3, type = 2, id = 86, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.393801, tc->fv = 0.468898, capped target = 0.468898 current term = 3, type = 2, id = 86, smoothing = 0 prev term = 3, type = 1, id = 85, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.393801, tc->fv = 0.393801, capped target = 0.393801 current term = 3, type = 1, id = 85, smoothing = 0 prev term = 3, type = 2, id = 85, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.302397, tc->fv = 0.393801, capped target = 1.059974 current term = 3, type = 2, id = 85, smoothing = 1 prev term = 3, type = 1, id = 84, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.302397, tc->fv = 0.302397, capped target = 0.302397 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.076041, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.076041, acc = 36.402854,T = 5.894835, P = 0.129967 tc id = 11, canon_type = 1, mot type = 1 time: 0.142000 primary movement = 3.057839714787e-03 time: 1.420000000000e-01 total movement = 3.057839714787e-03 vel = 3.076041141661e+00 ******************** Handle Blend Arc prev tan = -0.972937 0.000000 0.231072 this tan = -0.917556 0.000000 -0.397607 u1 = -0.972937 0.000000 0.231072 u2 = -0.917556 0.000000 -0.397607 angle between segs = 0.642088 u1 = -0.972937 0.000000 0.231072 u2 = -0.917556 0.000000 -0.397607 theta=1.249753 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.565101, vr2 = 9.082065 v_goal = 18.164130, max scale = 2.000000 prev length L1 = 0.005496 next length L2 = 0.003270 K = 0.000172 d_geom = 0.002367, d_prev = 0.004282, d_next = 0.002367 R_geom = 0.007116 v_normal = 0.429991 v_plan = 0.429991 R_plan = 0.007116 v_actual = 0.429991 effective a_n = 25.980762 arc length = 0.004569, L_prev = 0.003130, L_next = 0.004173 Check: v_plan = 0.429991, v_para = 0.308345 angle = 0.642088 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.287816 Old target = 0.005496 Target = 0.003130 setting term condition 3 on tc id 88, type 1 Adding TC id 89 of type 2 Adding TC id 89 of type 1 current term = 3, type = 2, id = 89, smoothing = 0 prev term = 3, type = 1, id = 88, smoothing = 0 prev1_tc-> fv = 0.370246, tc->fv = 0.000000, capped target = 0.429991 current term = 3, type = 1, id = 88, smoothing = 0 prev term = 3, type = 2, id = 88, smoothing = 0 prev1_tc-> fv = 0.569494, tc->fv = 0.370246, capped target = 1.490251 current term = 3, type = 2, id = 88, smoothing = 0 prev term = 3, type = 1, id = 87, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.659447, tc->fv = 0.569494, capped target = 0.659447 current term = 3, type = 1, id = 87, smoothing = 0 prev term = 3, type = 2, id = 87, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.520248, tc->fv = 0.659447, capped target = 2.544506 current term = 3, type = 2, id = 87, smoothing = 1 prev term = 3, type = 1, id = 86, smoothing = 1 prev1_tc-> fv = 0.477878, tc->fv = 0.520248, capped target = 0.520248 current term = 3, type = 1, id = 86, smoothing = 1 prev term = 3, type = 2, id = 86, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.393801, tc->fv = 0.477878, capped target = 0.477878 current term = 3, type = 2, id = 86, smoothing = 0 prev term = 3, type = 1, id = 85, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.393801, tc->fv = 0.393801, capped target = 0.393801 current term = 3, type = 1, id = 85, smoothing = 0 prev term = 3, type = 2, id = 85, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.302397, tc->fv = 0.393801, capped target = 1.059974 current term = 3, type = 2, id = 85, smoothing = 1 prev term = 3, type = 1, id = 84, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.302397, tc->fv = 0.302397, capped target = 0.302397 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.112444, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.112444, acc = 36.402854,T = 5.894835, P = 0.133062 tc id = 11, canon_type = 1, mot type = 1 time: 0.143000 primary movement = 3.094242568535e-03 time: 1.430000000000e-01 total movement = 3.094242568535e-03 vel = 3.112443995408e+00 ******************** Handle Blend Arc prev tan = -0.917556 0.000000 -0.397607 this tan = -0.996194 0.000000 0.087167 u1 = -0.917556 0.000000 -0.397607 u2 = -0.996194 0.000000 0.087167 angle between segs = 0.496186 u1 = -0.917556 0.000000 -0.397607 u2 = -0.996194 0.000000 0.087167 theta=1.322704 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.082065, vr2 = 8.365140 v_goal = 18.164130, max scale = 2.000000 prev length L1 = 0.004173 next length L2 = 0.004015 K = 0.000226 d_geom = 0.002875, d_prev = 0.003006, d_next = 0.002875 R_geom = 0.011349 v_normal = 0.543017 v_plan = 0.543017 R_plan = 0.011349 v_actual = 0.543017 effective a_n = 25.980762 arc length = 0.005631, L_prev = 0.001298, L_next = 0.005156 Check: v_plan = 0.543017, v_para = 0.347734 angle = 0.496186 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.439654 prev smoothing enabled Old target = 0.004173 Target = 0.001298 setting term condition 3 on tc id 89, type 1 Adding TC id 90 of type 2 Adding TC id 90 of type 1 current term = 3, type = 2, id = 90, smoothing = 1 prev term = 3, type = 1, id = 89, smoothing = 1 prev1_tc-> fv = 0.291292, tc->fv = 0.000000, capped target = 0.291292 current term = 3, type = 1, id = 89, smoothing = 1 prev term = 3, type = 2, id = 89, smoothing = 0 prev1_tc-> fv = 0.411949, tc->fv = 0.291292, capped target = 0.411949 current term = 3, type = 2, id = 89, smoothing = 0 prev term = 3, type = 1, id = 88, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.429991, tc->fv = 0.411949, capped target = 0.429991 current term = 3, type = 1, id = 88, smoothing = 0 prev term = 3, type = 2, id = 88, smoothing = 0 prev1_tc-> fv = 0.614725, tc->fv = 0.429991, capped target = 1.490251 current term = 3, type = 2, id = 88, smoothing = 0 prev term = 3, type = 1, id = 87, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.659447, tc->fv = 0.614725, capped target = 0.659447 current term = 3, type = 1, id = 87, smoothing = 0 prev term = 3, type = 2, id = 87, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.520248, tc->fv = 0.659447, capped target = 2.544506 current term = 3, type = 2, id = 87, smoothing = 1 prev term = 3, type = 1, id = 86, smoothing = 1 prev1_tc-> fv = 0.477878, tc->fv = 0.520248, capped target = 0.520248 current term = 3, type = 1, id = 86, smoothing = 1 prev term = 3, type = 2, id = 86, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.393801, tc->fv = 0.477878, capped target = 0.477878 current term = 3, type = 2, id = 86, smoothing = 0 prev term = 3, type = 1, id = 85, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.393801, tc->fv = 0.393801, capped target = 0.393801 current term = 3, type = 1, id = 85, smoothing = 0 prev term = 3, type = 2, id = 85, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.302397, tc->fv = 0.393801, capped target = 1.059974 current term = 3, type = 2, id = 85, smoothing = 1 prev term = 3, type = 1, id = 84, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.302397, tc->fv = 0.302397, capped target = 0.302397 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.148847, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.148847, acc = 36.402854,T = 5.894835, P = 0.136192 tc id = 11, canon_type = 1, mot type = 1 time: 0.144000 primary movement = 3.130645422282e-03 time: 1.440000000000e-01 total movement = 3.130645422282e-03 vel = 3.148846849156e+00 ******************** Handle Blend Arc prev tan = -0.996194 0.000000 0.087167 this tan = -0.894427 0.000000 -0.447214 u1 = -0.996194 0.000000 0.087167 u2 = -0.894427 0.000000 -0.447214 angle between segs = 0.550925 u1 = -0.996194 0.000000 0.087167 u2 = -0.894427 0.000000 -0.447214 theta=1.295334 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.365140, vr2 = 9.316913 v_goal = 18.633825, max scale = 2.000000 prev length L1 = 0.005156 next length L2 = 0.002236 K = 0.000203 d_geom = 0.001465, d_prev = 0.003899, d_next = 0.001465 R_geom = 0.005184 v_normal = 0.367007 v_plan = 0.367007 R_plan = 0.005184 v_actual = 0.367007 effective a_n = 25.980762 arc length = 0.002856, L_prev = 0.003690, L_next = 0.003007 Check: v_plan = 0.367007, v_para = 0.245885 angle = 0.550925 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.182472 Old target = 0.005156 Target = 0.003690 setting term condition 3 on tc id 90, type 1 Adding TC id 91 of type 2 Adding TC id 91 of type 1 current term = 3, type = 2, id = 91, smoothing = 0 prev term = 3, type = 1, id = 90, smoothing = 0 prev1_tc-> fv = 0.292722, tc->fv = 0.000000, capped target = 0.367007 current term = 3, type = 1, id = 90, smoothing = 0 prev term = 3, type = 2, id = 90, smoothing = 1 prev1_tc-> fv = 0.503780, tc->fv = 0.292722, capped target = 1.757269 current term = 3, type = 2, id = 90, smoothing = 1 prev term = 3, type = 1, id = 89, smoothing = 1 prev1_tc-> fv = 0.504532, tc->fv = 0.503780, capped target = 0.504532 current term = 3, type = 1, id = 89, smoothing = 1 prev term = 3, type = 2, id = 89, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.429991, tc->fv = 0.504532, capped target = 0.504532 current term = 3, type = 2, id = 89, smoothing = 0 prev term = 3, type = 1, id = 88, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.429991, tc->fv = 0.429991, capped target = 0.429991 current term = 3, type = 1, id = 88, smoothing = 0 prev term = 3, type = 2, id = 88, smoothing = 0 prev1_tc-> fv = 0.614725, tc->fv = 0.429991, capped target = 1.490251 current term = 3, type = 2, id = 88, smoothing = 0 prev term = 3, type = 1, id = 87, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.659447, tc->fv = 0.614725, capped target = 0.659447 current term = 3, type = 1, id = 87, smoothing = 0 prev term = 3, type = 2, id = 87, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.520248, tc->fv = 0.659447, capped target = 2.544506 current term = 3, type = 2, id = 87, smoothing = 1 prev term = 3, type = 1, id = 86, smoothing = 1 prev1_tc-> fv = 0.477878, tc->fv = 0.520248, capped target = 0.520248 current term = 3, type = 1, id = 86, smoothing = 1 prev term = 3, type = 2, id = 86, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.393801, tc->fv = 0.477878, capped target = 0.477878 current term = 3, type = 2, id = 86, smoothing = 0 prev term = 3, type = 1, id = 85, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.393801, tc->fv = 0.393801, capped target = 0.393801 current term = 3, type = 1, id = 85, smoothing = 0 prev term = 3, type = 2, id = 85, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.302397, tc->fv = 0.393801, capped target = 1.059974 current term = 3, type = 2, id = 85, smoothing = 1 prev term = 3, type = 1, id = 84, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.302397, tc->fv = 0.302397, capped target = 0.302397 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.185250, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.185250, acc = 36.402854,T = 5.894835, P = 0.139359 tc id = 11, canon_type = 1, mot type = 1 time: 0.145000 primary movement = 3.167048276029e-03 time: 1.450000000000e-01 total movement = 3.167048276029e-03 vel = 3.185249702903e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.221653, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.221653, acc = 36.402854,T = 5.894835, P = 0.142563 tc id = 11, canon_type = 1, mot type = 1 time: 0.146000 primary movement = 3.203451129777e-03 time: 1.460000000000e-01 total movement = 3.203451129777e-03 vel = 3.221652556651e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.258055, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.258055, acc = 36.402854,T = 5.894835, P = 0.145803 tc id = 11, canon_type = 1, mot type = 1 time: 0.147000 primary movement = 3.239853983524e-03 time: 1.470000000000e-01 total movement = 3.239853983524e-03 vel = 3.258055410398e+00 ******************** Handle Blend Arc prev tan = -0.894427 0.000000 -0.447214 this tan = -0.998205 0.000000 -0.059892 u1 = -0.894427 0.000000 -0.447214 u2 = -0.998205 0.000000 -0.059892 angle between segs = 0.403719 u1 = -0.894427 0.000000 -0.447214 u2 = -0.998205 0.000000 -0.059892 theta=1.368937 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.316913, vr2 = 8.348286 v_goal = 18.633825, max scale = 2.000000 prev length L1 = 0.003007 next length L2 = 0.005009 K = 0.000280 d_geom = 0.001959, d_prev = 0.001959, d_next = 0.003591 R_geom = 0.009575 v_normal = 0.498753 v_plan = 0.498753 R_plan = 0.009575 v_actual = 0.498753 effective a_n = 25.980762 arc length = 0.003865, L_prev = 0.001047, L_next = 0.008059 Check: v_plan = 0.498753, v_para = 0.387995 angle = 0.403719 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.438136 prev smoothing enabled Old target = 0.003007 Target = 0.001047 setting term condition 3 on tc id 91, type 1 Adding TC id 92 of type 2 Adding TC id 92 of type 1 current term = 3, type = 2, id = 92, smoothing = 1 prev term = 3, type = 1, id = 91, smoothing = 1 prev1_tc-> fv = 0.265067, tc->fv = 0.000000, capped target = 0.265067 current term = 3, type = 1, id = 91, smoothing = 1 prev term = 3, type = 2, id = 91, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.367007, tc->fv = 0.265067, capped target = 0.367007 current term = 3, type = 2, id = 91, smoothing = 0 prev term = 3, type = 1, id = 90, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.367007, tc->fv = 0.367007, capped target = 0.367007 current term = 3, type = 1, id = 90, smoothing = 0 prev term = 3, type = 2, id = 90, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.543017, tc->fv = 0.367007, capped target = 1.757269 current term = 3, type = 2, id = 90, smoothing = 1 prev term = 3, type = 1, id = 89, smoothing = 1 prev1_tc-> fv = 0.519368, tc->fv = 0.543017, capped target = 0.543017 current term = 3, type = 1, id = 89, smoothing = 1 prev term = 3, type = 2, id = 89, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.429991, tc->fv = 0.519368, capped target = 0.519368 current term = 3, type = 2, id = 89, smoothing = 0 prev term = 3, type = 1, id = 88, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.429991, tc->fv = 0.429991, capped target = 0.429991 current term = 3, type = 1, id = 88, smoothing = 0 prev term = 3, type = 2, id = 88, smoothing = 0 prev1_tc-> fv = 0.614725, tc->fv = 0.429991, capped target = 1.490251 current term = 3, type = 2, id = 88, smoothing = 0 prev term = 3, type = 1, id = 87, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.659447, tc->fv = 0.614725, capped target = 0.659447 current term = 3, type = 1, id = 87, smoothing = 0 prev term = 3, type = 2, id = 87, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.520248, tc->fv = 0.659447, capped target = 2.544506 current term = 3, type = 2, id = 87, smoothing = 1 prev term = 3, type = 1, id = 86, smoothing = 1 prev1_tc-> fv = 0.477878, tc->fv = 0.520248, capped target = 0.520248 current term = 3, type = 1, id = 86, smoothing = 1 prev term = 3, type = 2, id = 86, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.393801, tc->fv = 0.477878, capped target = 0.477878 current term = 3, type = 2, id = 86, smoothing = 0 prev term = 3, type = 1, id = 85, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.393801, tc->fv = 0.393801, capped target = 0.393801 current term = 3, type = 1, id = 85, smoothing = 0 prev term = 3, type = 2, id = 85, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.302397, tc->fv = 0.393801, capped target = 1.059974 current term = 3, type = 2, id = 85, smoothing = 1 prev term = 3, type = 1, id = 84, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.302397, tc->fv = 0.302397, capped target = 0.302397 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.294458, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.294458, acc = 36.402854,T = 5.894835, P = 0.149079 tc id = 11, canon_type = 1, mot type = 1 time: 0.148000 primary movement = 3.276256837272e-03 time: 1.480000000000e-01 total movement = 3.276256837272e-03 vel = 3.294458264146e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.330861, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.330861, acc = 36.402854,T = 5.894835, P = 0.152391 tc id = 11, canon_type = 1, mot type = 1 time: 0.149000 primary movement = 3.312659691019e-03 time: 1.490000000000e-01 total movement = 3.312659691019e-03 vel = 3.330861117893e+00 ******************** Handle Blend Arc prev tan = -0.998205 0.000000 -0.059892 this tan = -0.496139 0.000000 0.868243 u1 = -0.998205 0.000000 -0.059892 u2 = -0.496139 0.000000 0.868243 angle between segs = 1.111578 u1 = -0.998205 0.000000 -0.059892 u2 = -0.496139 0.000000 0.868243 theta=1.015007 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.348286, vr2 = 9.597926 v_goal = 19.195851, max scale = 2.000000 prev length L1 = 0.008059 next length L2 = 0.002016 K = 0.000092 d_geom = 0.001491, d_prev = 0.006928, d_next = 0.001491 R_geom = 0.002401 v_normal = 0.249746 v_plan = 0.249746 R_plan = 0.002401 v_actual = 0.249746 effective a_n = 25.980762 arc length = 0.002669, L_prev = 0.006567, L_next = 0.002540 Check: v_plan = 0.249746, v_para = 0.229541 angle = 1.111578 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.148842 Old target = 0.008059 Target = 0.006567 setting term condition 3 on tc id 92, type 1 Adding TC id 93 of type 2 Adding TC id 93 of type 1 current term = 3, type = 2, id = 93, smoothing = 0 prev term = 3, type = 1, id = 92, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.249746, tc->fv = 0.000000, capped target = 0.249746 current term = 3, type = 1, id = 92, smoothing = 0 prev term = 3, type = 2, id = 92, smoothing = 1 prev1_tc-> fv = 0.431536, tc->fv = 0.249746, capped target = 3.127373 current term = 3, type = 2, id = 92, smoothing = 1 prev term = 3, type = 1, id = 91, smoothing = 1 prev1_tc-> fv = 0.452719, tc->fv = 0.431536, capped target = 0.452719 current term = 3, type = 1, id = 91, smoothing = 1 prev term = 3, type = 2, id = 91, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.367007, tc->fv = 0.452719, capped target = 0.452719 current term = 3, type = 2, id = 91, smoothing = 0 prev term = 3, type = 1, id = 90, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.367007, tc->fv = 0.367007, capped target = 0.367007 current term = 3, type = 1, id = 90, smoothing = 0 prev term = 3, type = 2, id = 90, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.543017, tc->fv = 0.367007, capped target = 1.757269 current term = 3, type = 2, id = 90, smoothing = 1 prev term = 3, type = 1, id = 89, smoothing = 1 prev1_tc-> fv = 0.519368, tc->fv = 0.543017, capped target = 0.543017 current term = 3, type = 1, id = 89, smoothing = 1 prev term = 3, type = 2, id = 89, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.429991, tc->fv = 0.519368, capped target = 0.519368 current term = 3, type = 2, id = 89, smoothing = 0 prev term = 3, type = 1, id = 88, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.429991, tc->fv = 0.429991, capped target = 0.429991 current term = 3, type = 1, id = 88, smoothing = 0 prev term = 3, type = 2, id = 88, smoothing = 0 prev1_tc-> fv = 0.614725, tc->fv = 0.429991, capped target = 1.490251 current term = 3, type = 2, id = 88, smoothing = 0 prev term = 3, type = 1, id = 87, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.659447, tc->fv = 0.614725, capped target = 0.659447 current term = 3, type = 1, id = 87, smoothing = 0 prev term = 3, type = 2, id = 87, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.520248, tc->fv = 0.659447, capped target = 2.544506 current term = 3, type = 2, id = 87, smoothing = 1 prev term = 3, type = 1, id = 86, smoothing = 1 prev1_tc-> fv = 0.477878, tc->fv = 0.520248, capped target = 0.520248 current term = 3, type = 1, id = 86, smoothing = 1 prev term = 3, type = 2, id = 86, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.393801, tc->fv = 0.477878, capped target = 0.477878 current term = 3, type = 2, id = 86, smoothing = 0 prev term = 3, type = 1, id = 85, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.393801, tc->fv = 0.393801, capped target = 0.393801 current term = 3, type = 1, id = 85, smoothing = 0 prev term = 3, type = 2, id = 85, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.302397, tc->fv = 0.393801, capped target = 1.059974 current term = 3, type = 2, id = 85, smoothing = 1 prev term = 3, type = 1, id = 84, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.302397, tc->fv = 0.302397, capped target = 0.302397 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.367264, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.367264, acc = 36.402854,T = 5.894835, P = 0.155741 tc id = 11, canon_type = 1, mot type = 1 time: 0.150000 primary movement = 3.349062544767e-03 time: 1.500000000000e-01 total movement = 3.349062544767e-03 vel = 3.367263971641e+00 ******************** Handle Blend Arc prev tan = -0.496139 0.000000 0.868243 this tan = -0.970143 0.000000 0.242536 u1 = -0.496139 0.000000 0.868243 u2 = -0.970143 0.000000 0.242536 angle between segs = 0.806672 u1 = -0.496139 0.000000 0.868243 u2 = -0.970143 0.000000 0.242536 theta=1.167461 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.597926, vr2 = 8.589769 v_goal = 19.195851, max scale = 2.000000 prev length L1 = 0.002540 next length L2 = 0.002062 K = 0.000134 d_geom = 0.001440, d_prev = 0.001838, d_next = 0.001440 R_geom = 0.003374 v_normal = 0.296074 v_plan = 0.296074 R_plan = 0.003374 v_actual = 0.296074 effective a_n = 25.980762 arc length = 0.002722, L_prev = 0.001100, L_next = 0.002683 Check: v_plan = 0.296074, v_para = 0.252488 angle = 0.806672 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.357170 prev smoothing enabled Old target = 0.002540 Target = 0.001100 setting term condition 3 on tc id 93, type 1 Adding TC id 94 of type 2 Adding TC id 94 of type 1 current term = 3, type = 2, id = 94, smoothing = 1 prev term = 3, type = 1, id = 93, smoothing = 1 prev1_tc-> fv = 0.275738, tc->fv = 0.000000, capped target = 0.275738 current term = 3, type = 1, id = 93, smoothing = 1 prev term = 3, type = 2, id = 93, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.249746, tc->fv = 0.275738, capped target = 0.275738 current term = 3, type = 2, id = 93, smoothing = 0 prev term = 3, type = 1, id = 92, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.249746, tc->fv = 0.249746, capped target = 0.249746 current term = 3, type = 1, id = 92, smoothing = 0 prev term = 3, type = 2, id = 92, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.498753, tc->fv = 0.249746, capped target = 3.127373 current term = 3, type = 2, id = 92, smoothing = 1 prev term = 3, type = 1, id = 91, smoothing = 1 prev1_tc-> fv = 0.452719, tc->fv = 0.498753, capped target = 0.498753 current term = 3, type = 1, id = 91, smoothing = 1 prev term = 3, type = 2, id = 91, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.367007, tc->fv = 0.452719, capped target = 0.452719 current term = 3, type = 2, id = 91, smoothing = 0 prev term = 3, type = 1, id = 90, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.367007, tc->fv = 0.367007, capped target = 0.367007 current term = 3, type = 1, id = 90, smoothing = 0 prev term = 3, type = 2, id = 90, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.543017, tc->fv = 0.367007, capped target = 1.757269 current term = 3, type = 2, id = 90, smoothing = 1 prev term = 3, type = 1, id = 89, smoothing = 1 prev1_tc-> fv = 0.519368, tc->fv = 0.543017, capped target = 0.543017 current term = 3, type = 1, id = 89, smoothing = 1 prev term = 3, type = 2, id = 89, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.429991, tc->fv = 0.519368, capped target = 0.519368 current term = 3, type = 2, id = 89, smoothing = 0 prev term = 3, type = 1, id = 88, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.429991, tc->fv = 0.429991, capped target = 0.429991 current term = 3, type = 1, id = 88, smoothing = 0 prev term = 3, type = 2, id = 88, smoothing = 0 prev1_tc-> fv = 0.614725, tc->fv = 0.429991, capped target = 1.490251 current term = 3, type = 2, id = 88, smoothing = 0 prev term = 3, type = 1, id = 87, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.659447, tc->fv = 0.614725, capped target = 0.659447 current term = 3, type = 1, id = 87, smoothing = 0 prev term = 3, type = 2, id = 87, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.520248, tc->fv = 0.659447, capped target = 2.544506 current term = 3, type = 2, id = 87, smoothing = 1 prev term = 3, type = 1, id = 86, smoothing = 1 prev1_tc-> fv = 0.477878, tc->fv = 0.520248, capped target = 0.520248 current term = 3, type = 1, id = 86, smoothing = 1 prev term = 3, type = 2, id = 86, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.393801, tc->fv = 0.477878, capped target = 0.477878 current term = 3, type = 2, id = 86, smoothing = 0 prev term = 3, type = 1, id = 85, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.393801, tc->fv = 0.393801, capped target = 0.393801 current term = 3, type = 1, id = 85, smoothing = 0 prev term = 3, type = 2, id = 85, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.302397, tc->fv = 0.393801, capped target = 1.059974 current term = 3, type = 2, id = 85, smoothing = 1 prev term = 3, type = 1, id = 84, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.302397, tc->fv = 0.302397, capped target = 0.302397 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.403667, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.403667, acc = 36.402854,T = 5.894835, P = 0.159126 tc id = 11, canon_type = 1, mot type = 1 time: 0.151000 primary movement = 3.385465398514e-03 time: 1.510000000000e-01 total movement = 3.385465398514e-03 vel = 3.403666825388e+00 ******************** Handle Blend Arc prev tan = -0.970143 0.000000 0.242536 this tan = -0.982424 0.000000 -0.186661 u1 = -0.970143 0.000000 0.242536 u2 = -0.982424 0.000000 -0.186661 angle between segs = 0.432741 u1 = -0.970143 0.000000 0.242536 u2 = -0.982424 0.000000 -0.186661 theta=1.354426 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.589769, vr2 = 8.482383 v_goal = 17.179538, max scale = 2.000000 prev length L1 = 0.002683 next length L2 = 0.005089 K = 0.000261 d_geom = 0.001733, d_prev = 0.001733, d_next = 0.003701 R_geom = 0.007884 v_normal = 0.452573 v_plan = 0.452573 R_plan = 0.007884 v_actual = 0.452573 effective a_n = 25.980762 arc length = 0.003412, L_prev = 0.000950, L_next = 0.008446 Check: v_plan = 0.452573, v_para = 0.394227 angle = 0.432741 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.420291 prev smoothing enabled Old target = 0.002683 Target = 0.000950 setting term condition 3 on tc id 94, type 1 Adding TC id 95 of type 2 Adding TC id 95 of type 1 current term = 3, type = 2, id = 95, smoothing = 1 prev term = 3, type = 1, id = 94, smoothing = 1 prev1_tc-> fv = 0.242444, tc->fv = 0.000000, capped target = 0.242444 current term = 3, type = 1, id = 94, smoothing = 1 prev term = 3, type = 2, id = 94, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.296074, tc->fv = 0.242444, capped target = 0.296074 current term = 3, type = 2, id = 94, smoothing = 1 prev term = 3, type = 1, id = 93, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.296074, tc->fv = 0.296074, capped target = 0.296074 current term = 3, type = 1, id = 93, smoothing = 1 prev term = 3, type = 2, id = 93, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.249746, tc->fv = 0.296074, capped target = 0.296074 current term = 3, type = 2, id = 93, smoothing = 0 prev term = 3, type = 1, id = 92, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.249746, tc->fv = 0.249746, capped target = 0.249746 current term = 3, type = 1, id = 92, smoothing = 0 prev term = 3, type = 2, id = 92, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.498753, tc->fv = 0.249746, capped target = 3.127373 current term = 3, type = 2, id = 92, smoothing = 1 prev term = 3, type = 1, id = 91, smoothing = 1 prev1_tc-> fv = 0.452719, tc->fv = 0.498753, capped target = 0.498753 current term = 3, type = 1, id = 91, smoothing = 1 prev term = 3, type = 2, id = 91, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.367007, tc->fv = 0.452719, capped target = 0.452719 current term = 3, type = 2, id = 91, smoothing = 0 prev term = 3, type = 1, id = 90, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.367007, tc->fv = 0.367007, capped target = 0.367007 current term = 3, type = 1, id = 90, smoothing = 0 prev term = 3, type = 2, id = 90, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.543017, tc->fv = 0.367007, capped target = 1.757269 current term = 3, type = 2, id = 90, smoothing = 1 prev term = 3, type = 1, id = 89, smoothing = 1 prev1_tc-> fv = 0.519368, tc->fv = 0.543017, capped target = 0.543017 current term = 3, type = 1, id = 89, smoothing = 1 prev term = 3, type = 2, id = 89, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.429991, tc->fv = 0.519368, capped target = 0.519368 current term = 3, type = 2, id = 89, smoothing = 0 prev term = 3, type = 1, id = 88, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.429991, tc->fv = 0.429991, capped target = 0.429991 current term = 3, type = 1, id = 88, smoothing = 0 prev term = 3, type = 2, id = 88, smoothing = 0 prev1_tc-> fv = 0.614725, tc->fv = 0.429991, capped target = 1.490251 current term = 3, type = 2, id = 88, smoothing = 0 prev term = 3, type = 1, id = 87, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.659447, tc->fv = 0.614725, capped target = 0.659447 current term = 3, type = 1, id = 87, smoothing = 0 prev term = 3, type = 2, id = 87, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.520248, tc->fv = 0.659447, capped target = 2.544506 current term = 3, type = 2, id = 87, smoothing = 1 prev term = 3, type = 1, id = 86, smoothing = 1 prev1_tc-> fv = 0.477878, tc->fv = 0.520248, capped target = 0.520248 current term = 3, type = 1, id = 86, smoothing = 1 prev term = 3, type = 2, id = 86, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.393801, tc->fv = 0.477878, capped target = 0.477878 current term = 3, type = 2, id = 86, smoothing = 0 prev term = 3, type = 1, id = 85, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.393801, tc->fv = 0.393801, capped target = 0.393801 current term = 3, type = 1, id = 85, smoothing = 0 prev term = 3, type = 2, id = 85, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.302397, tc->fv = 0.393801, capped target = 1.059974 current term = 3, type = 2, id = 85, smoothing = 1 prev term = 3, type = 1, id = 84, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.302397, tc->fv = 0.302397, capped target = 0.302397 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.440070, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.440070, acc = 36.402854,T = 5.894835, P = 0.162548 tc id = 11, canon_type = 1, mot type = 1 time: 0.152000 primary movement = 3.421868252262e-03 time: 1.520000000000e-01 total movement = 3.421868252262e-03 vel = 3.440069679135e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.476473, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.476473, acc = 36.402854,T = 5.894835, P = 0.166006 tc id = 11, canon_type = 1, mot type = 1 time: 0.153000 primary movement = 3.458271106009e-03 time: 1.530000000000e-01 total movement = 3.458271106009e-03 vel = 3.476472532883e+00 ******************** Handle Blend Arc prev tan = -0.982424 0.000000 -0.186661 this tan = -0.800000 0.000000 -0.600000 u1 = -0.982424 0.000000 -0.186661 u2 = -0.800000 0.000000 -0.600000 angle between segs = 0.455739 u1 = -0.982424 0.000000 -0.186661 u2 = -0.800000 0.000000 -0.600000 theta=1.342927 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.482383, vr2 = 10.416625 v_goal = 20.833250, max scale = 2.000000 prev length L1 = 0.008446 next length L2 = 0.002500 K = 0.000247 d_geom = 0.001609, d_prev = 0.006635, d_next = 0.001609 R_geom = 0.006936 v_normal = 0.424514 v_plan = 0.424514 R_plan = 0.006936 v_actual = 0.424514 effective a_n = 25.980762 arc length = 0.003161, L_prev = 0.006837, L_next = 0.003391 Check: v_plan = 0.424514, v_para = 0.249331 angle = 0.455739 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.158025 Old target = 0.008446 Target = 0.006837 setting term condition 3 on tc id 95, type 1 Adding TC id 96 of type 2 Adding TC id 96 of type 1 current term = 3, type = 2, id = 96, smoothing = 0 prev term = 3, type = 1, id = 95, smoothing = 0 prev1_tc-> fv = 0.307953, tc->fv = 0.000000, capped target = 0.424514 current term = 3, type = 1, id = 95, smoothing = 0 prev term = 3, type = 2, id = 95, smoothing = 1 prev1_tc-> fv = 0.401405, tc->fv = 0.307953, capped target = 3.255940 current term = 3, type = 2, id = 95, smoothing = 1 prev term = 3, type = 1, id = 94, smoothing = 1 prev1_tc-> fv = 0.382673, tc->fv = 0.401405, capped target = 0.401405 current term = 3, type = 1, id = 94, smoothing = 1 prev term = 3, type = 2, id = 94, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.296074, tc->fv = 0.382673, capped target = 0.382673 current term = 3, type = 2, id = 94, smoothing = 1 prev term = 3, type = 1, id = 93, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.296074, tc->fv = 0.296074, capped target = 0.296074 current term = 3, type = 1, id = 93, smoothing = 1 prev term = 3, type = 2, id = 93, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.249746, tc->fv = 0.296074, capped target = 0.296074 current term = 3, type = 2, id = 93, smoothing = 0 prev term = 3, type = 1, id = 92, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.249746, tc->fv = 0.249746, capped target = 0.249746 current term = 3, type = 1, id = 92, smoothing = 0 prev term = 3, type = 2, id = 92, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.498753, tc->fv = 0.249746, capped target = 3.127373 current term = 3, type = 2, id = 92, smoothing = 1 prev term = 3, type = 1, id = 91, smoothing = 1 prev1_tc-> fv = 0.452719, tc->fv = 0.498753, capped target = 0.498753 current term = 3, type = 1, id = 91, smoothing = 1 prev term = 3, type = 2, id = 91, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.367007, tc->fv = 0.452719, capped target = 0.452719 current term = 3, type = 2, id = 91, smoothing = 0 prev term = 3, type = 1, id = 90, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.367007, tc->fv = 0.367007, capped target = 0.367007 current term = 3, type = 1, id = 90, smoothing = 0 prev term = 3, type = 2, id = 90, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.543017, tc->fv = 0.367007, capped target = 1.757269 current term = 3, type = 2, id = 90, smoothing = 1 prev term = 3, type = 1, id = 89, smoothing = 1 prev1_tc-> fv = 0.519368, tc->fv = 0.543017, capped target = 0.543017 current term = 3, type = 1, id = 89, smoothing = 1 prev term = 3, type = 2, id = 89, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.429991, tc->fv = 0.519368, capped target = 0.519368 current term = 3, type = 2, id = 89, smoothing = 0 prev term = 3, type = 1, id = 88, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.429991, tc->fv = 0.429991, capped target = 0.429991 current term = 3, type = 1, id = 88, smoothing = 0 prev term = 3, type = 2, id = 88, smoothing = 0 prev1_tc-> fv = 0.614725, tc->fv = 0.429991, capped target = 1.490251 current term = 3, type = 2, id = 88, smoothing = 0 prev term = 3, type = 1, id = 87, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.659447, tc->fv = 0.614725, capped target = 0.659447 current term = 3, type = 1, id = 87, smoothing = 0 prev term = 3, type = 2, id = 87, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.520248, tc->fv = 0.659447, capped target = 2.544506 current term = 3, type = 2, id = 87, smoothing = 1 prev term = 3, type = 1, id = 86, smoothing = 1 prev1_tc-> fv = 0.477878, tc->fv = 0.520248, capped target = 0.520248 current term = 3, type = 1, id = 86, smoothing = 1 prev term = 3, type = 2, id = 86, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.393801, tc->fv = 0.477878, capped target = 0.477878 current term = 3, type = 2, id = 86, smoothing = 0 prev term = 3, type = 1, id = 85, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.393801, tc->fv = 0.393801, capped target = 0.393801 current term = 3, type = 1, id = 85, smoothing = 0 prev term = 3, type = 2, id = 85, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.302397, tc->fv = 0.393801, capped target = 1.059974 current term = 3, type = 2, id = 85, smoothing = 1 prev term = 3, type = 1, id = 84, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.302397, tc->fv = 0.302397, capped target = 0.302397 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.512875, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.512875, acc = 36.402854,T = 5.894835, P = 0.169501 tc id = 11, canon_type = 1, mot type = 1 time: 0.154000 primary movement = 3.494673959757e-03 time: 1.540000000000e-01 total movement = 3.494673959757e-03 vel = 3.512875386630e+00 ******************** Handle Blend Arc prev tan = -0.800000 0.000000 -0.600000 this tan = -1.000000 0.000000 0.000000 u1 = -0.800000 0.000000 -0.600000 u2 = -1.000000 0.000000 0.000000 angle between segs = 0.643501 u1 = -0.800000 0.000000 -0.600000 u2 = -1.000000 0.000000 0.000000 theta=1.249046 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 10.416625, vr2 = 8.333300 v_goal = 20.833250, max scale = 2.000000 prev length L1 = 0.003391 next length L2 = 0.002000 K = 0.000172 d_geom = 0.001325, d_prev = 0.002470, d_next = 0.001325 R_geom = 0.003975 v_normal = 0.321376 v_plan = 0.321376 R_plan = 0.003975 v_actual = 0.321376 effective a_n = 25.980762 arc length = 0.002558, L_prev = 0.002066, L_next = 0.002675 Check: v_plan = 0.321376, v_para = 0.244949 angle = 0.643501 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.265022 Old target = 0.003391 Target = 0.002066 setting term condition 3 on tc id 96, type 1 Adding TC id 97 of type 2 Adding TC id 97 of type 1 current term = 3, type = 2, id = 97, smoothing = 0 prev term = 3, type = 1, id = 96, smoothing = 0 prev1_tc-> fv = 0.277027, tc->fv = 0.000000, capped target = 0.321376 current term = 3, type = 1, id = 96, smoothing = 0 prev term = 3, type = 2, id = 96, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.424514, tc->fv = 0.277027, capped target = 0.983984 current term = 3, type = 2, id = 96, smoothing = 0 prev term = 3, type = 1, id = 95, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.424514, tc->fv = 0.424514, capped target = 0.424514 current term = 3, type = 1, id = 95, smoothing = 0 prev term = 3, type = 2, id = 95, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.452573, tc->fv = 0.424514, capped target = 3.255940 current term = 3, type = 2, id = 95, smoothing = 1 prev term = 3, type = 1, id = 94, smoothing = 1 prev1_tc-> fv = 0.382673, tc->fv = 0.452573, capped target = 0.452573 current term = 3, type = 1, id = 94, smoothing = 1 prev term = 3, type = 2, id = 94, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.296074, tc->fv = 0.382673, capped target = 0.382673 current term = 3, type = 2, id = 94, smoothing = 1 prev term = 3, type = 1, id = 93, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.296074, tc->fv = 0.296074, capped target = 0.296074 current term = 3, type = 1, id = 93, smoothing = 1 prev term = 3, type = 2, id = 93, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.249746, tc->fv = 0.296074, capped target = 0.296074 current term = 3, type = 2, id = 93, smoothing = 0 prev term = 3, type = 1, id = 92, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.249746, tc->fv = 0.249746, capped target = 0.249746 current term = 3, type = 1, id = 92, smoothing = 0 prev term = 3, type = 2, id = 92, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.498753, tc->fv = 0.249746, capped target = 3.127373 current term = 3, type = 2, id = 92, smoothing = 1 prev term = 3, type = 1, id = 91, smoothing = 1 prev1_tc-> fv = 0.452719, tc->fv = 0.498753, capped target = 0.498753 current term = 3, type = 1, id = 91, smoothing = 1 prev term = 3, type = 2, id = 91, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.367007, tc->fv = 0.452719, capped target = 0.452719 current term = 3, type = 2, id = 91, smoothing = 0 prev term = 3, type = 1, id = 90, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.367007, tc->fv = 0.367007, capped target = 0.367007 current term = 3, type = 1, id = 90, smoothing = 0 prev term = 3, type = 2, id = 90, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.543017, tc->fv = 0.367007, capped target = 1.757269 current term = 3, type = 2, id = 90, smoothing = 1 prev term = 3, type = 1, id = 89, smoothing = 1 prev1_tc-> fv = 0.519368, tc->fv = 0.543017, capped target = 0.543017 current term = 3, type = 1, id = 89, smoothing = 1 prev term = 3, type = 2, id = 89, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.429991, tc->fv = 0.519368, capped target = 0.519368 current term = 3, type = 2, id = 89, smoothing = 0 prev term = 3, type = 1, id = 88, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.429991, tc->fv = 0.429991, capped target = 0.429991 current term = 3, type = 1, id = 88, smoothing = 0 prev term = 3, type = 2, id = 88, smoothing = 0 prev1_tc-> fv = 0.614725, tc->fv = 0.429991, capped target = 1.490251 current term = 3, type = 2, id = 88, smoothing = 0 prev term = 3, type = 1, id = 87, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.659447, tc->fv = 0.614725, capped target = 0.659447 current term = 3, type = 1, id = 87, smoothing = 0 prev term = 3, type = 2, id = 87, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.520248, tc->fv = 0.659447, capped target = 2.544506 current term = 3, type = 2, id = 87, smoothing = 1 prev term = 3, type = 1, id = 86, smoothing = 1 prev1_tc-> fv = 0.477878, tc->fv = 0.520248, capped target = 0.520248 current term = 3, type = 1, id = 86, smoothing = 1 prev term = 3, type = 2, id = 86, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.393801, tc->fv = 0.477878, capped target = 0.477878 current term = 3, type = 2, id = 86, smoothing = 0 prev term = 3, type = 1, id = 85, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.393801, tc->fv = 0.393801, capped target = 0.393801 current term = 3, type = 1, id = 85, smoothing = 0 prev term = 3, type = 2, id = 85, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.302397, tc->fv = 0.393801, capped target = 1.059974 current term = 3, type = 2, id = 85, smoothing = 1 prev term = 3, type = 1, id = 84, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.302397, tc->fv = 0.302397, capped target = 0.302397 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.549278, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.549278, acc = 36.402854,T = 5.894835, P = 0.173032 tc id = 11, canon_type = 1, mot type = 1 time: 0.155000 primary movement = 3.531076813504e-03 time: 1.550000000000e-01 total movement = 3.531076813504e-03 vel = 3.549278240378e+00 ******************** Handle Blend Arc prev tan = -1.000000 0.000000 0.000000 this tan = -0.716000 0.000000 0.698100 u1 = -1.000000 0.000000 0.000000 u2 = -0.716000 0.000000 0.698100 angle between segs = 0.772741 u1 = -1.000000 0.000000 0.000000 u2 = -0.716000 0.000000 0.698100 theta=1.184426 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.333300, vr2 = 11.638685 v_goal = 23.277370, max scale = 2.000000 prev length L1 = 0.002675 next length L2 = 0.002793 K = 0.000141 d_geom = 0.001936, d_prev = 0.001936, d_next = 0.002036 R_geom = 0.004760 v_normal = 0.351660 v_plan = 0.351660 R_plan = 0.004760 v_actual = 0.351660 effective a_n = 25.980762 arc length = 0.003678, L_prev = 0.000738, L_next = 0.003650 Check: v_plan = 0.351660, v_para = 0.244949 angle = 0.772741 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.484100 prev smoothing enabled Old target = 0.002675 Target = 0.000738 setting term condition 3 on tc id 97, type 1 Adding TC id 98 of type 2 Adding TC id 98 of type 1 current term = 3, type = 2, id = 98, smoothing = 1 prev term = 3, type = 1, id = 97, smoothing = 1 prev1_tc-> fv = 0.210498, tc->fv = 0.000000, capped target = 0.210498 current term = 3, type = 1, id = 97, smoothing = 1 prev term = 3, type = 2, id = 97, smoothing = 0 prev1_tc-> fv = 0.297688, tc->fv = 0.210498, capped target = 0.297688 current term = 3, type = 2, id = 97, smoothing = 0 prev term = 3, type = 1, id = 96, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321376, tc->fv = 0.297688, capped target = 0.321376 current term = 3, type = 1, id = 96, smoothing = 0 prev term = 3, type = 2, id = 96, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.424514, tc->fv = 0.321376, capped target = 0.983984 current term = 3, type = 2, id = 96, smoothing = 0 prev term = 3, type = 1, id = 95, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.424514, tc->fv = 0.424514, capped target = 0.424514 current term = 3, type = 1, id = 95, smoothing = 0 prev term = 3, type = 2, id = 95, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.452573, tc->fv = 0.424514, capped target = 3.255940 current term = 3, type = 2, id = 95, smoothing = 1 prev term = 3, type = 1, id = 94, smoothing = 1 prev1_tc-> fv = 0.382673, tc->fv = 0.452573, capped target = 0.452573 current term = 3, type = 1, id = 94, smoothing = 1 prev term = 3, type = 2, id = 94, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.296074, tc->fv = 0.382673, capped target = 0.382673 current term = 3, type = 2, id = 94, smoothing = 1 prev term = 3, type = 1, id = 93, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.296074, tc->fv = 0.296074, capped target = 0.296074 current term = 3, type = 1, id = 93, smoothing = 1 prev term = 3, type = 2, id = 93, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.249746, tc->fv = 0.296074, capped target = 0.296074 current term = 3, type = 2, id = 93, smoothing = 0 prev term = 3, type = 1, id = 92, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.249746, tc->fv = 0.249746, capped target = 0.249746 current term = 3, type = 1, id = 92, smoothing = 0 prev term = 3, type = 2, id = 92, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.498753, tc->fv = 0.249746, capped target = 3.127373 current term = 3, type = 2, id = 92, smoothing = 1 prev term = 3, type = 1, id = 91, smoothing = 1 prev1_tc-> fv = 0.452719, tc->fv = 0.498753, capped target = 0.498753 current term = 3, type = 1, id = 91, smoothing = 1 prev term = 3, type = 2, id = 91, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.367007, tc->fv = 0.452719, capped target = 0.452719 current term = 3, type = 2, id = 91, smoothing = 0 prev term = 3, type = 1, id = 90, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.367007, tc->fv = 0.367007, capped target = 0.367007 current term = 3, type = 1, id = 90, smoothing = 0 prev term = 3, type = 2, id = 90, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.543017, tc->fv = 0.367007, capped target = 1.757269 current term = 3, type = 2, id = 90, smoothing = 1 prev term = 3, type = 1, id = 89, smoothing = 1 prev1_tc-> fv = 0.519368, tc->fv = 0.543017, capped target = 0.543017 current term = 3, type = 1, id = 89, smoothing = 1 prev term = 3, type = 2, id = 89, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.429991, tc->fv = 0.519368, capped target = 0.519368 current term = 3, type = 2, id = 89, smoothing = 0 prev term = 3, type = 1, id = 88, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.429991, tc->fv = 0.429991, capped target = 0.429991 current term = 3, type = 1, id = 88, smoothing = 0 prev term = 3, type = 2, id = 88, smoothing = 0 prev1_tc-> fv = 0.614725, tc->fv = 0.429991, capped target = 1.490251 current term = 3, type = 2, id = 88, smoothing = 0 prev term = 3, type = 1, id = 87, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.659447, tc->fv = 0.614725, capped target = 0.659447 current term = 3, type = 1, id = 87, smoothing = 0 prev term = 3, type = 2, id = 87, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.520248, tc->fv = 0.659447, capped target = 2.544506 current term = 3, type = 2, id = 87, smoothing = 1 prev term = 3, type = 1, id = 86, smoothing = 1 prev1_tc-> fv = 0.477878, tc->fv = 0.520248, capped target = 0.520248 current term = 3, type = 1, id = 86, smoothing = 1 prev term = 3, type = 2, id = 86, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.393801, tc->fv = 0.477878, capped target = 0.477878 current term = 3, type = 2, id = 86, smoothing = 0 prev term = 3, type = 1, id = 85, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.393801, tc->fv = 0.393801, capped target = 0.393801 current term = 3, type = 1, id = 85, smoothing = 0 prev term = 3, type = 2, id = 85, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.302397, tc->fv = 0.393801, capped target = 1.059974 current term = 3, type = 2, id = 85, smoothing = 1 prev term = 3, type = 1, id = 84, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.302397, tc->fv = 0.302397, capped target = 0.302397 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.585681, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.585681, acc = 36.402854,T = 5.894835, P = 0.176599 tc id = 11, canon_type = 1, mot type = 1 time: 0.156000 primary movement = 3.567479667252e-03 time: 1.560000000000e-01 total movement = 3.567479667252e-03 vel = 3.585681094125e+00 ******************** Handle Blend Arc prev tan = -0.716000 0.000000 0.698100 this tan = -1.000000 0.000000 0.000000 u1 = -0.716000 0.000000 0.698100 u2 = -1.000000 0.000000 0.000000 angle between segs = 0.772741 u1 = -0.716000 0.000000 0.698100 u2 = -1.000000 0.000000 0.000000 theta=1.184426 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 11.638685, vr2 = 8.333300 v_goal = 23.277370, max scale = 2.000000 prev length L1 = 0.003650 next length L2 = 0.003000 K = 0.000141 d_geom = 0.002211, d_prev = 0.002767, d_next = 0.002211 R_geom = 0.005435 v_normal = 0.375760 v_plan = 0.375760 R_plan = 0.005435 v_actual = 0.375760 effective a_n = 25.980762 arc length = 0.004200, L_prev = 0.001439, L_next = 0.003789 Check: v_plan = 0.375760, v_para = 0.300000 angle = 0.772741 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.395752 prev smoothing enabled Old target = 0.003650 Target = 0.001439 setting term condition 3 on tc id 98, type 1 Adding TC id 99 of type 2 Adding TC id 99 of type 1 current term = 3, type = 2, id = 99, smoothing = 1 prev term = 3, type = 1, id = 98, smoothing = 1 prev1_tc-> fv = 0.347290, tc->fv = 0.000000, capped target = 0.347290 current term = 3, type = 1, id = 98, smoothing = 1 prev term = 3, type = 2, id = 98, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.351660, tc->fv = 0.347290, capped target = 0.351660 current term = 3, type = 2, id = 98, smoothing = 1 prev term = 3, type = 1, id = 97, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.351660, tc->fv = 0.351660, capped target = 0.351660 current term = 3, type = 1, id = 97, smoothing = 1 prev term = 3, type = 2, id = 97, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321376, tc->fv = 0.351660, capped target = 0.351660 current term = 3, type = 2, id = 97, smoothing = 0 prev term = 3, type = 1, id = 96, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321376, tc->fv = 0.321376, capped target = 0.321376 current term = 3, type = 1, id = 96, smoothing = 0 prev term = 3, type = 2, id = 96, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.424514, tc->fv = 0.321376, capped target = 0.983984 current term = 3, type = 2, id = 96, smoothing = 0 prev term = 3, type = 1, id = 95, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.424514, tc->fv = 0.424514, capped target = 0.424514 current term = 3, type = 1, id = 95, smoothing = 0 prev term = 3, type = 2, id = 95, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.452573, tc->fv = 0.424514, capped target = 3.255940 current term = 3, type = 2, id = 95, smoothing = 1 prev term = 3, type = 1, id = 94, smoothing = 1 prev1_tc-> fv = 0.382673, tc->fv = 0.452573, capped target = 0.452573 current term = 3, type = 1, id = 94, smoothing = 1 prev term = 3, type = 2, id = 94, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.296074, tc->fv = 0.382673, capped target = 0.382673 current term = 3, type = 2, id = 94, smoothing = 1 prev term = 3, type = 1, id = 93, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.296074, tc->fv = 0.296074, capped target = 0.296074 current term = 3, type = 1, id = 93, smoothing = 1 prev term = 3, type = 2, id = 93, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.249746, tc->fv = 0.296074, capped target = 0.296074 current term = 3, type = 2, id = 93, smoothing = 0 prev term = 3, type = 1, id = 92, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.249746, tc->fv = 0.249746, capped target = 0.249746 current term = 3, type = 1, id = 92, smoothing = 0 prev term = 3, type = 2, id = 92, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.498753, tc->fv = 0.249746, capped target = 3.127373 current term = 3, type = 2, id = 92, smoothing = 1 prev term = 3, type = 1, id = 91, smoothing = 1 prev1_tc-> fv = 0.452719, tc->fv = 0.498753, capped target = 0.498753 current term = 3, type = 1, id = 91, smoothing = 1 prev term = 3, type = 2, id = 91, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.367007, tc->fv = 0.452719, capped target = 0.452719 current term = 3, type = 2, id = 91, smoothing = 0 prev term = 3, type = 1, id = 90, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.367007, tc->fv = 0.367007, capped target = 0.367007 current term = 3, type = 1, id = 90, smoothing = 0 prev term = 3, type = 2, id = 90, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.543017, tc->fv = 0.367007, capped target = 1.757269 current term = 3, type = 2, id = 90, smoothing = 1 prev term = 3, type = 1, id = 89, smoothing = 1 prev1_tc-> fv = 0.519368, tc->fv = 0.543017, capped target = 0.543017 current term = 3, type = 1, id = 89, smoothing = 1 prev term = 3, type = 2, id = 89, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.429991, tc->fv = 0.519368, capped target = 0.519368 current term = 3, type = 2, id = 89, smoothing = 0 prev term = 3, type = 1, id = 88, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.429991, tc->fv = 0.429991, capped target = 0.429991 current term = 3, type = 1, id = 88, smoothing = 0 prev term = 3, type = 2, id = 88, smoothing = 0 prev1_tc-> fv = 0.614725, tc->fv = 0.429991, capped target = 1.490251 current term = 3, type = 2, id = 88, smoothing = 0 prev term = 3, type = 1, id = 87, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.659447, tc->fv = 0.614725, capped target = 0.659447 current term = 3, type = 1, id = 87, smoothing = 0 prev term = 3, type = 2, id = 87, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.520248, tc->fv = 0.659447, capped target = 2.544506 current term = 3, type = 2, id = 87, smoothing = 1 prev term = 3, type = 1, id = 86, smoothing = 1 prev1_tc-> fv = 0.477878, tc->fv = 0.520248, capped target = 0.520248 current term = 3, type = 1, id = 86, smoothing = 1 prev term = 3, type = 2, id = 86, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.393801, tc->fv = 0.477878, capped target = 0.477878 current term = 3, type = 2, id = 86, smoothing = 0 prev term = 3, type = 1, id = 85, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.393801, tc->fv = 0.393801, capped target = 0.393801 current term = 3, type = 1, id = 85, smoothing = 0 prev term = 3, type = 2, id = 85, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.302397, tc->fv = 0.393801, capped target = 1.059974 current term = 3, type = 2, id = 85, smoothing = 1 prev term = 3, type = 1, id = 84, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.302397, tc->fv = 0.302397, capped target = 0.302397 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.622084, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.622084, acc = 36.402854,T = 5.894835, P = 0.180203 tc id = 11, canon_type = 1, mot type = 1 time: 0.157000 primary movement = 3.603882520999e-03 time: 1.570000000000e-01 total movement = 3.603882520999e-03 vel = 3.622083947873e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.658487, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.658487, acc = 36.402854,T = 5.894835, P = 0.183844 tc id = 11, canon_type = 1, mot type = 1 time: 0.158000 primary movement = 3.640285374747e-03 time: 1.580000000000e-01 total movement = 3.640285374747e-03 vel = 3.658486801620e+00 ******************** Handle Blend Arc prev tan = -1.000000 0.000000 0.000000 this tan = -0.847998 0.000000 0.529999 u1 = -1.000000 0.000000 0.000000 u2 = -0.847998 0.000000 0.529999 angle between segs = 0.558599 u1 = -1.000000 0.000000 0.000000 u2 = -0.847998 0.000000 0.529999 theta=1.291497 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.333300, vr2 = 9.827024 v_goal = 19.654049, max scale = 2.000000 prev length L1 = 0.003789 next length L2 = 0.004717 K = 0.000200 d_geom = 0.002742, d_prev = 0.002742, d_next = 0.003530 R_geom = 0.009562 v_normal = 0.498430 v_plan = 0.498430 R_plan = 0.009562 v_actual = 0.498430 effective a_n = 25.980762 arc length = 0.005341, L_prev = 0.001047, L_next = 0.006692 Check: v_plan = 0.498430, v_para = 0.346410 angle = 0.558599 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.457066 prev smoothing enabled Old target = 0.003789 Target = 0.001047 setting term condition 3 on tc id 99, type 1 Adding TC id 100 of type 2 Adding TC id 100 of type 1 current term = 3, type = 2, id = 100, smoothing = 1 prev term = 3, type = 1, id = 99, smoothing = 1 prev1_tc-> fv = 0.250604, tc->fv = 0.000000, capped target = 0.250604 current term = 3, type = 1, id = 99, smoothing = 1 prev term = 3, type = 2, id = 99, smoothing = 1 prev1_tc-> fv = 0.354407, tc->fv = 0.250604, capped target = 0.354407 current term = 3, type = 2, id = 99, smoothing = 1 prev term = 3, type = 1, id = 98, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.375760, tc->fv = 0.354407, capped target = 0.375760 current term = 3, type = 1, id = 98, smoothing = 1 prev term = 3, type = 2, id = 98, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.351660, tc->fv = 0.375760, capped target = 0.375760 current term = 3, type = 2, id = 98, smoothing = 1 prev term = 3, type = 1, id = 97, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.351660, tc->fv = 0.351660, capped target = 0.351660 current term = 3, type = 1, id = 97, smoothing = 1 prev term = 3, type = 2, id = 97, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321376, tc->fv = 0.351660, capped target = 0.351660 current term = 3, type = 2, id = 97, smoothing = 0 prev term = 3, type = 1, id = 96, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321376, tc->fv = 0.321376, capped target = 0.321376 current term = 3, type = 1, id = 96, smoothing = 0 prev term = 3, type = 2, id = 96, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.424514, tc->fv = 0.321376, capped target = 0.983984 current term = 3, type = 2, id = 96, smoothing = 0 prev term = 3, type = 1, id = 95, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.424514, tc->fv = 0.424514, capped target = 0.424514 current term = 3, type = 1, id = 95, smoothing = 0 prev term = 3, type = 2, id = 95, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.452573, tc->fv = 0.424514, capped target = 3.255940 current term = 3, type = 2, id = 95, smoothing = 1 prev term = 3, type = 1, id = 94, smoothing = 1 prev1_tc-> fv = 0.382673, tc->fv = 0.452573, capped target = 0.452573 current term = 3, type = 1, id = 94, smoothing = 1 prev term = 3, type = 2, id = 94, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.296074, tc->fv = 0.382673, capped target = 0.382673 current term = 3, type = 2, id = 94, smoothing = 1 prev term = 3, type = 1, id = 93, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.296074, tc->fv = 0.296074, capped target = 0.296074 current term = 3, type = 1, id = 93, smoothing = 1 prev term = 3, type = 2, id = 93, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.249746, tc->fv = 0.296074, capped target = 0.296074 current term = 3, type = 2, id = 93, smoothing = 0 prev term = 3, type = 1, id = 92, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.249746, tc->fv = 0.249746, capped target = 0.249746 current term = 3, type = 1, id = 92, smoothing = 0 prev term = 3, type = 2, id = 92, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.498753, tc->fv = 0.249746, capped target = 3.127373 current term = 3, type = 2, id = 92, smoothing = 1 prev term = 3, type = 1, id = 91, smoothing = 1 prev1_tc-> fv = 0.452719, tc->fv = 0.498753, capped target = 0.498753 current term = 3, type = 1, id = 91, smoothing = 1 prev term = 3, type = 2, id = 91, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.367007, tc->fv = 0.452719, capped target = 0.452719 current term = 3, type = 2, id = 91, smoothing = 0 prev term = 3, type = 1, id = 90, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.367007, tc->fv = 0.367007, capped target = 0.367007 current term = 3, type = 1, id = 90, smoothing = 0 prev term = 3, type = 2, id = 90, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.543017, tc->fv = 0.367007, capped target = 1.757269 current term = 3, type = 2, id = 90, smoothing = 1 prev term = 3, type = 1, id = 89, smoothing = 1 prev1_tc-> fv = 0.519368, tc->fv = 0.543017, capped target = 0.543017 current term = 3, type = 1, id = 89, smoothing = 1 prev term = 3, type = 2, id = 89, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.429991, tc->fv = 0.519368, capped target = 0.519368 current term = 3, type = 2, id = 89, smoothing = 0 prev term = 3, type = 1, id = 88, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.429991, tc->fv = 0.429991, capped target = 0.429991 current term = 3, type = 1, id = 88, smoothing = 0 prev term = 3, type = 2, id = 88, smoothing = 0 prev1_tc-> fv = 0.614725, tc->fv = 0.429991, capped target = 1.490251 current term = 3, type = 2, id = 88, smoothing = 0 prev term = 3, type = 1, id = 87, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.659447, tc->fv = 0.614725, capped target = 0.659447 current term = 3, type = 1, id = 87, smoothing = 0 prev term = 3, type = 2, id = 87, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.520248, tc->fv = 0.659447, capped target = 2.544506 current term = 3, type = 2, id = 87, smoothing = 1 prev term = 3, type = 1, id = 86, smoothing = 1 prev1_tc-> fv = 0.477878, tc->fv = 0.520248, capped target = 0.520248 current term = 3, type = 1, id = 86, smoothing = 1 prev term = 3, type = 2, id = 86, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.393801, tc->fv = 0.477878, capped target = 0.477878 current term = 3, type = 2, id = 86, smoothing = 0 prev term = 3, type = 1, id = 85, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.393801, tc->fv = 0.393801, capped target = 0.393801 current term = 3, type = 1, id = 85, smoothing = 0 prev term = 3, type = 2, id = 85, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.302397, tc->fv = 0.393801, capped target = 1.059974 current term = 3, type = 2, id = 85, smoothing = 1 prev term = 3, type = 1, id = 84, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.302397, tc->fv = 0.302397, capped target = 0.302397 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.694890, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.694890, acc = 36.402854,T = 5.894835, P = 0.187520 tc id = 11, canon_type = 1, mot type = 1 time: 0.159000 primary movement = 3.676688228494e-03 time: 1.590000000000e-01 total movement = 3.676688228494e-03 vel = 3.694889655368e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.731293, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.731293, acc = 36.402854,T = 5.894835, P = 0.191233 tc id = 11, canon_type = 1, mot type = 1 time: 0.160000 primary movement = 3.713091082241e-03 time: 1.600000000000e-01 total movement = 3.713091082241e-03 vel = 3.731292509115e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.767695, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.767695, acc = 36.402854,T = 5.894835, P = 0.194983 tc id = 11, canon_type = 1, mot type = 1 time: 0.161000 primary movement = 3.749493935989e-03 time: 1.610000000000e-01 total movement = 3.749493935989e-03 vel = 3.767695362863e+00 ******************** Handle Blend Arc prev tan = -0.847998 0.000000 0.529999 this tan = -0.948683 0.000000 -0.316228 u1 = -0.847998 0.000000 0.529999 u2 = -0.948683 0.000000 -0.316228 angle between segs = 0.880350 u1 = -0.847998 0.000000 0.529999 u2 = -0.948683 0.000000 -0.316228 theta=1.130621 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.827024, vr2 = 8.784069 v_goal = 19.654049, max scale = 2.000000 prev length L1 = 0.006692 next length L2 = 0.003162 K = 0.000122 d_geom = 0.002398, d_prev = 0.005532, d_next = 0.002398 R_geom = 0.005092 v_normal = 0.363733 v_plan = 0.363733 R_plan = 0.005092 v_actual = 0.363733 effective a_n = 25.980762 arc length = 0.004483, L_prev = 0.004293, L_next = 0.003926 Check: v_plan = 0.363733, v_para = 0.316228 angle = 0.880350 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.254234 Old target = 0.006692 Target = 0.004293 setting term condition 3 on tc id 100, type 1 Adding TC id 101 of type 2 Adding TC id 101 of type 1 current term = 3, type = 2, id = 101, smoothing = 0 prev term = 3, type = 1, id = 100, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.363733, tc->fv = 0.000000, capped target = 0.363733 current term = 3, type = 1, id = 100, smoothing = 0 prev term = 3, type = 2, id = 100, smoothing = 1 prev1_tc-> fv = 0.472276, tc->fv = 0.363733, capped target = 2.044357 current term = 3, type = 2, id = 100, smoothing = 1 prev term = 3, type = 1, id = 99, smoothing = 1 prev1_tc-> fv = 0.434058, tc->fv = 0.472276, capped target = 0.472276 current term = 3, type = 1, id = 99, smoothing = 1 prev term = 3, type = 2, id = 99, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.375760, tc->fv = 0.434058, capped target = 0.434058 current term = 3, type = 2, id = 99, smoothing = 1 prev term = 3, type = 1, id = 98, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.375760, tc->fv = 0.375760, capped target = 0.375760 current term = 3, type = 1, id = 98, smoothing = 1 prev term = 3, type = 2, id = 98, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.351660, tc->fv = 0.375760, capped target = 0.375760 current term = 3, type = 2, id = 98, smoothing = 1 prev term = 3, type = 1, id = 97, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.351660, tc->fv = 0.351660, capped target = 0.351660 current term = 3, type = 1, id = 97, smoothing = 1 prev term = 3, type = 2, id = 97, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321376, tc->fv = 0.351660, capped target = 0.351660 current term = 3, type = 2, id = 97, smoothing = 0 prev term = 3, type = 1, id = 96, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321376, tc->fv = 0.321376, capped target = 0.321376 current term = 3, type = 1, id = 96, smoothing = 0 prev term = 3, type = 2, id = 96, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.424514, tc->fv = 0.321376, capped target = 0.983984 current term = 3, type = 2, id = 96, smoothing = 0 prev term = 3, type = 1, id = 95, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.424514, tc->fv = 0.424514, capped target = 0.424514 current term = 3, type = 1, id = 95, smoothing = 0 prev term = 3, type = 2, id = 95, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.452573, tc->fv = 0.424514, capped target = 3.255940 current term = 3, type = 2, id = 95, smoothing = 1 prev term = 3, type = 1, id = 94, smoothing = 1 prev1_tc-> fv = 0.382673, tc->fv = 0.452573, capped target = 0.452573 current term = 3, type = 1, id = 94, smoothing = 1 prev term = 3, type = 2, id = 94, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.296074, tc->fv = 0.382673, capped target = 0.382673 current term = 3, type = 2, id = 94, smoothing = 1 prev term = 3, type = 1, id = 93, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.296074, tc->fv = 0.296074, capped target = 0.296074 current term = 3, type = 1, id = 93, smoothing = 1 prev term = 3, type = 2, id = 93, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.249746, tc->fv = 0.296074, capped target = 0.296074 current term = 3, type = 2, id = 93, smoothing = 0 prev term = 3, type = 1, id = 92, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.249746, tc->fv = 0.249746, capped target = 0.249746 current term = 3, type = 1, id = 92, smoothing = 0 prev term = 3, type = 2, id = 92, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.498753, tc->fv = 0.249746, capped target = 3.127373 current term = 3, type = 2, id = 92, smoothing = 1 prev term = 3, type = 1, id = 91, smoothing = 1 prev1_tc-> fv = 0.452719, tc->fv = 0.498753, capped target = 0.498753 current term = 3, type = 1, id = 91, smoothing = 1 prev term = 3, type = 2, id = 91, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.367007, tc->fv = 0.452719, capped target = 0.452719 current term = 3, type = 2, id = 91, smoothing = 0 prev term = 3, type = 1, id = 90, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.367007, tc->fv = 0.367007, capped target = 0.367007 current term = 3, type = 1, id = 90, smoothing = 0 prev term = 3, type = 2, id = 90, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.543017, tc->fv = 0.367007, capped target = 1.757269 current term = 3, type = 2, id = 90, smoothing = 1 prev term = 3, type = 1, id = 89, smoothing = 1 prev1_tc-> fv = 0.519368, tc->fv = 0.543017, capped target = 0.543017 current term = 3, type = 1, id = 89, smoothing = 1 prev term = 3, type = 2, id = 89, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.429991, tc->fv = 0.519368, capped target = 0.519368 current term = 3, type = 2, id = 89, smoothing = 0 prev term = 3, type = 1, id = 88, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.429991, tc->fv = 0.429991, capped target = 0.429991 current term = 3, type = 1, id = 88, smoothing = 0 prev term = 3, type = 2, id = 88, smoothing = 0 prev1_tc-> fv = 0.614725, tc->fv = 0.429991, capped target = 1.490251 current term = 3, type = 2, id = 88, smoothing = 0 prev term = 3, type = 1, id = 87, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.659447, tc->fv = 0.614725, capped target = 0.659447 current term = 3, type = 1, id = 87, smoothing = 0 prev term = 3, type = 2, id = 87, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.520248, tc->fv = 0.659447, capped target = 2.544506 current term = 3, type = 2, id = 87, smoothing = 1 prev term = 3, type = 1, id = 86, smoothing = 1 prev1_tc-> fv = 0.477878, tc->fv = 0.520248, capped target = 0.520248 current term = 3, type = 1, id = 86, smoothing = 1 prev term = 3, type = 2, id = 86, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.393801, tc->fv = 0.477878, capped target = 0.477878 current term = 3, type = 2, id = 86, smoothing = 0 prev term = 3, type = 1, id = 85, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.393801, tc->fv = 0.393801, capped target = 0.393801 current term = 3, type = 1, id = 85, smoothing = 0 prev term = 3, type = 2, id = 85, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.302397, tc->fv = 0.393801, capped target = 1.059974 current term = 3, type = 2, id = 85, smoothing = 1 prev term = 3, type = 1, id = 84, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.302397, tc->fv = 0.302397, capped target = 0.302397 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.804098, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.804098, acc = 36.402854,T = 5.894835, P = 0.198769 tc id = 11, canon_type = 1, mot type = 1 time: 0.162000 primary movement = 3.785896789736e-03 time: 1.620000000000e-01 total movement = 3.785896789736e-03 vel = 3.804098216610e+00 ******************** Handle Blend Arc prev tan = -0.948683 0.000000 -0.316228 this tan = -0.716000 0.000000 -0.698100 u1 = -0.948683 0.000000 -0.316228 u2 = -0.716000 0.000000 -0.698100 angle between segs = 0.450990 u1 = -0.948683 0.000000 -0.316228 u2 = -0.716000 0.000000 -0.698100 theta=1.345301 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.784069, vr2 = 11.638685 v_goal = 23.277370, max scale = 2.000000 prev length L1 = 0.003926 next length L2 = 0.002793 K = 0.000250 d_geom = 0.001836, d_prev = 0.002753, d_next = 0.001836 R_geom = 0.008003 v_normal = 0.455973 v_plan = 0.455973 R_plan = 0.008003 v_actual = 0.455973 effective a_n = 25.980762 arc length = 0.003609, L_prev = 0.002090, L_next = 0.003751 Check: v_plan = 0.455973, v_para = 0.258199 angle = 0.450990 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.290258 Old target = 0.003926 Target = 0.002090 setting term condition 3 on tc id 101, type 1 Adding TC id 102 of type 2 Adding TC id 102 of type 1 current term = 3, type = 2, id = 102, smoothing = 0 prev term = 3, type = 1, id = 101, smoothing = 0 prev1_tc-> fv = 0.329047, tc->fv = 0.000000, capped target = 0.455973 current term = 3, type = 1, id = 101, smoothing = 0 prev term = 3, type = 2, id = 101, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.363733, tc->fv = 0.329047, capped target = 0.995412 current term = 3, type = 2, id = 101, smoothing = 0 prev term = 3, type = 1, id = 100, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.363733, tc->fv = 0.363733, capped target = 0.363733 current term = 3, type = 1, id = 100, smoothing = 0 prev term = 3, type = 2, id = 100, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.498430, tc->fv = 0.363733, capped target = 2.044357 current term = 3, type = 2, id = 100, smoothing = 1 prev term = 3, type = 1, id = 99, smoothing = 1 prev1_tc-> fv = 0.451661, tc->fv = 0.498430, capped target = 0.498430 current term = 3, type = 1, id = 99, smoothing = 1 prev term = 3, type = 2, id = 99, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.375760, tc->fv = 0.451661, capped target = 0.451661 current term = 3, type = 2, id = 99, smoothing = 1 prev term = 3, type = 1, id = 98, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.375760, tc->fv = 0.375760, capped target = 0.375760 current term = 3, type = 1, id = 98, smoothing = 1 prev term = 3, type = 2, id = 98, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.351660, tc->fv = 0.375760, capped target = 0.375760 current term = 3, type = 2, id = 98, smoothing = 1 prev term = 3, type = 1, id = 97, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.351660, tc->fv = 0.351660, capped target = 0.351660 current term = 3, type = 1, id = 97, smoothing = 1 prev term = 3, type = 2, id = 97, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321376, tc->fv = 0.351660, capped target = 0.351660 current term = 3, type = 2, id = 97, smoothing = 0 prev term = 3, type = 1, id = 96, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321376, tc->fv = 0.321376, capped target = 0.321376 current term = 3, type = 1, id = 96, smoothing = 0 prev term = 3, type = 2, id = 96, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.424514, tc->fv = 0.321376, capped target = 0.983984 current term = 3, type = 2, id = 96, smoothing = 0 prev term = 3, type = 1, id = 95, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.424514, tc->fv = 0.424514, capped target = 0.424514 current term = 3, type = 1, id = 95, smoothing = 0 prev term = 3, type = 2, id = 95, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.452573, tc->fv = 0.424514, capped target = 3.255940 current term = 3, type = 2, id = 95, smoothing = 1 prev term = 3, type = 1, id = 94, smoothing = 1 prev1_tc-> fv = 0.382673, tc->fv = 0.452573, capped target = 0.452573 current term = 3, type = 1, id = 94, smoothing = 1 prev term = 3, type = 2, id = 94, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.296074, tc->fv = 0.382673, capped target = 0.382673 current term = 3, type = 2, id = 94, smoothing = 1 prev term = 3, type = 1, id = 93, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.296074, tc->fv = 0.296074, capped target = 0.296074 current term = 3, type = 1, id = 93, smoothing = 1 prev term = 3, type = 2, id = 93, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.249746, tc->fv = 0.296074, capped target = 0.296074 current term = 3, type = 2, id = 93, smoothing = 0 prev term = 3, type = 1, id = 92, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.249746, tc->fv = 0.249746, capped target = 0.249746 current term = 3, type = 1, id = 92, smoothing = 0 prev term = 3, type = 2, id = 92, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.498753, tc->fv = 0.249746, capped target = 3.127373 current term = 3, type = 2, id = 92, smoothing = 1 prev term = 3, type = 1, id = 91, smoothing = 1 prev1_tc-> fv = 0.452719, tc->fv = 0.498753, capped target = 0.498753 current term = 3, type = 1, id = 91, smoothing = 1 prev term = 3, type = 2, id = 91, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.367007, tc->fv = 0.452719, capped target = 0.452719 current term = 3, type = 2, id = 91, smoothing = 0 prev term = 3, type = 1, id = 90, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.367007, tc->fv = 0.367007, capped target = 0.367007 current term = 3, type = 1, id = 90, smoothing = 0 prev term = 3, type = 2, id = 90, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.543017, tc->fv = 0.367007, capped target = 1.757269 current term = 3, type = 2, id = 90, smoothing = 1 prev term = 3, type = 1, id = 89, smoothing = 1 prev1_tc-> fv = 0.519368, tc->fv = 0.543017, capped target = 0.543017 current term = 3, type = 1, id = 89, smoothing = 1 prev term = 3, type = 2, id = 89, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.429991, tc->fv = 0.519368, capped target = 0.519368 current term = 3, type = 2, id = 89, smoothing = 0 prev term = 3, type = 1, id = 88, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.429991, tc->fv = 0.429991, capped target = 0.429991 current term = 3, type = 1, id = 88, smoothing = 0 prev term = 3, type = 2, id = 88, smoothing = 0 prev1_tc-> fv = 0.614725, tc->fv = 0.429991, capped target = 1.490251 current term = 3, type = 2, id = 88, smoothing = 0 prev term = 3, type = 1, id = 87, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.659447, tc->fv = 0.614725, capped target = 0.659447 current term = 3, type = 1, id = 87, smoothing = 0 prev term = 3, type = 2, id = 87, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.520248, tc->fv = 0.659447, capped target = 2.544506 current term = 3, type = 2, id = 87, smoothing = 1 prev term = 3, type = 1, id = 86, smoothing = 1 prev1_tc-> fv = 0.477878, tc->fv = 0.520248, capped target = 0.520248 current term = 3, type = 1, id = 86, smoothing = 1 prev term = 3, type = 2, id = 86, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.393801, tc->fv = 0.477878, capped target = 0.477878 current term = 3, type = 2, id = 86, smoothing = 0 prev term = 3, type = 1, id = 85, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.393801, tc->fv = 0.393801, capped target = 0.393801 current term = 3, type = 1, id = 85, smoothing = 0 prev term = 3, type = 2, id = 85, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.302397, tc->fv = 0.393801, capped target = 1.059974 current term = 3, type = 2, id = 85, smoothing = 1 prev term = 3, type = 1, id = 84, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.302397, tc->fv = 0.302397, capped target = 0.302397 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.840501, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.840501, acc = 36.402854,T = 5.894835, P = 0.202591 tc id = 11, canon_type = 1, mot type = 1 time: 0.163000 primary movement = 3.822299643484e-03 time: 1.630000000000e-01 total movement = 3.822299643484e-03 vel = 3.840501070358e+00 ******************** Handle Blend Arc prev tan = -0.716000 0.000000 -0.698100 this tan = -0.903278 0.000000 0.429057 u1 = -0.716000 0.000000 -0.698100 u2 = -0.903278 0.000000 0.429057 angle between segs = 1.216189 u1 = -0.716000 0.000000 -0.698100 u2 = -0.903278 0.000000 0.429057 theta=0.962702 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 11.638685, vr2 = 9.225626 v_goal = 23.277370, max scale = 2.000000 prev length L1 = 0.003751 next length L2 = 0.002214 K = 0.000082 d_geom = 0.001687, d_prev = 0.003043, d_next = 0.001687 R_geom = 0.002424 v_normal = 0.250943 v_plan = 0.250943 R_plan = 0.002424 v_actual = 0.250943 effective a_n = 25.980762 arc length = 0.002948, L_prev = 0.002064, L_next = 0.002741 Check: v_plan = 0.250943, v_para = 0.271178 blend arc NOT created prev segment parabolic, flagging blend_prev Adding TC id 103 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.876904, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.876904, acc = 36.402854,T = 5.894835, P = 0.206450 tc id = 11, canon_type = 1, mot type = 1 time: 0.164000 primary movement = 3.858702497231e-03 time: 1.640000000000e-01 total movement = 3.858702497231e-03 vel = 3.876903924105e+00 ******************** Handle Blend Arc prev tan = -0.903278 0.000000 0.429057 this tan = -0.992278 0.000000 -0.124035 u1 = -0.903278 0.000000 0.429057 u2 = -0.992278 0.000000 -0.124035 angle between segs = 0.567803 u1 = -0.903278 0.000000 0.429057 u2 = -0.992278 0.000000 -0.124035 theta=1.286895 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.225626, vr2 = 8.398152 v_goal = 18.451251, max scale = 2.000000 prev length L1 = 0.004428 next length L2 = 0.004031 K = 0.000196 d_geom = 0.002954, d_prev = 0.003291, d_next = 0.002954 R_geom = 0.010124 v_normal = 0.512871 v_plan = 0.512871 R_plan = 0.010124 v_actual = 0.512871 effective a_n = 25.980762 arc length = 0.005749, L_prev = 0.001474, L_next = 0.005108 Check: v_plan = 0.512871, v_para = 0.349106 angle = 0.567803 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.667093 prev smoothing enabled Old target = 0.004428 Target = 0.001474 setting term condition 3 on tc id 103, type 1 Adding TC id 104 of type 2 Adding TC id 104 of type 1 current term = 3, type = 2, id = 104, smoothing = 1 prev term = 3, type = 1, id = 103, smoothing = 1 prev1_tc-> fv = 0.221274, tc->fv = 0.000000, capped target = 0.221274 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.913307, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.913307, acc = 36.402854,T = 5.894835, P = 0.210345 tc id = 11, canon_type = 1, mot type = 1 time: 0.165000 primary movement = 3.895105350979e-03 time: 1.650000000000e-01 total movement = 3.895105350979e-03 vel = 3.913306777853e+00 ******************** Handle Blend Arc prev tan = -0.992278 0.000000 -0.124035 this tan = -0.804803 0.000000 0.593542 u1 = -0.992278 0.000000 -0.124035 u2 = -0.804803 0.000000 0.593542 angle between segs = 0.759808 u1 = -0.992278 0.000000 -0.124035 u2 = -0.804803 0.000000 0.593542 theta=1.190892 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.398152, vr2 = 10.354461 v_goal = 20.708921, max scale = 2.000000 prev length L1 = 0.005108 next length L2 = 0.004970 K = 0.000143 d_geom = 0.003911, d_prev = 0.004032, d_next = 0.003911 R_geom = 0.009794 v_normal = 0.504441 v_plan = 0.504441 R_plan = 0.009794 v_actual = 0.504441 effective a_n = 25.980762 arc length = 0.007442, L_prev = 0.001197, L_next = 0.006029 Check: v_plan = 0.504441, v_para = 0.349106 angle = 0.759808 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.485079 prev smoothing enabled Old target = 0.005108 Target = 0.001197 setting term condition 3 on tc id 104, type 1 Adding TC id 105 of type 2 Adding TC id 105 of type 1 current term = 3, type = 2, id = 105, smoothing = 1 prev term = 3, type = 1, id = 104, smoothing = 1 prev1_tc-> fv = 0.269070, tc->fv = 0.000000, capped target = 0.269070 current term = 3, type = 1, id = 104, smoothing = 1 prev term = 3, type = 2, id = 104, smoothing = 1 prev1_tc-> fv = 0.380522, tc->fv = 0.269070, capped target = 0.380522 current term = 3, type = 2, id = 104, smoothing = 1 prev term = 3, type = 1, id = 103, smoothing = 1 prev1_tc-> fv = 0.221274, tc->fv = 0.380522, capped target = 0.380522 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.949710, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.949710, acc = 36.402854,T = 5.894835, P = 0.214276 tc id = 11, canon_type = 1, mot type = 1 time: 0.166000 primary movement = 3.931508204726e-03 time: 1.660000000000e-01 total movement = 3.931508204726e-03 vel = 3.949709631600e+00 ******************** Handle Blend Arc prev tan = -0.804803 0.000000 0.593542 this tan = -0.970143 0.000000 -0.242536 u1 = -0.804803 0.000000 0.593542 u2 = -0.970143 0.000000 -0.242536 angle between segs = 0.880432 u1 = -0.804803 0.000000 0.593542 u2 = -0.970143 0.000000 -0.242536 theta=1.130580 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 10.354461, vr2 = 8.589769 v_goal = 20.708921, max scale = 2.000000 prev length L1 = 0.006029 next length L2 = 0.002062 K = 0.000122 d_geom = 0.001465, d_prev = 0.004934, d_next = 0.001465 R_geom = 0.003109 v_normal = 0.284227 v_plan = 0.284227 R_plan = 0.003109 v_actual = 0.284227 effective a_n = 25.980762 arc length = 0.002738, L_prev = 0.004565, L_next = 0.002658 Check: v_plan = 0.284227, v_para = 0.252488 angle = 0.880432 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.147347 Old target = 0.006029 Target = 0.004565 setting term condition 3 on tc id 105, type 1 Adding TC id 106 of type 2 Adding TC id 106 of type 1 current term = 3, type = 2, id = 106, smoothing = 0 prev term = 3, type = 1, id = 105, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.284227, tc->fv = 0.000000, capped target = 0.284227 current term = 3, type = 1, id = 105, smoothing = 0 prev term = 3, type = 2, id = 105, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.504441, tc->fv = 0.284227, capped target = 2.173720 current term = 3, type = 2, id = 105, smoothing = 1 prev term = 3, type = 1, id = 104, smoothing = 1 prev1_tc-> fv = 0.466042, tc->fv = 0.504441, capped target = 0.504441 current term = 3, type = 1, id = 104, smoothing = 1 prev term = 3, type = 2, id = 104, smoothing = 1 prev1_tc-> fv = 0.470553, tc->fv = 0.466042, capped target = 0.470553 current term = 3, type = 2, id = 104, smoothing = 1 prev term = 3, type = 1, id = 103, smoothing = 1 prev1_tc-> fv = 0.221274, tc->fv = 0.470553, capped target = 0.470553 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.986112, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.986112, acc = 36.402854,T = 5.894835, P = 0.218244 tc id = 11, canon_type = 1, mot type = 1 time: 0.167000 primary movement = 3.967911058474e-03 time: 1.670000000000e-01 total movement = 3.967911058474e-03 vel = 3.986112485347e+00 ******************** Handle Blend Arc prev tan = -0.970143 0.000000 -0.242536 this tan = -0.406138 0.000000 -0.913812 u1 = -0.970143 0.000000 -0.242536 u2 = -0.406138 0.000000 -0.913812 angle between segs = 0.907593 u1 = -0.970143 0.000000 -0.242536 u2 = -0.406138 0.000000 -0.913812 theta=1.117000 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.589769, vr2 = 9.119312 v_goal = 18.238625, max scale = 2.000000 prev length L1 = 0.002658 next length L2 = 0.002462 K = 0.000117 d_geom = 0.001810, d_prev = 0.001977, d_next = 0.001810 R_geom = 0.003711 v_normal = 0.310516 v_plan = 0.310516 R_plan = 0.003711 v_actual = 0.310516 effective a_n = 25.980762 arc length = 0.003368, L_prev = 0.000848, L_next = 0.003114 Check: v_plan = 0.310516, v_para = 0.267804 angle = 0.907593 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.439021 prev smoothing enabled Old target = 0.002658 Target = 0.000848 setting term condition 3 on tc id 106, type 1 Adding TC id 107 of type 2 Adding TC id 107 of type 1 current term = 3, type = 2, id = 107, smoothing = 1 prev term = 3, type = 1, id = 106, smoothing = 1 prev1_tc-> fv = 0.229051, tc->fv = 0.000000, capped target = 0.229051 current term = 3, type = 1, id = 106, smoothing = 1 prev term = 3, type = 2, id = 106, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.284227, tc->fv = 0.229051, capped target = 0.284227 current term = 3, type = 2, id = 106, smoothing = 0 prev term = 3, type = 1, id = 105, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.284227, tc->fv = 0.284227, capped target = 0.284227 current term = 3, type = 1, id = 105, smoothing = 0 prev term = 3, type = 2, id = 105, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.504441, tc->fv = 0.284227, capped target = 2.173720 current term = 3, type = 2, id = 105, smoothing = 1 prev term = 3, type = 1, id = 104, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.504441, tc->fv = 0.504441, capped target = 0.504441 current term = 3, type = 1, id = 104, smoothing = 1 prev term = 3, type = 2, id = 104, smoothing = 1 prev1_tc-> fv = 0.470553, tc->fv = 0.504441, capped target = 0.504441 current term = 3, type = 2, id = 104, smoothing = 1 prev term = 3, type = 1, id = 103, smoothing = 1 prev1_tc-> fv = 0.221274, tc->fv = 0.470553, capped target = 0.470553 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.022515, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.022515, acc = 36.402854,T = 5.894835, P = 0.222249 tc id = 11, canon_type = 1, mot type = 1 time: 0.168000 primary movement = 4.004313912221e-03 time: 1.680000000000e-01 total movement = 4.004313912221e-03 vel = 4.022515339095e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.058918, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.058918, acc = 36.402854,T = 5.894835, P = 0.226289 tc id = 11, canon_type = 1, mot type = 1 time: 0.169000 primary movement = 4.040716765969e-03 time: 1.690000000000e-01 total movement = 4.040716765969e-03 vel = 4.058918192842e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.095321, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.095321, acc = 36.402854,T = 5.894835, P = 0.230366 tc id = 11, canon_type = 1, mot type = 1 time: 0.170000 primary movement = 4.077119619716e-03 time: 1.700000000000e-01 total movement = 4.077119619716e-03 vel = 4.095321046590e+00 ******************** Handle Blend Arc prev tan = -0.406138 0.000000 -0.913812 this tan = -0.997199 0.000000 0.074790 u1 = -0.406138 0.000000 -0.913812 u2 = -0.997199 0.000000 0.074790 angle between segs = 1.227432 u1 = -0.406138 0.000000 -0.913812 u2 = -0.997199 0.000000 0.074790 theta=0.957080 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.119312, vr2 = 8.356705 v_goal = 18.238625, max scale = 2.000000 prev length L1 = 0.003114 next length L2 = 0.004011 K = 0.000081 d_geom = 0.002479, d_prev = 0.002479, d_next = 0.003281 R_geom = 0.003519 v_normal = 0.302385 v_plan = 0.302385 R_plan = 0.003519 v_actual = 0.302385 effective a_n = 25.980762 arc length = 0.004320, L_prev = 0.000635, L_next = 0.005543 Check: v_plan = 0.302385, v_para = 0.347383 blend arc NOT created prev segment parabolic, flagging blend_prev Adding TC id 108 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.131724, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.131724, acc = 36.402854,T = 5.894835, P = 0.234480 tc id = 11, canon_type = 1, mot type = 1 time: 0.171000 primary movement = 4.113522473464e-03 time: 1.710000000000e-01 total movement = 4.113522473464e-03 vel = 4.131723900337e+00 ******************** Handle Blend Arc prev tan = -0.997199 0.000000 0.074790 this tan = -0.894427 0.000000 -0.447214 u1 = -0.997199 0.000000 0.074790 u2 = -0.894427 0.000000 -0.447214 angle between segs = 0.538507 u1 = -0.997199 0.000000 0.074790 u2 = -0.894427 0.000000 -0.447214 theta=1.301543 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.356705, vr2 = 9.316913 v_goal = 18.633825, max scale = 2.000000 prev length L1 = 0.008022 next length L2 = 0.002236 K = 0.000208 d_geom = 0.001458, d_prev = 0.006393, d_next = 0.001458 R_geom = 0.005284 v_normal = 0.370500 v_plan = 0.370500 R_plan = 0.005284 v_actual = 0.370500 effective a_n = 25.980762 arc length = 0.002845, L_prev = 0.006564, L_next = 0.003014 Check: v_plan = 0.370500, v_para = 0.245637 angle = 0.538507 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.181742 Old target = 0.008022 Target = 0.006564 setting term condition 3 on tc id 108, type 1 Adding TC id 109 of type 2 Adding TC id 109 of type 1 current term = 3, type = 2, id = 109, smoothing = 0 prev term = 3, type = 1, id = 108, smoothing = 0 prev1_tc-> fv = 0.292159, tc->fv = 0.000000, capped target = 0.370500 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.168127, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.168127, acc = 36.402854,T = 5.894835, P = 0.238630 tc id = 11, canon_type = 1, mot type = 1 time: 0.172000 primary movement = 4.149925327211e-03 time: 1.720000000000e-01 total movement = 4.149925327211e-03 vel = 4.168126754085e+00 ******************** Handle Blend Arc prev tan = -0.894427 0.000000 -0.447214 this tan = -0.894427 0.000000 0.447214 u1 = -0.894427 0.000000 -0.447214 u2 = -0.894427 0.000000 0.447214 angle between segs = 0.927295 u1 = -0.894427 0.000000 -0.447214 u2 = -0.894427 0.000000 0.447214 theta=1.107149 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.316913, vr2 = 9.316913 v_goal = 18.633825, max scale = 2.000000 prev length L1 = 0.003014 next length L2 = 0.003354 K = 0.000115 d_geom = 0.002290, d_prev = 0.002290, d_next = 0.002585 R_geom = 0.004580 v_normal = 0.344934 v_plan = 0.344934 R_plan = 0.004580 v_actual = 0.344934 effective a_n = 25.980762 arc length = 0.004247, L_prev = 0.000724, L_next = 0.004418 Check: v_plan = 0.344934, v_para = 0.335410 angle = 0.927295 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.512005 prev smoothing enabled Old target = 0.003014 Target = 0.000724 setting term condition 3 on tc id 109, type 1 Adding TC id 110 of type 2 Adding TC id 110 of type 1 current term = 3, type = 2, id = 110, smoothing = 1 prev term = 3, type = 1, id = 109, smoothing = 1 prev1_tc-> fv = 0.220435, tc->fv = 0.000000, capped target = 0.220435 current term = 3, type = 1, id = 109, smoothing = 1 prev term = 3, type = 2, id = 109, smoothing = 0 prev1_tc-> fv = 0.311742, tc->fv = 0.220435, capped target = 0.311742 current term = 3, type = 2, id = 109, smoothing = 0 prev term = 3, type = 1, id = 108, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.370500, tc->fv = 0.311742, capped target = 0.370500 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.204530, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.204530, acc = 36.402854,T = 5.894835, P = 0.242816 tc id = 11, canon_type = 1, mot type = 1 time: 0.173000 primary movement = 4.186328180959e-03 time: 1.730000000000e-01 total movement = 4.186328180959e-03 vel = 4.204529607832e+00 ******************** Handle Blend Arc prev tan = -0.894427 0.000000 0.447214 this tan = -0.774532 0.000000 -0.632535 u1 = -0.894427 0.000000 0.447214 u2 = -0.774532 0.000000 -0.632535 angle between segs = 1.148469 u1 = -0.894427 0.000000 0.447214 u2 = -0.774532 0.000000 -0.632535 theta=0.996562 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.316913, vr2 = 10.759141 v_goal = 21.518281, max scale = 2.000000 prev length L1 = 0.004418 next length L2 = 0.003873 K = 0.000089 d_geom = 0.003129, d_prev = 0.003618, d_next = 0.003129 R_geom = 0.004836 v_normal = 0.354474 v_plan = 0.354474 R_plan = 0.004836 v_actual = 0.354474 effective a_n = 25.980762 arc length = 0.005554, L_prev = 0.001290, L_next = 0.004618 Check: v_plan = 0.354474, v_para = 0.335410 angle = 1.148469 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.466431 prev smoothing enabled Old target = 0.004418 Target = 0.001290 setting term condition 3 on tc id 110, type 1 Adding TC id 111 of type 2 Adding TC id 111 of type 1 current term = 3, type = 2, id = 111, smoothing = 1 prev term = 3, type = 1, id = 110, smoothing = 1 prev1_tc-> fv = 0.294117, tc->fv = 0.000000, capped target = 0.294117 current term = 3, type = 1, id = 110, smoothing = 1 prev term = 3, type = 2, id = 110, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.344934, tc->fv = 0.294117, capped target = 0.344934 current term = 3, type = 2, id = 110, smoothing = 1 prev term = 3, type = 1, id = 109, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.344934, tc->fv = 0.344934, capped target = 0.344934 current term = 3, type = 1, id = 109, smoothing = 1 prev term = 3, type = 2, id = 109, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.370500, tc->fv = 0.344934, capped target = 0.370500 current term = 3, type = 2, id = 109, smoothing = 0 prev term = 3, type = 1, id = 108, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.370500, tc->fv = 0.370500, capped target = 0.370500 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.240932, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.240932, acc = 36.402854,T = 5.894835, P = 0.247039 tc id = 11, canon_type = 1, mot type = 1 time: 0.174000 primary movement = 4.222731034706e-03 time: 1.740000000000e-01 total movement = 4.222731034706e-03 vel = 4.240932461580e+00 ******************** Handle Blend Arc prev tan = -0.774532 0.000000 -0.632535 this tan = -0.993884 0.000000 0.110432 u1 = -0.774532 0.000000 -0.632535 u2 = -0.993884 0.000000 0.110432 angle between segs = 0.795478 u1 = -0.774532 0.000000 -0.632535 u2 = -0.993884 0.000000 0.110432 theta=1.173057 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 10.759141, vr2 = 8.384582 v_goal = 21.518281, max scale = 2.000000 prev length L1 = 0.004618 next length L2 = 0.009055 K = 0.000136 d_geom = 0.003624, d_prev = 0.003624, d_next = 0.007614 R_geom = 0.008625 v_normal = 0.473374 v_plan = 0.473374 R_plan = 0.008625 v_actual = 0.473374 effective a_n = 25.980762 arc length = 0.006861, L_prev = 0.000994, L_next = 0.014487 Check: v_plan = 0.473374, v_para = 0.522813 blend arc NOT created prev segment parabolic, flagging blend_prev Adding TC id 112 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.277335, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.277335, acc = 36.402854,T = 5.894835, P = 0.251298 tc id = 11, canon_type = 1, mot type = 1 time: 0.175000 primary movement = 4.259133888453e-03 time: 1.750000000000e-01 total movement = 4.259133888453e-03 vel = 4.277335315327e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.313738, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.313738, acc = 36.402854,T = 5.894835, P = 0.255594 tc id = 11, canon_type = 1, mot type = 1 time: 0.176000 primary movement = 4.295536742201e-03 time: 1.760000000000e-01 total movement = 4.295536742201e-03 vel = 4.313738169075e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.350141, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.350141, acc = 36.402854,T = 5.894835, P = 0.259925 tc id = 11, canon_type = 1, mot type = 1 time: 0.177000 primary movement = 4.331939595948e-03 time: 1.770000000000e-01 total movement = 4.331939595948e-03 vel = 4.350141022822e+00 ******************** Handle Blend Arc prev tan = -0.993884 0.000000 0.110432 this tan = -0.809610 0.000000 0.586968 u1 = -0.993884 0.000000 0.110432 u2 = -0.809610 0.000000 0.586968 angle between segs = 0.516651 u1 = -0.993884 0.000000 0.110432 u2 = -0.809610 0.000000 0.586968 theta=1.312471 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.384582, vr2 = 10.292975 v_goal = 20.585950, max scale = 2.000000 prev length L1 = 0.018111 next length L2 = 0.002470 K = 0.000217 d_geom = 0.001630, d_prev = 0.015517, d_next = 0.001630 R_geom = 0.006168 v_normal = 0.400302 v_plan = 0.400302 R_plan = 0.006168 v_actual = 0.400302 effective a_n = 25.980762 arc length = 0.003187, L_prev = 0.016481, L_next = 0.003311 Check: v_plan = 0.400302, v_para = 0.246456 angle = 0.516651 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.089985 Old target = 0.018111 Target = 0.016481 setting term condition 3 on tc id 112, type 1 Adding TC id 113 of type 2 Adding TC id 113 of type 1 current term = 3, type = 2, id = 113, smoothing = 0 prev term = 3, type = 1, id = 112, smoothing = 0 prev1_tc-> fv = 0.309187, tc->fv = 0.000000, capped target = 0.400302 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.386544, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.386544, acc = 36.402854,T = 5.894835, P = 0.264294 tc id = 11, canon_type = 1, mot type = 1 time: 0.178000 primary movement = 4.368342449696e-03 time: 1.780000000000e-01 total movement = 4.368342449696e-03 vel = 4.386543876570e+00 ******************** Handle Blend Arc prev tan = -0.809610 0.000000 0.586968 this tan = -0.940887 0.000000 -0.338719 u1 = -0.809610 0.000000 0.586968 u2 = -0.940887 0.000000 -0.338719 angle between segs = 0.972864 u1 = -0.809610 0.000000 0.586968 u2 = -0.940887 0.000000 -0.338719 theta=1.084364 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 10.292975, vr2 = 8.856851 v_goal = 20.585950, max scale = 2.000000 prev length L1 = 0.003311 next length L2 = 0.005314 K = 0.000108 d_geom = 0.002565, d_prev = 0.002565, d_next = 0.004344 R_geom = 0.004851 v_normal = 0.355021 v_plan = 0.355021 R_plan = 0.004851 v_actual = 0.355021 effective a_n = 25.980762 arc length = 0.004720, L_prev = 0.000746, L_next = 0.008063 Check: v_plan = 0.355021, v_para = 0.411631 blend arc NOT created prev segment parabolic, flagging blend_prev Adding TC id 114 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.422947, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.422947, acc = 36.402854,T = 5.894835, P = 0.268699 tc id = 11, canon_type = 1, mot type = 1 time: 0.179000 primary movement = 4.404745303443e-03 time: 1.790000000000e-01 total movement = 4.404745303443e-03 vel = 4.422946730317e+00 ******************** Handle Blend Arc prev tan = -0.940887 0.000000 -0.338719 this tan = -0.609711 0.000000 0.792624 u1 = -0.940887 0.000000 -0.338719 u2 = -0.609711 0.000000 0.792624 angle between segs = 1.260656 u1 = -0.940887 0.000000 -0.338719 u2 = -0.609711 0.000000 0.792624 theta=0.940468 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.856851, vr2 = 10.513602 v_goal = 21.027204, max scale = 2.000000 prev length L1 = 0.010628 next length L2 = 0.001640 K = 0.000079 d_geom = 0.001205, d_prev = 0.009412, d_next = 0.001205 R_geom = 0.001652 v_normal = 0.207153 v_plan = 0.207153 R_plan = 0.001652 v_actual = 0.207153 effective a_n = 25.980762 arc length = 0.002082, L_prev = 0.009423, L_next = 0.002075 Check: v_plan = 0.207153, v_para = 0.209891 blend arc NOT created prev segment parabolic, flagging blend_prev Adding TC id 115 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.459350, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.459350, acc = 36.402854,T = 5.894835, P = 0.273140 tc id = 11, canon_type = 1, mot type = 1 time: 0.180000 primary movement = 4.441148157191e-03 time: 1.800000000000e-01 total movement = 4.441148157191e-03 vel = 4.459349584065e+00 ******************** Handle Blend Arc prev tan = -0.609711 0.000000 0.792624 this tan = -0.948683 0.000000 0.316228 u1 = -0.609711 0.000000 0.792624 u2 = -0.948683 0.000000 0.316228 angle between segs = 0.593350 u1 = -0.609711 0.000000 0.792624 u2 = -0.948683 0.000000 0.316228 theta=1.274121 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 10.513602, vr2 = 8.784069 v_goal = 21.027204, max scale = 2.000000 prev length L1 = 0.003280 next length L2 = 0.003162 K = 0.000187 d_geom = 0.002245, d_prev = 0.002343, d_next = 0.002245 R_geom = 0.007344 v_normal = 0.436805 v_plan = 0.436805 R_plan = 0.007344 v_actual = 0.436805 effective a_n = 25.980762 arc length = 0.004357, L_prev = 0.001035, L_next = 0.004080 Check: v_plan = 0.436805, v_para = 0.316228 angle = 0.593350 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.684397 prev smoothing enabled Old target = 0.003280 Target = 0.001035 setting term condition 3 on tc id 115, type 1 Adding TC id 116 of type 2 Adding TC id 116 of type 1 current term = 3, type = 2, id = 116, smoothing = 1 prev term = 3, type = 1, id = 115, smoothing = 1 prev1_tc-> fv = 0.197948, tc->fv = 0.000000, capped target = 0.197948 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.495752, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.495752, acc = 36.402854,T = 5.894835, P = 0.277617 tc id = 11, canon_type = 1, mot type = 1 time: 0.181000 primary movement = 4.477551010938e-03 time: 1.810000000000e-01 total movement = 4.477551010938e-03 vel = 4.495752437812e+00 ******************** Handle Blend Arc prev tan = -0.948683 0.000000 0.316228 this tan = -1.000000 0.000000 0.000000 u1 = -0.948683 0.000000 0.316228 u2 = -1.000000 0.000000 0.000000 angle between segs = 0.321751 u1 = -0.948683 0.000000 0.316228 u2 = -1.000000 0.000000 0.000000 theta=1.409921 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.784069, vr2 = 8.333300 v_goal = 17.568139, max scale = 2.000000 prev length L1 = 0.004080 next length L2 = 0.008000 K = 0.000353 d_geom = 0.002699, d_prev = 0.002699, d_next = 0.005950 R_geom = 0.016633 v_normal = 0.657364 v_plan = 0.657364 R_plan = 0.016633 v_actual = 0.657364 effective a_n = 25.980762 arc length = 0.005352, L_prev = 0.001380, L_next = 0.013301 Check: v_plan = 0.657364, v_para = 0.489898 angle = 0.321751 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.426766 prev smoothing enabled Old target = 0.004080 Target = 0.001380 setting term condition 3 on tc id 116, type 1 Adding TC id 117 of type 2 Adding TC id 117 of type 1 current term = 3, type = 2, id = 117, smoothing = 1 prev term = 3, type = 1, id = 116, smoothing = 1 prev1_tc-> fv = 0.295480, tc->fv = 0.000000, capped target = 0.295480 current term = 3, type = 1, id = 116, smoothing = 1 prev term = 3, type = 2, id = 116, smoothing = 1 prev1_tc-> fv = 0.412198, tc->fv = 0.295480, capped target = 0.412198 current term = 3, type = 2, id = 116, smoothing = 1 prev term = 3, type = 1, id = 115, smoothing = 1 prev1_tc-> fv = 0.197948, tc->fv = 0.412198, capped target = 0.412198 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.532155, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.532155, acc = 36.402854,T = 5.894835, P = 0.282131 tc id = 11, canon_type = 1, mot type = 1 time: 0.182000 primary movement = 4.513953864686e-03 time: 1.820000000000e-01 total movement = 4.513953864686e-03 vel = 4.532155291559e+00 ******************** Handle Blend Arc prev tan = -1.000000 0.000000 0.000000 this tan = -0.936329 0.000000 -0.351123 u1 = -1.000000 0.000000 0.000000 u2 = -0.936329 0.000000 -0.351123 angle between segs = 0.358771 u1 = -1.000000 0.000000 0.000000 u2 = -0.936329 0.000000 -0.351123 theta=1.391411 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.333300, vr2 = 8.899968 v_goal = 17.799937, max scale = 2.000000 prev length L1 = 0.013301 next length L2 = 0.004272 K = 0.000316 d_geom = 0.002915, d_prev = 0.010701, d_next = 0.002915 R_geom = 0.016075 v_normal = 0.646244 v_plan = 0.646244 R_plan = 0.016075 v_actual = 0.646244 effective a_n = 25.980762 arc length = 0.005767, L_prev = 0.010386, L_next = 0.005629 Check: v_plan = 0.646244, v_para = 0.346410 angle = 0.358771 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.182181 Old target = 0.013301 Target = 0.010386 setting term condition 3 on tc id 117, type 1 Adding TC id 118 of type 2 Adding TC id 118 of type 1 current term = 3, type = 2, id = 118, smoothing = 0 prev term = 3, type = 1, id = 117, smoothing = 0 prev1_tc-> fv = 0.415949, tc->fv = 0.000000, capped target = 0.646244 current term = 3, type = 1, id = 117, smoothing = 0 prev term = 3, type = 2, id = 117, smoothing = 1 prev1_tc-> fv = 0.497850, tc->fv = 0.415949, capped target = 4.945718 current term = 3, type = 2, id = 117, smoothing = 1 prev term = 3, type = 1, id = 116, smoothing = 1 prev1_tc-> fv = 0.507164, tc->fv = 0.497850, capped target = 0.507164 current term = 3, type = 1, id = 116, smoothing = 1 prev term = 3, type = 2, id = 116, smoothing = 1 prev1_tc-> fv = 0.412198, tc->fv = 0.507164, capped target = 0.507164 current term = 3, type = 2, id = 116, smoothing = 1 prev term = 3, type = 1, id = 115, smoothing = 1 prev1_tc-> fv = 0.197948, tc->fv = 0.412198, capped target = 0.412198 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.568558, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.568558, acc = 36.402854,T = 5.894835, P = 0.286682 tc id = 11, canon_type = 1, mot type = 1 time: 0.183000 primary movement = 4.550356718433e-03 time: 1.830000000000e-01 total movement = 4.550356718433e-03 vel = 4.568558145307e+00 ******************** Handle Blend Arc prev tan = -0.936329 0.000000 -0.351123 this tan = -0.970143 0.000000 0.242536 u1 = -0.936329 0.000000 -0.351123 u2 = -0.970143 0.000000 0.242536 angle between segs = 0.603749 u1 = -0.936329 0.000000 -0.351123 u2 = -0.970143 0.000000 0.242536 theta=1.268922 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.899968, vr2 = 8.589769 v_goal = 17.799937, max scale = 2.000000 prev length L1 = 0.005629 next length L2 = 0.004123 K = 0.000184 d_geom = 0.003062, d_prev = 0.004362, d_next = 0.003062 R_geom = 0.009832 v_normal = 0.505423 v_plan = 0.505423 R_plan = 0.009832 v_actual = 0.505423 effective a_n = 25.980762 arc length = 0.005936, L_prev = 0.002567, L_next = 0.005184 Check: v_plan = 0.505423, v_para = 0.357071 angle = 0.603749 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.358347 prev smoothing enabled Old target = 0.005629 Target = 0.002567 setting term condition 3 on tc id 118, type 1 Adding TC id 119 of type 2 Adding TC id 119 of type 1 current term = 3, type = 2, id = 119, smoothing = 1 prev term = 3, type = 1, id = 118, smoothing = 1 prev1_tc-> fv = 0.405609, tc->fv = 0.000000, capped target = 0.405609 current term = 3, type = 1, id = 118, smoothing = 1 prev term = 3, type = 2, id = 118, smoothing = 0 prev1_tc-> fv = 0.573618, tc->fv = 0.405609, capped target = 0.573618 current term = 3, type = 2, id = 118, smoothing = 0 prev term = 3, type = 1, id = 117, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.646244, tc->fv = 0.573618, capped target = 0.646244 current term = 3, type = 1, id = 117, smoothing = 0 prev term = 3, type = 2, id = 117, smoothing = 1 prev1_tc-> fv = 0.646345, tc->fv = 0.646244, capped target = 4.945718 current term = 3, type = 2, id = 117, smoothing = 1 prev term = 3, type = 1, id = 116, smoothing = 1 prev1_tc-> fv = 0.507164, tc->fv = 0.646345, capped target = 0.646345 current term = 3, type = 1, id = 116, smoothing = 1 prev term = 3, type = 2, id = 116, smoothing = 1 prev1_tc-> fv = 0.412198, tc->fv = 0.507164, capped target = 0.507164 current term = 3, type = 2, id = 116, smoothing = 1 prev term = 3, type = 1, id = 115, smoothing = 1 prev1_tc-> fv = 0.197948, tc->fv = 0.412198, capped target = 0.412198 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.604961, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.604961, acc = 36.402854,T = 5.894835, P = 0.291268 tc id = 11, canon_type = 1, mot type = 1 time: 0.184000 primary movement = 4.586759572181e-03 time: 1.840000000000e-01 total movement = 4.586759572181e-03 vel = 4.604960999054e+00 ******************** Handle Blend Arc prev tan = -0.970143 0.000000 0.242536 this tan = -0.800000 0.000000 0.600000 u1 = -0.970143 0.000000 0.242536 u2 = -0.800000 0.000000 0.600000 angle between segs = 0.398522 u1 = -0.970143 0.000000 0.242536 u2 = -0.800000 0.000000 0.600000 theta=1.371535 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.589769, vr2 = 10.416625 v_goal = 20.833250, max scale = 2.000000 prev length L1 = 0.005184 next length L2 = 0.002500 K = 0.000284 d_geom = 0.001559, d_prev = 0.003730, d_next = 0.001559 R_geom = 0.007722 v_normal = 0.447910 v_plan = 0.447910 R_plan = 0.007722 v_actual = 0.447910 effective a_n = 25.980762 arc length = 0.003077, L_prev = 0.003625, L_next = 0.003441 Check: v_plan = 0.447910, v_para = 0.252488 angle = 0.398522 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.189104 Old target = 0.005184 Target = 0.003625 setting term condition 3 on tc id 119, type 1 Adding TC id 120 of type 2 Adding TC id 120 of type 1 current term = 3, type = 2, id = 120, smoothing = 0 prev term = 3, type = 1, id = 119, smoothing = 0 prev1_tc-> fv = 0.303845, tc->fv = 0.000000, capped target = 0.447910 current term = 3, type = 1, id = 119, smoothing = 0 prev term = 3, type = 2, id = 119, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.505423, tc->fv = 0.303845, capped target = 1.726241 current term = 3, type = 2, id = 119, smoothing = 1 prev term = 3, type = 1, id = 118, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.505423, tc->fv = 0.505423, capped target = 0.505423 current term = 3, type = 1, id = 118, smoothing = 1 prev term = 3, type = 2, id = 118, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.646244, tc->fv = 0.505423, capped target = 0.646244 current term = 3, type = 2, id = 118, smoothing = 0 prev term = 3, type = 1, id = 117, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.646244, tc->fv = 0.646244, capped target = 0.646244 current term = 3, type = 1, id = 117, smoothing = 0 prev term = 3, type = 2, id = 117, smoothing = 1 prev1_tc-> fv = 0.646345, tc->fv = 0.646244, capped target = 4.945718 current term = 3, type = 2, id = 117, smoothing = 1 prev term = 3, type = 1, id = 116, smoothing = 1 prev1_tc-> fv = 0.507164, tc->fv = 0.646345, capped target = 0.646345 current term = 3, type = 1, id = 116, smoothing = 1 prev term = 3, type = 2, id = 116, smoothing = 1 prev1_tc-> fv = 0.412198, tc->fv = 0.507164, capped target = 0.507164 current term = 3, type = 2, id = 116, smoothing = 1 prev term = 3, type = 1, id = 115, smoothing = 1 prev1_tc-> fv = 0.197948, tc->fv = 0.412198, capped target = 0.412198 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.641364, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.641364, acc = 36.402854,T = 5.894835, P = 0.295891 tc id = 11, canon_type = 1, mot type = 1 time: 0.185000 primary movement = 4.623162425928e-03 time: 1.850000000000e-01 total movement = 4.623162425928e-03 vel = 4.641363852802e+00 ******************** Handle Blend Arc prev tan = -0.800000 0.000000 0.600000 this tan = -0.986394 0.000000 -0.164399 u1 = -0.800000 0.000000 0.600000 u2 = -0.986394 0.000000 -0.164399 angle between segs = 0.808650 u1 = -0.800000 0.000000 0.600000 u2 = -0.986394 0.000000 -0.164399 theta=1.166471 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 10.416625, vr2 = 8.448247 v_goal = 20.833250, max scale = 2.000000 prev length L1 = 0.003441 next length L2 = 0.006083 K = 0.000134 d_geom = 0.002605, d_prev = 0.002605, d_next = 0.004933 R_geom = 0.006089 v_normal = 0.397731 v_plan = 0.397731 R_plan = 0.006089 v_actual = 0.397731 effective a_n = 25.980762 arc length = 0.004924, L_prev = 0.000835, L_next = 0.009560 Check: v_plan = 0.397731, v_para = 0.430116 blend arc NOT created prev segment parabolic, flagging blend_prev Adding TC id 121 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.677767, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.677767, acc = 36.402854,T = 5.894835, P = 0.300551 tc id = 11, canon_type = 1, mot type = 1 time: 0.186000 primary movement = 4.659565279676e-03 time: 1.860000000000e-01 total movement = 4.659565279676e-03 vel = 4.677766706549e+00 ******************** Handle Blend Arc prev tan = -0.986394 0.000000 -0.164399 this tan = -0.809610 0.000000 0.586968 u1 = -0.986394 0.000000 -0.164399 u2 = -0.809610 0.000000 0.586968 angle between segs = 0.792457 u1 = -0.986394 0.000000 -0.164399 u2 = -0.809610 0.000000 0.586968 theta=1.174568 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.448247, vr2 = 10.292975 v_goal = 20.585950, max scale = 2.000000 prev length L1 = 0.012166 next length L2 = 0.002470 K = 0.000137 d_geom = 0.001773, d_prev = 0.010472, d_next = 0.001773 R_geom = 0.004239 v_normal = 0.331863 v_plan = 0.331863 R_plan = 0.004239 v_actual = 0.331863 effective a_n = 25.980762 arc length = 0.003359, L_prev = 0.010392, L_next = 0.003167 Check: v_plan = 0.331863, v_para = 0.248328 angle = 0.792457 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.145774 Old target = 0.012166 Target = 0.010392 setting term condition 3 on tc id 121, type 1 Adding TC id 122 of type 2 Adding TC id 122 of type 1 current term = 3, type = 2, id = 122, smoothing = 0 prev term = 3, type = 1, id = 121, smoothing = 0 prev1_tc-> fv = 0.317454, tc->fv = 0.000000, capped target = 0.331863 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.714170, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.714170, acc = 36.402854,T = 5.894835, P = 0.305247 tc id = 11, canon_type = 1, mot type = 1 time: 0.187000 primary movement = 4.695968133423e-03 time: 1.870000000000e-01 total movement = 4.695968133423e-03 vel = 4.714169560297e+00 ******************** Handle Blend Arc prev tan = -0.809610 0.000000 0.586968 this tan = -0.980581 0.000000 -0.196116 u1 = -0.809610 0.000000 0.586968 u2 = -0.980581 0.000000 -0.196116 angle between segs = 0.824704 u1 = -0.809610 0.000000 0.586968 u2 = -0.980581 0.000000 -0.196116 theta=1.158444 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 10.292975, vr2 = 8.498332 v_goal = 20.585950, max scale = 2.000000 prev length L1 = 0.003167 next length L2 = 0.005099 K = 0.000131 d_geom = 0.002378, d_prev = 0.002378, d_next = 0.004067 R_geom = 0.005436 v_normal = 0.375819 v_plan = 0.375819 R_plan = 0.005436 v_actual = 0.375819 effective a_n = 25.980762 arc length = 0.004483, L_prev = 0.000789, L_next = 0.007820 Check: v_plan = 0.375819, v_para = 0.394968 blend arc NOT created prev segment parabolic, flagging blend_prev Adding TC id 123 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.750572, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.750572, acc = 36.402854,T = 5.894835, P = 0.309979 tc id = 11, canon_type = 1, mot type = 1 time: 0.188000 primary movement = 4.732370987171e-03 time: 1.880000000000e-01 total movement = 4.732370987171e-03 vel = 4.750572414044e+00 ******************** Handle Blend Arc prev tan = -0.980581 0.000000 -0.196116 this tan = -0.990679 0.000000 0.136218 u1 = -0.980581 0.000000 -0.196116 u2 = -0.990679 0.000000 0.136218 angle between segs = 0.334039 u1 = -0.980581 0.000000 -0.196116 u2 = -0.990679 0.000000 0.136218 theta=1.403777 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.498332, vr2 = 8.411707 v_goal = 16.996664, max scale = 2.000000 prev length L1 = 0.010198 next length L2 = 0.004038 K = 0.000340 d_geom = 0.002686, d_prev = 0.007883, d_next = 0.002686 R_geom = 0.015935 v_normal = 0.643426 v_plan = 0.643426 R_plan = 0.015935 v_actual = 0.643426 effective a_n = 25.980762 arc length = 0.005323, L_prev = 0.007512, L_next = 0.005389 Check: v_plan = 0.643426, v_para = 0.349669 angle = 0.334039 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.263427 Old target = 0.010198 Target = 0.007512 setting term condition 3 on tc id 123, type 1 Adding TC id 124 of type 2 Adding TC id 124 of type 1 current term = 3, type = 2, id = 124, smoothing = 0 prev term = 3, type = 1, id = 123, smoothing = 0 prev1_tc-> fv = 0.399606, tc->fv = 0.000000, capped target = 0.643426 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.786975, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.786975, acc = 36.402854,T = 5.894835, P = 0.314748 tc id = 11, canon_type = 1, mot type = 1 time: 0.189000 primary movement = 4.768773840918e-03 time: 1.890000000000e-01 total movement = 4.768773840918e-03 vel = 4.786975267792e+00 ******************** Handle Blend Arc prev tan = -0.990679 0.000000 0.136218 this tan = -0.943858 0.000000 -0.330350 u1 = -0.990679 0.000000 0.136218 u2 = -0.943858 0.000000 -0.330350 angle between segs = 0.473318 u1 = -0.990679 0.000000 0.136218 u2 = -0.943858 0.000000 -0.330350 theta=1.334137 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.411707, vr2 = 8.828973 v_goal = 17.657946, max scale = 2.000000 prev length L1 = 0.005389 next length L2 = 0.008476 K = 0.000238 d_geom = 0.004009, d_prev = 0.004009, d_next = 0.006693 R_geom = 0.016622 v_normal = 0.657150 v_plan = 0.657150 R_plan = 0.016622 v_actual = 0.657150 effective a_n = 25.980762 arc length = 0.007867, L_prev = 0.001380, L_next = 0.012943 Check: v_plan = 0.657150, v_para = 0.494507 angle = 0.473318 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.496431 prev smoothing enabled Old target = 0.005389 Target = 0.001380 setting term condition 3 on tc id 124, type 1 Adding TC id 125 of type 2 Adding TC id 125 of type 1 current term = 3, type = 2, id = 125, smoothing = 1 prev term = 3, type = 1, id = 124, smoothing = 1 prev1_tc-> fv = 0.289102, tc->fv = 0.000000, capped target = 0.289102 current term = 3, type = 1, id = 124, smoothing = 1 prev term = 3, type = 2, id = 124, smoothing = 0 prev1_tc-> fv = 0.408852, tc->fv = 0.289102, capped target = 0.408852 current term = 3, type = 2, id = 124, smoothing = 0 prev term = 3, type = 1, id = 123, smoothing = 0 prev1_tc-> fv = 0.479386, tc->fv = 0.408852, capped target = 0.643426 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.823378, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.823378, acc = 36.402854,T = 5.894835, P = 0.319553 tc id = 11, canon_type = 1, mot type = 1 time: 0.190000 primary movement = 4.805176694665e-03 time: 1.900000000000e-01 total movement = 4.805176694665e-03 vel = 4.823378121539e+00 ******************** Handle Blend Arc prev tan = -0.943858 0.000000 -0.330350 this tan = -0.917556 0.000000 0.397607 u1 = -0.943858 0.000000 -0.330350 u2 = -0.917556 0.000000 0.397607 angle between segs = 0.745583 u1 = -0.943858 0.000000 -0.330350 u2 = -0.917556 0.000000 0.397607 theta=1.198005 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.828973, vr2 = 9.082065 v_goal = 18.164130, max scale = 2.000000 prev length L1 = 0.012943 next length L2 = 0.003270 K = 0.000146 d_geom = 0.002426, d_prev = 0.011137, d_next = 0.002426 R_geom = 0.006204 v_normal = 0.401493 v_plan = 0.401493 R_plan = 0.006204 v_actual = 0.401493 effective a_n = 25.980762 arc length = 0.004626, L_prev = 0.010516, L_next = 0.004113 Check: v_plan = 0.401493, v_para = 0.317844 angle = 0.745583 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.143137 Old target = 0.012943 Target = 0.010516 setting term condition 3 on tc id 125, type 1 Adding TC id 126 of type 2 Adding TC id 126 of type 1 current term = 3, type = 2, id = 126, smoothing = 0 prev term = 3, type = 1, id = 125, smoothing = 0 prev1_tc-> fv = 0.372529, tc->fv = 0.000000, capped target = 0.401493 current term = 3, type = 1, id = 125, smoothing = 0 prev term = 3, type = 2, id = 125, smoothing = 1 prev1_tc-> fv = 0.565333, tc->fv = 0.372529, capped target = 5.007838 current term = 3, type = 2, id = 125, smoothing = 1 prev term = 3, type = 1, id = 124, smoothing = 1 prev1_tc-> fv = 0.500739, tc->fv = 0.565333, capped target = 0.565333 current term = 3, type = 1, id = 124, smoothing = 1 prev term = 3, type = 2, id = 124, smoothing = 0 prev1_tc-> fv = 0.578204, tc->fv = 0.500739, capped target = 0.578204 current term = 3, type = 2, id = 124, smoothing = 0 prev term = 3, type = 1, id = 123, smoothing = 0 prev1_tc-> fv = 0.479386, tc->fv = 0.578204, capped target = 0.643426 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.859781, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.859781, acc = 36.402854,T = 5.894835, P = 0.324395 tc id = 11, canon_type = 1, mot type = 1 time: 0.191000 primary movement = 4.841579548413e-03 time: 1.910000000000e-01 total movement = 4.841579548413e-03 vel = 4.859780975287e+00 ******************** Handle Blend Arc prev tan = -0.917556 0.000000 0.397607 this tan = -0.970143 0.000000 -0.242536 u1 = -0.917556 0.000000 0.397607 u2 = -0.970143 0.000000 -0.242536 angle between segs = 0.653886 u1 = -0.917556 0.000000 0.397607 u2 = -0.970143 0.000000 -0.242536 theta=1.243853 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.082065, vr2 = 8.589769 v_goal = 18.164130, max scale = 2.000000 prev length L1 = 0.004113 next length L2 = 0.002062 K = 0.000169 d_geom = 0.001379, d_prev = 0.003091, d_next = 0.001379 R_geom = 0.004066 v_normal = 0.325036 v_plan = 0.325036 R_plan = 0.004066 v_actual = 0.325036 effective a_n = 25.980762 arc length = 0.002659, L_prev = 0.002734, L_next = 0.002744 Check: v_plan = 0.325036, v_para = 0.252488 angle = 0.653886 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.210881 Old target = 0.004113 Target = 0.002734 setting term condition 3 on tc id 126, type 1 Adding TC id 127 of type 2 Adding TC id 127 of type 1 current term = 3, type = 2, id = 127, smoothing = 0 prev term = 3, type = 1, id = 126, smoothing = 0 prev1_tc-> fv = 0.282435, tc->fv = 0.000000, capped target = 0.325036 current term = 3, type = 1, id = 126, smoothing = 0 prev term = 3, type = 2, id = 126, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.401493, tc->fv = 0.282435, capped target = 1.301769 current term = 3, type = 2, id = 126, smoothing = 0 prev term = 3, type = 1, id = 125, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.401493, tc->fv = 0.401493, capped target = 0.401493 current term = 3, type = 1, id = 125, smoothing = 0 prev term = 3, type = 2, id = 125, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.657150, tc->fv = 0.401493, capped target = 5.007838 current term = 3, type = 2, id = 125, smoothing = 1 prev term = 3, type = 1, id = 124, smoothing = 1 prev1_tc-> fv = 0.646452, tc->fv = 0.657150, capped target = 0.657150 current term = 3, type = 1, id = 124, smoothing = 1 prev term = 3, type = 2, id = 124, smoothing = 0 prev1_tc-> fv = 0.624096, tc->fv = 0.646452, capped target = 0.646452 current term = 3, type = 2, id = 124, smoothing = 0 prev term = 3, type = 1, id = 123, smoothing = 0 prev1_tc-> fv = 0.479386, tc->fv = 0.624096, capped target = 0.643426 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.896184, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.896184, acc = 36.402854,T = 5.894835, P = 0.329273 tc id = 11, canon_type = 1, mot type = 1 time: 0.192000 primary movement = 4.877982402160e-03 time: 1.920000000000e-01 total movement = 4.877982402160e-03 vel = 4.896183829034e+00 ******************** Handle Blend Arc prev tan = -0.970143 0.000000 -0.242536 this tan = -0.897990 0.000000 0.440015 u1 = -0.970143 0.000000 -0.242536 u2 = -0.897990 0.000000 0.440015 angle between segs = 0.700594 u1 = -0.970143 0.000000 -0.242536 u2 = -0.897990 0.000000 0.440015 theta=1.220499 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.589769, vr2 = 9.279944 v_goal = 18.559889, max scale = 2.000000 prev length L1 = 0.002744 next length L2 = 0.005568 K = 0.000157 d_geom = 0.001960, d_prev = 0.001960, d_next = 0.004394 R_geom = 0.005365 v_normal = 0.373339 v_plan = 0.373339 R_plan = 0.005365 v_actual = 0.373339 effective a_n = 25.980762 arc length = 0.003759, L_prev = 0.000784, L_next = 0.009176 Check: v_plan = 0.373339, v_para = 0.399218 blend arc NOT created prev segment parabolic, flagging blend_prev Adding TC id 128 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.932587, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.932587, acc = 36.402854,T = 5.894835, P = 0.334187 tc id = 11, canon_type = 1, mot type = 1 time: 0.193000 primary movement = 4.914385255908e-03 time: 1.930000000000e-01 total movement = 4.914385255908e-03 vel = 4.932586682782e+00 ******************** Handle Blend Arc prev tan = -0.897990 0.000000 0.440015 this tan = -0.917556 0.000000 -0.397607 u1 = -0.897990 0.000000 0.440015 u2 = -0.917556 0.000000 -0.397607 angle between segs = 0.864523 u1 = -0.897990 0.000000 0.440015 u2 = -0.917556 0.000000 -0.397607 theta=1.138535 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.279944, vr2 = 9.082065 v_goal = 18.559889, max scale = 2.000000 prev length L1 = 0.011136 next length L2 = 0.003270 K = 0.000124 d_geom = 0.002484, d_prev = 0.009593, d_next = 0.002484 R_geom = 0.005384 v_normal = 0.374017 v_plan = 0.374017 R_plan = 0.005384 v_actual = 0.374017 effective a_n = 25.980762 arc length = 0.004655, L_prev = 0.008652, L_next = 0.004055 Check: v_plan = 0.374017, v_para = 0.326956 angle = 0.864523 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.223072 Old target = 0.011136 Target = 0.008652 setting term condition 3 on tc id 128, type 1 Adding TC id 129 of type 2 Adding TC id 129 of type 1 current term = 3, type = 2, id = 129, smoothing = 0 prev term = 3, type = 1, id = 128, smoothing = 0 prev1_tc-> fv = 0.373693, tc->fv = 0.000000, capped target = 0.374017 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.968990, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.968990, acc = 36.402854,T = 5.894835, P = 0.339138 tc id = 11, canon_type = 1, mot type = 1 time: 0.194000 primary movement = 4.950788109655e-03 time: 1.940000000000e-01 total movement = 4.950788109655e-03 vel = 4.968989536529e+00 ******************** Handle Blend Arc prev tan = -0.917556 0.000000 -0.397607 this tan = -0.967823 0.000000 0.251634 u1 = -0.917556 0.000000 -0.397607 u2 = -0.967823 0.000000 0.251634 angle between segs = 0.663276 u1 = -0.917556 0.000000 -0.397607 u2 = -0.967823 0.000000 0.251634 theta=1.239158 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.082065, vr2 = 8.610360 v_goal = 18.164130, max scale = 2.000000 prev length L1 = 0.004055 next length L2 = 0.005166 K = 0.000166 d_geom = 0.003048, d_prev = 0.003048, d_next = 0.004011 R_geom = 0.008851 v_normal = 0.479542 v_plan = 0.479542 R_plan = 0.008851 v_actual = 0.479542 effective a_n = 25.980762 arc length = 0.005871, L_prev = 0.001007, L_next = 0.007285 Check: v_plan = 0.479542, v_para = 0.400175 angle = 0.663276 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.466111 prev smoothing enabled Old target = 0.004055 Target = 0.001007 setting term condition 3 on tc id 129, type 1 Adding TC id 130 of type 2 Adding TC id 130 of type 1 current term = 3, type = 2, id = 130, smoothing = 1 prev term = 3, type = 1, id = 129, smoothing = 1 prev1_tc-> fv = 0.256615, tc->fv = 0.000000, capped target = 0.256615 current term = 3, type = 1, id = 129, smoothing = 1 prev term = 3, type = 2, id = 129, smoothing = 0 prev1_tc-> fv = 0.362909, tc->fv = 0.256615, capped target = 0.362909 current term = 3, type = 2, id = 129, smoothing = 0 prev term = 3, type = 1, id = 128, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.374017, tc->fv = 0.362909, capped target = 0.374017 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.005392, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.005392, acc = 36.402854,T = 5.894835, P = 0.344125 tc id = 11, canon_type = 1, mot type = 1 time: 0.195000 primary movement = 4.987190963403e-03 time: 1.950000000000e-01 total movement = 4.987190963403e-03 vel = 5.005392390277e+00 ******************** Handle Blend Arc prev tan = -0.967823 0.000000 0.251634 this tan = -0.960429 0.000000 -0.278524 u1 = -0.967823 0.000000 0.251634 u2 = -0.960429 0.000000 -0.278524 angle between segs = 0.536625 u1 = -0.967823 0.000000 0.251634 u2 = -0.960429 0.000000 -0.278524 theta=1.302484 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.610360, vr2 = 8.676642 v_goal = 17.353284, max scale = 2.000000 prev length L1 = 0.007285 next length L2 = 0.005206 K = 0.000208 d_geom = 0.003927, d_prev = 0.005738, d_next = 0.003927 R_geom = 0.014282 v_normal = 0.609150 v_plan = 0.609150 R_plan = 0.014282 v_actual = 0.609150 effective a_n = 25.980762 arc length = 0.007664, L_prev = 0.003358, L_next = 0.006485 Check: v_plan = 0.609150, v_para = 0.400175 angle = 0.536625 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.380044 prev smoothing enabled Old target = 0.007285 Target = 0.003358 setting term condition 3 on tc id 130, type 1 Adding TC id 131 of type 2 Adding TC id 131 of type 1 current term = 3, type = 2, id = 131, smoothing = 1 prev term = 3, type = 1, id = 130, smoothing = 1 prev1_tc-> fv = 0.456247, tc->fv = 0.000000, capped target = 0.456247 current term = 3, type = 1, id = 130, smoothing = 1 prev term = 3, type = 2, id = 130, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.479542, tc->fv = 0.456247, capped target = 0.479542 current term = 3, type = 2, id = 130, smoothing = 1 prev term = 3, type = 1, id = 129, smoothing = 1 prev1_tc-> fv = 0.444470, tc->fv = 0.479542, capped target = 0.479542 current term = 3, type = 1, id = 129, smoothing = 1 prev term = 3, type = 2, id = 129, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.374017, tc->fv = 0.444470, capped target = 0.444470 current term = 3, type = 2, id = 129, smoothing = 0 prev term = 3, type = 1, id = 128, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.374017, tc->fv = 0.374017, capped target = 0.374017 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.041795, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.041795, acc = 36.402854,T = 5.894835, P = 0.349149 tc id = 11, canon_type = 1, mot type = 1 time: 0.196000 primary movement = 5.023593817150e-03 time: 1.960000000000e-01 total movement = 5.023593817150e-03 vel = 5.041795244024e+00 ******************** Handle Blend Arc prev tan = -0.960429 0.000000 -0.278524 this tan = 0.000000 -0.989825 0.142287 u1 = -0.960429 0.000000 -0.278524 u2 = 0.000000 -0.989825 0.142287 angle between segs = 1.610437 u1 = -0.960429 0.000000 -0.278524 u2 = 0.000000 -0.989825 0.142287 theta=0.765578 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.676642, vr2 = 8.418960 v_goal = 17.353284, max scale = 2.000000 prev length L1 = 0.006485 next length L2 = 0.008082 K = 0.000055 d_geom = 0.005693, d_prev = 0.005693, d_next = 0.007192 R_geom = 0.005472 v_normal = 0.377053 v_plan = 0.377053 R_plan = 0.005472 v_actual = 0.377053 effective a_n = 25.980762 arc length = 0.008812, L_prev = 0.000792, L_next = 0.010471 Check: v_plan = 0.377053, v_para = 0.494934 blend arc NOT created prev segment parabolic, flagging blend_prev Adding TC id 132 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.078198, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.078198, acc = 36.402854,T = 5.894835, P = 0.354209 tc id = 11, canon_type = 1, mot type = 1 time: 0.197000 primary movement = 5.059996670898e-03 time: 1.970000000000e-01 total movement = 5.059996670898e-03 vel = 5.078198097771e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.114601, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.114601, acc = 36.402854,T = 5.894835, P = 0.359305 tc id = 11, canon_type = 1, mot type = 1 time: 0.198000 primary movement = 5.096399524645e-03 time: 1.980000000000e-01 total movement = 5.096399524645e-03 vel = 5.114600951519e+00 ******************** Handle Blend Arc prev tan = 0.000000 -0.989825 0.142287 this tan = 0.609711 0.000000 0.792624 u1 = 0.000000 -0.989825 0.142287 u2 = 0.609711 0.000000 0.792624 angle between segs = 1.457775 u1 = 0.000000 -0.989825 0.142287 u2 = 0.609711 0.000000 0.792624 theta=0.841909 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.418960, vr2 = 10.513602 v_goal = 21.027204, max scale = 2.000000 prev length L1 = 0.016164 next length L2 = 0.001640 K = 0.000064 d_geom = 0.001241, d_prev = 0.014787, d_next = 0.001241 R_geom = 0.001390 v_normal = 0.190028 v_plan = 0.190028 R_plan = 0.001390 v_actual = 0.190028 effective a_n = 25.980762 arc length = 0.002026, L_prev = 0.014923, L_next = 0.002039 Check: v_plan = 0.190028, v_para = 0.199514 blend arc NOT created prev segment parabolic, flagging blend_prev Adding TC id 133 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.151004, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.151004, acc = 36.402854,T = 5.894835, P = 0.364438 tc id = 11, canon_type = 1, mot type = 1 time: 0.199000 primary movement = 5.132802378393e-03 time: 1.990000000000e-01 total movement = 5.132802378393e-03 vel = 5.151003805266e+00 ******************** Handle Blend Arc prev tan = 0.609711 0.000000 0.792624 this tan = 0.970143 0.000000 0.242536 u1 = 0.609711 0.000000 0.792624 u2 = 0.970143 0.000000 0.242536 angle between segs = 0.670122 u1 = 0.609711 0.000000 0.792624 u2 = 0.970143 0.000000 0.242536 theta=1.235735 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 10.513602, vr2 = 8.589769 v_goal = 21.027204, max scale = 2.000000 prev length L1 = 0.003280 next length L2 = 0.002062 K = 0.000165 d_geom = 0.001386, d_prev = 0.002393, d_next = 0.001386 R_geom = 0.003981 v_normal = 0.321608 v_plan = 0.321608 R_plan = 0.003981 v_actual = 0.321608 effective a_n = 25.980762 arc length = 0.002668, L_prev = 0.001894, L_next = 0.002737 Check: v_plan = 0.321608, v_para = 0.252488 angle = 0.670122 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.422583 prev smoothing enabled Old target = 0.003280 Target = 0.001894 setting term condition 3 on tc id 133, type 1 Adding TC id 134 of type 2 Adding TC id 134 of type 1 current term = 3, type = 2, id = 134, smoothing = 1 prev term = 3, type = 1, id = 133, smoothing = 1 prev1_tc-> fv = 0.267747, tc->fv = 0.000000, capped target = 0.267747 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.187407, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.187407, acc = 36.402854,T = 5.894835, P = 0.369607 tc id = 11, canon_type = 1, mot type = 1 time: 0.200000 primary movement = 5.169205232140e-03 time: 2.000000000000e-01 total movement = 5.169205232140e-03 vel = 5.187406659014e+00 ******************** Handle Blend Arc prev tan = 0.970143 0.000000 0.242536 this tan = 0.800000 0.000000 -0.600000 u1 = 0.970143 0.000000 0.242536 u2 = 0.800000 0.000000 -0.600000 angle between segs = 0.888480 u1 = 0.970143 0.000000 0.242536 u2 = 0.800000 0.000000 -0.600000 theta=1.126556 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.589769, vr2 = 10.416625 v_goal = 20.833250, max scale = 2.000000 prev length L1 = 0.002737 next length L2 = 0.002500 K = 0.000120 d_geom = 0.001835, d_prev = 0.002037, d_next = 0.001835 R_geom = 0.003856 v_normal = 0.316513 v_plan = 0.316513 R_plan = 0.003856 v_actual = 0.316513 effective a_n = 25.980762 arc length = 0.003426, L_prev = 0.000902, L_next = 0.003165 Check: v_plan = 0.316513, v_para = 0.252488 angle = 0.888480 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.445131 prev smoothing enabled Old target = 0.002737 Target = 0.000902 setting term condition 3 on tc id 134, type 1 Adding TC id 135 of type 2 Adding TC id 135 of type 1 current term = 3, type = 2, id = 135, smoothing = 1 prev term = 3, type = 1, id = 134, smoothing = 1 prev1_tc-> fv = 0.236138, tc->fv = 0.000000, capped target = 0.236138 current term = 3, type = 1, id = 134, smoothing = 1 prev term = 3, type = 2, id = 134, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.321608, tc->fv = 0.236138, capped target = 0.321608 current term = 3, type = 2, id = 134, smoothing = 1 prev term = 3, type = 1, id = 133, smoothing = 1 prev1_tc-> fv = 0.267747, tc->fv = 0.321608, capped target = 0.321608 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.223810, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.223810, acc = 36.402854,T = 5.894835, P = 0.374813 tc id = 11, canon_type = 1, mot type = 1 time: 0.201000 primary movement = 5.205608085888e-03 time: 2.010000000000e-01 total movement = 5.205608085888e-03 vel = 5.223809512761e+00 ******************** Handle Blend Arc prev tan = 0.800000 0.000000 -0.600000 this tan = 0.970143 0.000000 0.242536 u1 = 0.800000 0.000000 -0.600000 u2 = 0.970143 0.000000 0.242536 angle between segs = 0.888480 u1 = 0.800000 0.000000 -0.600000 u2 = 0.970143 0.000000 0.242536 theta=1.126556 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 10.416625, vr2 = 8.589769 v_goal = 20.833250, max scale = 2.000000 prev length L1 = 0.003165 next length L2 = 0.002062 K = 0.000120 d_geom = 0.001467, d_prev = 0.002404, d_next = 0.001467 R_geom = 0.003083 v_normal = 0.283001 v_plan = 0.283001 R_plan = 0.003083 v_actual = 0.283001 effective a_n = 25.980762 arc length = 0.002739, L_prev = 0.001697, L_next = 0.002656 Check: v_plan = 0.283001, v_para = 0.252488 angle = 0.888480 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.293450 Old target = 0.003165 Target = 0.001697 setting term condition 3 on tc id 135, type 1 Adding TC id 136 of type 2 Adding TC id 136 of type 1 current term = 3, type = 2, id = 136, smoothing = 0 prev term = 3, type = 1, id = 135, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.283001, tc->fv = 0.000000, capped target = 0.283001 current term = 3, type = 1, id = 135, smoothing = 0 prev term = 3, type = 2, id = 135, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.316513, tc->fv = 0.283001, capped target = 0.808299 current term = 3, type = 2, id = 135, smoothing = 1 prev term = 3, type = 1, id = 134, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.316513, tc->fv = 0.316513, capped target = 0.316513 current term = 3, type = 1, id = 134, smoothing = 1 prev term = 3, type = 2, id = 134, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.321608, tc->fv = 0.316513, capped target = 0.321608 current term = 3, type = 2, id = 134, smoothing = 1 prev term = 3, type = 1, id = 133, smoothing = 1 prev1_tc-> fv = 0.267747, tc->fv = 0.321608, capped target = 0.321608 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.260212, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.260212, acc = 36.402854,T = 5.894835, P = 0.380055 tc id = 11, canon_type = 1, mot type = 1 time: 0.202000 primary movement = 5.242010939635e-03 time: 2.020000000000e-01 total movement = 5.242010939635e-03 vel = 5.260212366509e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.296615, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.296615, acc = 36.402854,T = 5.894835, P = 0.385333 tc id = 11, canon_type = 1, mot type = 1 time: 0.203000 primary movement = 5.278413793382e-03 time: 2.030000000000e-01 total movement = 5.278413793382e-03 vel = 5.296615220256e+00 ******************** Handle Blend Arc prev tan = 0.970143 0.000000 0.242536 this tan = 0.950032 0.000000 -0.312153 u1 = 0.970143 0.000000 0.242536 u2 = 0.950032 0.000000 -0.312153 angle between segs = 0.562437 u1 = 0.970143 0.000000 0.242536 u2 = 0.950032 0.000000 -0.312153 theta=1.289578 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.589769, vr2 = 8.771602 v_goal = 17.543203, max scale = 2.000000 prev length L1 = 0.002656 next length L2 = 0.007368 K = 0.000198 d_geom = 0.001809, d_prev = 0.001809, d_next = 0.005846 R_geom = 0.006262 v_normal = 0.403340 v_plan = 0.403340 R_plan = 0.006262 v_actual = 0.403340 effective a_n = 25.980762 arc length = 0.003522, L_prev = 0.000847, L_next = 0.012928 Check: v_plan = 0.403340, v_para = 0.472361 blend arc NOT created prev segment parabolic, flagging blend_prev Adding TC id 137 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.333018, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.333018, acc = 36.402854,T = 5.894835, P = 0.390648 tc id = 11, canon_type = 1, mot type = 1 time: 0.204000 primary movement = 5.314816647130e-03 time: 2.040000000000e-01 total movement = 5.314816647130e-03 vel = 5.333018074004e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.369421, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.369421, acc = 36.402854,T = 5.894835, P = 0.395999 tc id = 11, canon_type = 1, mot type = 1 time: 0.205000 primary movement = 5.351219500877e-03 time: 2.050000000000e-01 total movement = 5.351219500877e-03 vel = 5.369420927751e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.405824, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.405824, acc = 36.402854,T = 5.894835, P = 0.401387 tc id = 11, canon_type = 1, mot type = 1 time: 0.206000 primary movement = 5.387622354625e-03 time: 2.060000000000e-01 total movement = 5.387622354625e-03 vel = 5.405823781499e+00 ******************** Handle Blend Arc prev tan = 0.950032 0.000000 -0.312153 this tan = 0.920331 0.000000 0.391141 u1 = 0.950032 0.000000 -0.312153 u2 = 0.920331 0.000000 0.391141 angle between segs = 0.719329 u1 = 0.950032 0.000000 -0.312153 u2 = 0.920331 0.000000 0.391141 theta=1.211132 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.771602, vr2 = 9.054678 v_goal = 18.109356, max scale = 2.000000 prev length L1 = 0.014736 next length L2 = 0.002173 K = 0.000152 d_geom = 0.001498, d_prev = 0.012764, d_next = 0.001498 R_geom = 0.003983 v_normal = 0.321677 v_plan = 0.321677 R_plan = 0.003983 v_actual = 0.321677 effective a_n = 25.980762 arc length = 0.002865, L_prev = 0.013239, L_next = 0.002849 Check: v_plan = 0.321677, v_para = 0.257832 angle = 0.719329 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.101627 Old target = 0.014736 Target = 0.013239 setting term condition 3 on tc id 137, type 1 Adding TC id 138 of type 2 Adding TC id 138 of type 1 current term = 3, type = 2, id = 138, smoothing = 0 prev term = 3, type = 1, id = 137, smoothing = 0 prev1_tc-> fv = 0.293169, tc->fv = 0.000000, capped target = 0.321677 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.442227, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.442227, acc = 36.402854,T = 5.894835, P = 0.406811 tc id = 11, canon_type = 1, mot type = 1 time: 0.207000 primary movement = 5.424025208372e-03 time: 2.070000000000e-01 total movement = 5.424025208372e-03 vel = 5.442226635246e+00 ******************** Handle Blend Arc prev tan = 0.920331 0.000000 0.391141 this tan = 0.986394 0.000000 -0.164399 u1 = 0.920331 0.000000 0.391141 u2 = 0.986394 0.000000 -0.164399 angle between segs = 0.567019 u1 = 0.920331 0.000000 0.391141 u2 = 0.986394 0.000000 -0.164399 theta=1.287287 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.054678, vr2 = 8.448247 v_goal = 18.109356, max scale = 2.000000 prev length L1 = 0.002849 next length L2 = 0.003041 K = 0.000197 d_geom = 0.001969, d_prev = 0.001969, d_next = 0.002127 R_geom = 0.006757 v_normal = 0.418995 v_plan = 0.418995 R_plan = 0.006757 v_actual = 0.418995 effective a_n = 25.980762 arc length = 0.003831, L_prev = 0.000880, L_next = 0.004114 Check: v_plan = 0.418995, v_para = 0.304138 angle = 0.567019 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.452978 prev smoothing enabled Old target = 0.002849 Target = 0.000880 setting term condition 3 on tc id 138, type 1 Adding TC id 139 of type 2 Adding TC id 139 of type 1 current term = 3, type = 2, id = 139, smoothing = 1 prev term = 3, type = 1, id = 138, smoothing = 1 prev1_tc-> fv = 0.239507, tc->fv = 0.000000, capped target = 0.239507 current term = 3, type = 1, id = 138, smoothing = 1 prev term = 3, type = 2, id = 138, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321677, tc->fv = 0.239507, capped target = 0.321677 current term = 3, type = 2, id = 138, smoothing = 0 prev term = 3, type = 1, id = 137, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321677, tc->fv = 0.321677, capped target = 0.321677 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.478629, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.478629, acc = 36.402854,T = 5.894835, P = 0.412271 tc id = 11, canon_type = 1, mot type = 1 time: 0.208000 primary movement = 5.460428062120e-03 time: 2.080000000000e-01 total movement = 5.460428062120e-03 vel = 5.478629488994e+00 ******************** Handle Blend Arc prev tan = 0.986394 0.000000 -0.164399 this tan = 0.838444 0.000000 0.544988 u1 = 0.986394 0.000000 -0.164399 u2 = 0.838444 0.000000 0.544988 angle between segs = 0.741524 u1 = 0.986394 0.000000 -0.164399 u2 = 0.838444 0.000000 0.544988 theta=1.200034 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.448247, vr2 = 9.939011 v_goal = 19.878021, max scale = 2.000000 prev length L1 = 0.004114 next length L2 = 0.003578 K = 0.000147 d_geom = 0.002688, d_prev = 0.003150, d_next = 0.002688 R_geom = 0.006915 v_normal = 0.423847 v_plan = 0.423847 R_plan = 0.006915 v_actual = 0.423847 effective a_n = 25.980762 arc length = 0.005127, L_prev = 0.001426, L_next = 0.004468 Check: v_plan = 0.423847, v_para = 0.304138 angle = 0.741524 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.441901 prev smoothing enabled Old target = 0.004114 Target = 0.001426 setting term condition 3 on tc id 139, type 1 Adding TC id 140 of type 2 Adding TC id 140 of type 1 current term = 3, type = 2, id = 140, smoothing = 1 prev term = 3, type = 1, id = 139, smoothing = 1 prev1_tc-> fv = 0.294519, tc->fv = 0.000000, capped target = 0.294519 current term = 3, type = 1, id = 139, smoothing = 1 prev term = 3, type = 2, id = 139, smoothing = 1 prev1_tc-> fv = 0.415099, tc->fv = 0.294519, capped target = 0.415099 current term = 3, type = 2, id = 139, smoothing = 1 prev term = 3, type = 1, id = 138, smoothing = 1 prev1_tc-> fv = 0.401048, tc->fv = 0.415099, capped target = 0.415099 current term = 3, type = 1, id = 138, smoothing = 1 prev term = 3, type = 2, id = 138, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321677, tc->fv = 0.401048, capped target = 0.401048 current term = 3, type = 2, id = 138, smoothing = 0 prev term = 3, type = 1, id = 137, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321677, tc->fv = 0.321677, capped target = 0.321677 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.515032, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.515032, acc = 36.402854,T = 5.894835, P = 0.417768 tc id = 11, canon_type = 1, mot type = 1 time: 0.209000 primary movement = 5.496830915867e-03 time: 2.090000000000e-01 total movement = 5.496830915867e-03 vel = 5.515032342741e+00 ******************** Handle Blend Arc prev tan = 0.838444 0.000000 0.544988 this tan = 0.995037 0.000000 0.099504 u1 = 0.838444 0.000000 0.544988 u2 = 0.995037 0.000000 0.099504 angle between segs = 0.476707 u1 = 0.838444 0.000000 0.544988 u2 = 0.995037 0.000000 0.099504 theta=1.332443 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.939011, vr2 = 8.374863 v_goal = 19.878021, max scale = 2.000000 prev length L1 = 0.004468 next length L2 = 0.005025 K = 0.000236 d_geom = 0.003233, d_prev = 0.003233, d_next = 0.003703 R_geom = 0.013307 v_normal = 0.587995 v_plan = 0.587995 R_plan = 0.013307 v_actual = 0.587995 effective a_n = 25.980762 arc length = 0.006344, L_prev = 0.001235, L_next = 0.006817 Check: v_plan = 0.587995, v_para = 0.389230 angle = 0.476707 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.451830 prev smoothing enabled Old target = 0.004468 Target = 0.001235 setting term condition 3 on tc id 140, type 1 Adding TC id 141 of type 2 Adding TC id 141 of type 1 current term = 3, type = 2, id = 141, smoothing = 1 prev term = 3, type = 1, id = 140, smoothing = 1 prev1_tc-> fv = 0.297259, tc->fv = 0.000000, capped target = 0.297259 current term = 3, type = 1, id = 140, smoothing = 1 prev term = 3, type = 2, id = 140, smoothing = 1 prev1_tc-> fv = 0.420388, tc->fv = 0.297259, capped target = 0.420388 current term = 3, type = 2, id = 140, smoothing = 1 prev term = 3, type = 1, id = 139, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.423847, tc->fv = 0.420388, capped target = 0.423847 current term = 3, type = 1, id = 139, smoothing = 1 prev term = 3, type = 2, id = 139, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.418995, tc->fv = 0.423847, capped target = 0.423847 current term = 3, type = 2, id = 139, smoothing = 1 prev term = 3, type = 1, id = 138, smoothing = 1 prev1_tc-> fv = 0.401048, tc->fv = 0.418995, capped target = 0.418995 current term = 3, type = 1, id = 138, smoothing = 1 prev term = 3, type = 2, id = 138, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321677, tc->fv = 0.401048, capped target = 0.401048 current term = 3, type = 2, id = 138, smoothing = 0 prev term = 3, type = 1, id = 137, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321677, tc->fv = 0.321677, capped target = 0.321677 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.551435, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.551435, acc = 36.402854,T = 5.894835, P = 0.423301 tc id = 11, canon_type = 1, mot type = 1 time: 0.210000 primary movement = 5.533233769615e-03 time: 2.100000000000e-01 total movement = 5.533233769615e-03 vel = 5.551435196488e+00 ******************** Handle Blend Arc prev tan = 0.995037 0.000000 0.099504 this tan = 0.894427 0.000000 -0.447214 u1 = 0.995037 0.000000 0.099504 u2 = 0.894427 0.000000 -0.447214 angle between segs = 0.563316 u1 = 0.995037 0.000000 0.099504 u2 = 0.894427 0.000000 -0.447214 theta=1.289138 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.374863, vr2 = 9.316913 v_goal = 18.633825, max scale = 2.000000 prev length L1 = 0.006817 next length L2 = 0.002236 K = 0.000198 d_geom = 0.001472, d_prev = 0.005360, d_next = 0.001472 R_geom = 0.005089 v_normal = 0.363613 v_plan = 0.363613 R_plan = 0.005089 v_actual = 0.363613 effective a_n = 25.980762 arc length = 0.002867, L_prev = 0.005344, L_next = 0.003000 Check: v_plan = 0.363613, v_para = 0.246171 angle = 0.563316 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.146517 Old target = 0.006817 Target = 0.005344 setting term condition 3 on tc id 141, type 1 Adding TC id 142 of type 2 Adding TC id 142 of type 1 current term = 3, type = 2, id = 142, smoothing = 0 prev term = 3, type = 1, id = 141, smoothing = 0 prev1_tc-> fv = 0.293258, tc->fv = 0.000000, capped target = 0.363613 current term = 3, type = 1, id = 141, smoothing = 0 prev term = 3, type = 2, id = 141, smoothing = 1 prev1_tc-> fv = 0.527898, tc->fv = 0.293258, capped target = 2.544784 current term = 3, type = 2, id = 141, smoothing = 1 prev term = 3, type = 1, id = 140, smoothing = 1 prev1_tc-> fv = 0.514868, tc->fv = 0.527898, capped target = 0.527898 current term = 3, type = 1, id = 140, smoothing = 1 prev term = 3, type = 2, id = 140, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.423847, tc->fv = 0.514868, capped target = 0.514868 current term = 3, type = 2, id = 140, smoothing = 1 prev term = 3, type = 1, id = 139, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.423847, tc->fv = 0.423847, capped target = 0.423847 current term = 3, type = 1, id = 139, smoothing = 1 prev term = 3, type = 2, id = 139, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.418995, tc->fv = 0.423847, capped target = 0.423847 current term = 3, type = 2, id = 139, smoothing = 1 prev term = 3, type = 1, id = 138, smoothing = 1 prev1_tc-> fv = 0.401048, tc->fv = 0.418995, capped target = 0.418995 current term = 3, type = 1, id = 138, smoothing = 1 prev term = 3, type = 2, id = 138, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321677, tc->fv = 0.401048, capped target = 0.401048 current term = 3, type = 2, id = 138, smoothing = 0 prev term = 3, type = 1, id = 137, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321677, tc->fv = 0.321677, capped target = 0.321677 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.587838, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.587838, acc = 36.402854,T = 5.894835, P = 0.428871 tc id = 11, canon_type = 1, mot type = 1 time: 0.211000 primary movement = 5.569636623362e-03 time: 2.110000000000e-01 total movement = 5.569636623362e-03 vel = 5.587838050236e+00 ******************** Handle Blend Arc prev tan = 0.894427 0.000000 -0.447214 this tan = 0.970143 0.000000 0.242536 u1 = 0.894427 0.000000 -0.447214 u2 = 0.970143 0.000000 0.242536 angle between segs = 0.708626 u1 = 0.894427 0.000000 -0.447214 u2 = 0.970143 0.000000 0.242536 theta=1.216483 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.316913, vr2 = 8.589769 v_goal = 18.633825, max scale = 2.000000 prev length L1 = 0.003000 next length L2 = 0.002062 K = 0.000155 d_geom = 0.001402, d_prev = 0.002178, d_next = 0.001402 R_geom = 0.003791 v_normal = 0.313846 v_plan = 0.313846 R_plan = 0.003791 v_actual = 0.313846 effective a_n = 25.980762 arc length = 0.002687, L_prev = 0.001597, L_next = 0.002721 Check: v_plan = 0.313846, v_para = 0.252488 angle = 0.708626 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.313603 Old target = 0.003000 Target = 0.001597 setting term condition 3 on tc id 142, type 1 Adding TC id 143 of type 2 Adding TC id 143 of type 1 current term = 3, type = 2, id = 143, smoothing = 0 prev term = 3, type = 1, id = 142, smoothing = 0 prev1_tc-> fv = 0.283897, tc->fv = 0.000000, capped target = 0.313846 current term = 3, type = 1, id = 142, smoothing = 0 prev term = 3, type = 2, id = 142, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.363613, tc->fv = 0.283897, capped target = 0.760561 current term = 3, type = 2, id = 142, smoothing = 0 prev term = 3, type = 1, id = 141, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.363613, tc->fv = 0.363613, capped target = 0.363613 current term = 3, type = 1, id = 141, smoothing = 0 prev term = 3, type = 2, id = 141, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.587995, tc->fv = 0.363613, capped target = 2.544784 current term = 3, type = 2, id = 141, smoothing = 1 prev term = 3, type = 1, id = 140, smoothing = 1 prev1_tc-> fv = 0.517696, tc->fv = 0.587995, capped target = 0.587995 current term = 3, type = 1, id = 140, smoothing = 1 prev term = 3, type = 2, id = 140, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.423847, tc->fv = 0.517696, capped target = 0.517696 current term = 3, type = 2, id = 140, smoothing = 1 prev term = 3, type = 1, id = 139, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.423847, tc->fv = 0.423847, capped target = 0.423847 current term = 3, type = 1, id = 139, smoothing = 1 prev term = 3, type = 2, id = 139, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.418995, tc->fv = 0.423847, capped target = 0.423847 current term = 3, type = 2, id = 139, smoothing = 1 prev term = 3, type = 1, id = 138, smoothing = 1 prev1_tc-> fv = 0.401048, tc->fv = 0.418995, capped target = 0.418995 current term = 3, type = 1, id = 138, smoothing = 1 prev term = 3, type = 2, id = 138, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321677, tc->fv = 0.401048, capped target = 0.401048 current term = 3, type = 2, id = 138, smoothing = 0 prev term = 3, type = 1, id = 137, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321677, tc->fv = 0.321677, capped target = 0.321677 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.624241, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.624241, acc = 36.402854,T = 5.894835, P = 0.434477 tc id = 11, canon_type = 1, mot type = 1 time: 0.212000 primary movement = 5.606039477110e-03 time: 2.120000000000e-01 total movement = 5.606039477110e-03 vel = 5.624240903983e+00 ******************** Handle Blend Arc prev tan = 0.970143 0.000000 0.242536 this tan = 0.743294 0.000000 -0.668965 u1 = 0.970143 0.000000 0.242536 u2 = 0.743294 0.000000 -0.668965 angle between segs = 0.977794 u1 = 0.970143 0.000000 0.242536 u2 = 0.743294 0.000000 -0.668965 theta=1.081899 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.589769, vr2 = 11.211309 v_goal = 22.422617, max scale = 2.000000 prev length L1 = 0.002721 next length L2 = 0.002691 K = 0.000108 d_geom = 0.002030, d_prev = 0.002055, d_next = 0.002030 R_geom = 0.003815 v_normal = 0.314835 v_plan = 0.314835 R_plan = 0.003815 v_actual = 0.314835 effective a_n = 25.980762 arc length = 0.003730, L_prev = 0.000691, L_next = 0.003352 Check: v_plan = 0.314835, v_para = 0.252488 angle = 0.977794 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.492243 prev smoothing enabled Old target = 0.002721 Target = 0.000691 setting term condition 3 on tc id 143, type 1 Adding TC id 144 of type 2 Adding TC id 144 of type 1 current term = 3, type = 2, id = 144, smoothing = 1 prev term = 3, type = 1, id = 143, smoothing = 1 prev1_tc-> fv = 0.206736, tc->fv = 0.000000, capped target = 0.206736 current term = 3, type = 1, id = 143, smoothing = 1 prev term = 3, type = 2, id = 143, smoothing = 0 prev1_tc-> fv = 0.292369, tc->fv = 0.206736, capped target = 0.292369 current term = 3, type = 2, id = 143, smoothing = 0 prev term = 3, type = 1, id = 142, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.313846, tc->fv = 0.292369, capped target = 0.313846 current term = 3, type = 1, id = 142, smoothing = 0 prev term = 3, type = 2, id = 142, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.363613, tc->fv = 0.313846, capped target = 0.760561 current term = 3, type = 2, id = 142, smoothing = 0 prev term = 3, type = 1, id = 141, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.363613, tc->fv = 0.363613, capped target = 0.363613 current term = 3, type = 1, id = 141, smoothing = 0 prev term = 3, type = 2, id = 141, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.587995, tc->fv = 0.363613, capped target = 2.544784 current term = 3, type = 2, id = 141, smoothing = 1 prev term = 3, type = 1, id = 140, smoothing = 1 prev1_tc-> fv = 0.517696, tc->fv = 0.587995, capped target = 0.587995 current term = 3, type = 1, id = 140, smoothing = 1 prev term = 3, type = 2, id = 140, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.423847, tc->fv = 0.517696, capped target = 0.517696 current term = 3, type = 2, id = 140, smoothing = 1 prev term = 3, type = 1, id = 139, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.423847, tc->fv = 0.423847, capped target = 0.423847 current term = 3, type = 1, id = 139, smoothing = 1 prev term = 3, type = 2, id = 139, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.418995, tc->fv = 0.423847, capped target = 0.423847 current term = 3, type = 2, id = 139, smoothing = 1 prev term = 3, type = 1, id = 138, smoothing = 1 prev1_tc-> fv = 0.401048, tc->fv = 0.418995, capped target = 0.418995 current term = 3, type = 1, id = 138, smoothing = 1 prev term = 3, type = 2, id = 138, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321677, tc->fv = 0.401048, capped target = 0.401048 current term = 3, type = 2, id = 138, smoothing = 0 prev term = 3, type = 1, id = 137, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321677, tc->fv = 0.321677, capped target = 0.321677 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.660644, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.660644, acc = 36.402854,T = 5.894835, P = 0.440120 tc id = 11, canon_type = 1, mot type = 1 time: 0.213000 primary movement = 5.642442330857e-03 time: 2.130000000000e-01 total movement = 5.642442330857e-03 vel = 5.660643757731e+00 ******************** Handle Blend Arc prev tan = 0.743294 0.000000 -0.668965 this tan = 0.999298 0.000000 -0.037474 u1 = 0.743294 0.000000 -0.668965 u2 = 0.999298 0.000000 -0.037474 angle between segs = 0.695333 u1 = 0.743294 0.000000 -0.668965 u2 = 0.999298 0.000000 -0.037474 theta=1.223130 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 11.211309, vr2 = 8.339157 v_goal = 22.422617, max scale = 2.000000 prev length L1 = 0.003352 next length L2 = 0.004003 K = 0.000158 d_geom = 0.002468, d_prev = 0.002468, d_next = 0.003025 R_geom = 0.006812 v_normal = 0.420680 v_plan = 0.420680 R_plan = 0.006812 v_actual = 0.420680 effective a_n = 25.980762 arc length = 0.004736, L_prev = 0.000883, L_next = 0.005537 Check: v_plan = 0.420680, v_para = 0.346654 angle = 0.695333 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.458696 prev smoothing enabled Old target = 0.003352 Target = 0.000883 setting term condition 3 on tc id 144, type 1 Adding TC id 145 of type 2 Adding TC id 145 of type 1 current term = 3, type = 2, id = 145, smoothing = 1 prev term = 3, type = 1, id = 144, smoothing = 1 prev1_tc-> fv = 0.267043, tc->fv = 0.000000, capped target = 0.267043 current term = 3, type = 1, id = 144, smoothing = 1 prev term = 3, type = 2, id = 144, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.314835, tc->fv = 0.267043, capped target = 0.314835 current term = 3, type = 2, id = 144, smoothing = 1 prev term = 3, type = 1, id = 143, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.314835, tc->fv = 0.314835, capped target = 0.314835 current term = 3, type = 1, id = 143, smoothing = 1 prev term = 3, type = 2, id = 143, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.313846, tc->fv = 0.314835, capped target = 0.314835 current term = 3, type = 2, id = 143, smoothing = 0 prev term = 3, type = 1, id = 142, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.313846, tc->fv = 0.313846, capped target = 0.313846 current term = 3, type = 1, id = 142, smoothing = 0 prev term = 3, type = 2, id = 142, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.363613, tc->fv = 0.313846, capped target = 0.760561 current term = 3, type = 2, id = 142, smoothing = 0 prev term = 3, type = 1, id = 141, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.363613, tc->fv = 0.363613, capped target = 0.363613 current term = 3, type = 1, id = 141, smoothing = 0 prev term = 3, type = 2, id = 141, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.587995, tc->fv = 0.363613, capped target = 2.544784 current term = 3, type = 2, id = 141, smoothing = 1 prev term = 3, type = 1, id = 140, smoothing = 1 prev1_tc-> fv = 0.517696, tc->fv = 0.587995, capped target = 0.587995 current term = 3, type = 1, id = 140, smoothing = 1 prev term = 3, type = 2, id = 140, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.423847, tc->fv = 0.517696, capped target = 0.517696 current term = 3, type = 2, id = 140, smoothing = 1 prev term = 3, type = 1, id = 139, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.423847, tc->fv = 0.423847, capped target = 0.423847 current term = 3, type = 1, id = 139, smoothing = 1 prev term = 3, type = 2, id = 139, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.418995, tc->fv = 0.423847, capped target = 0.423847 current term = 3, type = 2, id = 139, smoothing = 1 prev term = 3, type = 1, id = 138, smoothing = 1 prev1_tc-> fv = 0.401048, tc->fv = 0.418995, capped target = 0.418995 current term = 3, type = 1, id = 138, smoothing = 1 prev term = 3, type = 2, id = 138, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321677, tc->fv = 0.401048, capped target = 0.401048 current term = 3, type = 2, id = 138, smoothing = 0 prev term = 3, type = 1, id = 137, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321677, tc->fv = 0.321677, capped target = 0.321677 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.697047, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.697047, acc = 36.402854,T = 5.894835, P = 0.445798 tc id = 11, canon_type = 1, mot type = 1 time: 0.214000 primary movement = 5.678845184605e-03 time: 2.140000000000e-01 total movement = 5.678845184605e-03 vel = 5.697046611478e+00 ******************** Handle Blend Arc prev tan = 0.999298 0.000000 -0.037474 this tan = 0.931655 0.000000 0.363345 u1 = 0.999298 0.000000 -0.037474 u2 = 0.931655 0.000000 0.363345 angle between segs = 0.409339 u1 = 0.999298 0.000000 -0.037474 u2 = 0.931655 0.000000 0.363345 theta=1.366127 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.339157, vr2 = 8.944624 v_goal = 17.889249, max scale = 2.000000 prev length L1 = 0.005537 next length L2 = 0.005367 K = 0.000276 d_geom = 0.003900, d_prev = 0.004043, d_next = 0.003900 R_geom = 0.018787 v_normal = 0.698636 v_plan = 0.698636 R_plan = 0.018787 v_actual = 0.698636 effective a_n = 25.980762 arc length = 0.007690, L_prev = 0.001638, L_next = 0.006834 Check: v_plan = 0.698636, v_para = 0.387571 angle = 0.409339 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.487115 prev smoothing enabled Old target = 0.005537 Target = 0.001638 setting term condition 3 on tc id 145, type 1 Adding TC id 146 of type 2 Adding TC id 146 of type 1 current term = 3, type = 2, id = 146, smoothing = 1 prev term = 3, type = 1, id = 145, smoothing = 1 prev1_tc-> fv = 0.313560, tc->fv = 0.000000, capped target = 0.313560 current term = 3, type = 1, id = 145, smoothing = 1 prev term = 3, type = 2, id = 145, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.420680, tc->fv = 0.313560, capped target = 0.420680 current term = 3, type = 2, id = 145, smoothing = 1 prev term = 3, type = 1, id = 144, smoothing = 1 prev1_tc-> fv = 0.412836, tc->fv = 0.420680, capped target = 0.420680 current term = 3, type = 1, id = 144, smoothing = 1 prev term = 3, type = 2, id = 144, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.314835, tc->fv = 0.412836, capped target = 0.412836 current term = 3, type = 2, id = 144, smoothing = 1 prev term = 3, type = 1, id = 143, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.314835, tc->fv = 0.314835, capped target = 0.314835 current term = 3, type = 1, id = 143, smoothing = 1 prev term = 3, type = 2, id = 143, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.313846, tc->fv = 0.314835, capped target = 0.314835 current term = 3, type = 2, id = 143, smoothing = 0 prev term = 3, type = 1, id = 142, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.313846, tc->fv = 0.313846, capped target = 0.313846 current term = 3, type = 1, id = 142, smoothing = 0 prev term = 3, type = 2, id = 142, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.363613, tc->fv = 0.313846, capped target = 0.760561 current term = 3, type = 2, id = 142, smoothing = 0 prev term = 3, type = 1, id = 141, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.363613, tc->fv = 0.363613, capped target = 0.363613 current term = 3, type = 1, id = 141, smoothing = 0 prev term = 3, type = 2, id = 141, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.587995, tc->fv = 0.363613, capped target = 2.544784 current term = 3, type = 2, id = 141, smoothing = 1 prev term = 3, type = 1, id = 140, smoothing = 1 prev1_tc-> fv = 0.517696, tc->fv = 0.587995, capped target = 0.587995 current term = 3, type = 1, id = 140, smoothing = 1 prev term = 3, type = 2, id = 140, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.423847, tc->fv = 0.517696, capped target = 0.517696 current term = 3, type = 2, id = 140, smoothing = 1 prev term = 3, type = 1, id = 139, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.423847, tc->fv = 0.423847, capped target = 0.423847 current term = 3, type = 1, id = 139, smoothing = 1 prev term = 3, type = 2, id = 139, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.418995, tc->fv = 0.423847, capped target = 0.423847 current term = 3, type = 2, id = 139, smoothing = 1 prev term = 3, type = 1, id = 138, smoothing = 1 prev1_tc-> fv = 0.401048, tc->fv = 0.418995, capped target = 0.418995 current term = 3, type = 1, id = 138, smoothing = 1 prev term = 3, type = 2, id = 138, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321677, tc->fv = 0.401048, capped target = 0.401048 current term = 3, type = 2, id = 138, smoothing = 0 prev term = 3, type = 1, id = 137, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321677, tc->fv = 0.321677, capped target = 0.321677 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.733449, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.733449, acc = 36.402854,T = 5.894835, P = 0.451514 tc id = 11, canon_type = 1, mot type = 1 time: 0.215000 primary movement = 5.715248038352e-03 time: 2.150000000000e-01 total movement = 5.715248038352e-03 vel = 5.733449465226e+00 ******************** Handle Blend Arc prev tan = 0.931655 0.000000 0.363345 this tan = 1.000000 0.000000 0.000000 u1 = 0.931655 0.000000 0.363345 u2 = 1.000000 0.000000 0.000000 angle between segs = 0.371856 u1 = 0.931655 0.000000 0.363345 u2 = 1.000000 0.000000 0.000000 theta=1.384868 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.944624, vr2 = 8.333300 v_goal = 17.889249, max scale = 2.000000 prev length L1 = 0.006834 next length L2 = 0.004000 K = 0.000305 d_geom = 0.002714, d_prev = 0.005076, d_next = 0.002714 R_geom = 0.014430 v_normal = 0.612283 v_plan = 0.612283 R_plan = 0.014430 v_actual = 0.612283 effective a_n = 25.980762 arc length = 0.005366, L_prev = 0.004120, L_next = 0.005286 Check: v_plan = 0.612283, v_para = 0.346410 angle = 0.371856 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.252870 Old target = 0.006834 Target = 0.004120 setting term condition 3 on tc id 146, type 1 Adding TC id 147 of type 2 Adding TC id 147 of type 1 current term = 3, type = 2, id = 147, smoothing = 0 prev term = 3, type = 1, id = 146, smoothing = 0 prev1_tc-> fv = 0.401212, tc->fv = 0.000000, capped target = 0.612283 current term = 3, type = 1, id = 146, smoothing = 0 prev term = 3, type = 2, id = 146, smoothing = 1 prev1_tc-> fv = 0.573605, tc->fv = 0.401212, capped target = 1.961774 current term = 3, type = 2, id = 146, smoothing = 1 prev term = 3, type = 1, id = 145, smoothing = 1 prev1_tc-> fv = 0.524683, tc->fv = 0.573605, capped target = 0.573605 current term = 3, type = 1, id = 145, smoothing = 1 prev term = 3, type = 2, id = 145, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.420680, tc->fv = 0.524683, capped target = 0.524683 current term = 3, type = 2, id = 145, smoothing = 1 prev term = 3, type = 1, id = 144, smoothing = 1 prev1_tc-> fv = 0.412836, tc->fv = 0.420680, capped target = 0.420680 current term = 3, type = 1, id = 144, smoothing = 1 prev term = 3, type = 2, id = 144, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.314835, tc->fv = 0.412836, capped target = 0.412836 current term = 3, type = 2, id = 144, smoothing = 1 prev term = 3, type = 1, id = 143, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.314835, tc->fv = 0.314835, capped target = 0.314835 current term = 3, type = 1, id = 143, smoothing = 1 prev term = 3, type = 2, id = 143, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.313846, tc->fv = 0.314835, capped target = 0.314835 current term = 3, type = 2, id = 143, smoothing = 0 prev term = 3, type = 1, id = 142, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.313846, tc->fv = 0.313846, capped target = 0.313846 current term = 3, type = 1, id = 142, smoothing = 0 prev term = 3, type = 2, id = 142, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.363613, tc->fv = 0.313846, capped target = 0.760561 current term = 3, type = 2, id = 142, smoothing = 0 prev term = 3, type = 1, id = 141, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.363613, tc->fv = 0.363613, capped target = 0.363613 current term = 3, type = 1, id = 141, smoothing = 0 prev term = 3, type = 2, id = 141, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.587995, tc->fv = 0.363613, capped target = 2.544784 current term = 3, type = 2, id = 141, smoothing = 1 prev term = 3, type = 1, id = 140, smoothing = 1 prev1_tc-> fv = 0.517696, tc->fv = 0.587995, capped target = 0.587995 current term = 3, type = 1, id = 140, smoothing = 1 prev term = 3, type = 2, id = 140, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.423847, tc->fv = 0.517696, capped target = 0.517696 current term = 3, type = 2, id = 140, smoothing = 1 prev term = 3, type = 1, id = 139, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.423847, tc->fv = 0.423847, capped target = 0.423847 current term = 3, type = 1, id = 139, smoothing = 1 prev term = 3, type = 2, id = 139, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.418995, tc->fv = 0.423847, capped target = 0.423847 current term = 3, type = 2, id = 139, smoothing = 1 prev term = 3, type = 1, id = 138, smoothing = 1 prev1_tc-> fv = 0.401048, tc->fv = 0.418995, capped target = 0.418995 current term = 3, type = 1, id = 138, smoothing = 1 prev term = 3, type = 2, id = 138, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321677, tc->fv = 0.401048, capped target = 0.401048 current term = 3, type = 2, id = 138, smoothing = 0 prev term = 3, type = 1, id = 137, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321677, tc->fv = 0.321677, capped target = 0.321677 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.769852, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.769852, acc = 36.402854,T = 5.894835, P = 0.457265 tc id = 11, canon_type = 1, mot type = 1 time: 0.216000 primary movement = 5.751650892100e-03 time: 2.160000000000e-01 total movement = 5.751650892100e-03 vel = 5.769852318973e+00 ******************** Handle Blend Arc prev tan = 1.000000 0.000000 0.000000 this tan = 0.743294 0.000000 -0.668965 u1 = 1.000000 0.000000 0.000000 u2 = 0.743294 0.000000 -0.668965 angle between segs = 0.732815 u1 = 1.000000 0.000000 0.000000 u2 = 0.743294 0.000000 -0.668965 theta=1.204389 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.333300, vr2 = 11.211309 v_goal = 22.422617, max scale = 2.000000 prev length L1 = 0.005286 next length L2 = 0.002691 K = 0.000149 d_geom = 0.001931, d_prev = 0.004170, d_next = 0.001931 R_geom = 0.005033 v_normal = 0.361609 v_plan = 0.361609 R_plan = 0.005033 v_actual = 0.361609 effective a_n = 25.980762 arc length = 0.003688, L_prev = 0.003354, L_next = 0.003450 Check: v_plan = 0.361609, v_para = 0.244949 angle = 0.732815 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.241418 Old target = 0.005286 Target = 0.003354 setting term condition 3 on tc id 147, type 1 Adding TC id 148 of type 2 Adding TC id 148 of type 1 current term = 3, type = 2, id = 148, smoothing = 0 prev term = 3, type = 1, id = 147, smoothing = 0 prev1_tc-> fv = 0.332638, tc->fv = 0.000000, capped target = 0.361609 current term = 3, type = 1, id = 147, smoothing = 0 prev term = 3, type = 2, id = 147, smoothing = 0 prev1_tc-> fv = 0.558493, tc->fv = 0.332638, capped target = 1.597357 current term = 3, type = 2, id = 147, smoothing = 0 prev term = 3, type = 1, id = 146, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.612283, tc->fv = 0.558493, capped target = 0.612283 current term = 3, type = 1, id = 146, smoothing = 0 prev term = 3, type = 2, id = 146, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.698636, tc->fv = 0.612283, capped target = 1.961774 current term = 3, type = 2, id = 146, smoothing = 1 prev term = 3, type = 1, id = 145, smoothing = 1 prev1_tc-> fv = 0.524683, tc->fv = 0.698636, capped target = 0.698636 current term = 3, type = 1, id = 145, smoothing = 1 prev term = 3, type = 2, id = 145, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.420680, tc->fv = 0.524683, capped target = 0.524683 current term = 3, type = 2, id = 145, smoothing = 1 prev term = 3, type = 1, id = 144, smoothing = 1 prev1_tc-> fv = 0.412836, tc->fv = 0.420680, capped target = 0.420680 current term = 3, type = 1, id = 144, smoothing = 1 prev term = 3, type = 2, id = 144, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.314835, tc->fv = 0.412836, capped target = 0.412836 current term = 3, type = 2, id = 144, smoothing = 1 prev term = 3, type = 1, id = 143, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.314835, tc->fv = 0.314835, capped target = 0.314835 current term = 3, type = 1, id = 143, smoothing = 1 prev term = 3, type = 2, id = 143, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.313846, tc->fv = 0.314835, capped target = 0.314835 current term = 3, type = 2, id = 143, smoothing = 0 prev term = 3, type = 1, id = 142, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.313846, tc->fv = 0.313846, capped target = 0.313846 current term = 3, type = 1, id = 142, smoothing = 0 prev term = 3, type = 2, id = 142, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.363613, tc->fv = 0.313846, capped target = 0.760561 current term = 3, type = 2, id = 142, smoothing = 0 prev term = 3, type = 1, id = 141, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.363613, tc->fv = 0.363613, capped target = 0.363613 current term = 3, type = 1, id = 141, smoothing = 0 prev term = 3, type = 2, id = 141, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.587995, tc->fv = 0.363613, capped target = 2.544784 current term = 3, type = 2, id = 141, smoothing = 1 prev term = 3, type = 1, id = 140, smoothing = 1 prev1_tc-> fv = 0.517696, tc->fv = 0.587995, capped target = 0.587995 current term = 3, type = 1, id = 140, smoothing = 1 prev term = 3, type = 2, id = 140, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.423847, tc->fv = 0.517696, capped target = 0.517696 current term = 3, type = 2, id = 140, smoothing = 1 prev term = 3, type = 1, id = 139, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.423847, tc->fv = 0.423847, capped target = 0.423847 current term = 3, type = 1, id = 139, smoothing = 1 prev term = 3, type = 2, id = 139, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.418995, tc->fv = 0.423847, capped target = 0.423847 current term = 3, type = 2, id = 139, smoothing = 1 prev term = 3, type = 1, id = 138, smoothing = 1 prev1_tc-> fv = 0.401048, tc->fv = 0.418995, capped target = 0.418995 current term = 3, type = 1, id = 138, smoothing = 1 prev term = 3, type = 2, id = 138, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321677, tc->fv = 0.401048, capped target = 0.401048 current term = 3, type = 2, id = 138, smoothing = 0 prev term = 3, type = 1, id = 137, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321677, tc->fv = 0.321677, capped target = 0.321677 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.806255, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.806255, acc = 36.402854,T = 5.894835, P = 0.463053 tc id = 11, canon_type = 1, mot type = 1 time: 0.217000 primary movement = 5.788053745847e-03 time: 2.170000000000e-01 total movement = 5.788053745847e-03 vel = 5.806255172721e+00 ******************** Handle Blend Arc prev tan = 0.743294 0.000000 -0.668965 this tan = 0.996194 0.000000 0.087167 u1 = 0.743294 0.000000 -0.668965 u2 = 0.996194 0.000000 0.087167 angle between segs = 0.820093 u1 = 0.743294 0.000000 -0.668965 u2 = 0.996194 0.000000 0.087167 theta=1.160750 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 11.211309, vr2 = 8.365140 v_goal = 22.422617, max scale = 2.000000 prev length L1 = 0.003450 next length L2 = 0.004015 K = 0.000132 d_geom = 0.002619, d_prev = 0.002619, d_next = 0.003110 R_geom = 0.006026 v_normal = 0.395661 v_plan = 0.395661 R_plan = 0.006026 v_actual = 0.395661 effective a_n = 25.980762 arc length = 0.004941, L_prev = 0.000831, L_next = 0.005411 Check: v_plan = 0.395661, v_para = 0.347734 angle = 0.820093 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.486712 prev smoothing enabled Old target = 0.003450 Target = 0.000831 setting term condition 3 on tc id 148, type 1 Adding TC id 149 of type 2 Adding TC id 149 of type 1 current term = 3, type = 2, id = 149, smoothing = 1 prev term = 3, type = 1, id = 148, smoothing = 1 prev1_tc-> fv = 0.258980, tc->fv = 0.000000, capped target = 0.258980 current term = 3, type = 1, id = 148, smoothing = 1 prev term = 3, type = 2, id = 148, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.361609, tc->fv = 0.258980, capped target = 0.361609 current term = 3, type = 2, id = 148, smoothing = 0 prev term = 3, type = 1, id = 147, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.361609, tc->fv = 0.361609, capped target = 0.361609 current term = 3, type = 1, id = 147, smoothing = 0 prev term = 3, type = 2, id = 147, smoothing = 0 prev1_tc-> fv = 0.576219, tc->fv = 0.361609, capped target = 1.597357 current term = 3, type = 2, id = 147, smoothing = 0 prev term = 3, type = 1, id = 146, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.612283, tc->fv = 0.576219, capped target = 0.612283 current term = 3, type = 1, id = 146, smoothing = 0 prev term = 3, type = 2, id = 146, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.698636, tc->fv = 0.612283, capped target = 1.961774 current term = 3, type = 2, id = 146, smoothing = 1 prev term = 3, type = 1, id = 145, smoothing = 1 prev1_tc-> fv = 0.524683, tc->fv = 0.698636, capped target = 0.698636 current term = 3, type = 1, id = 145, smoothing = 1 prev term = 3, type = 2, id = 145, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.420680, tc->fv = 0.524683, capped target = 0.524683 current term = 3, type = 2, id = 145, smoothing = 1 prev term = 3, type = 1, id = 144, smoothing = 1 prev1_tc-> fv = 0.412836, tc->fv = 0.420680, capped target = 0.420680 current term = 3, type = 1, id = 144, smoothing = 1 prev term = 3, type = 2, id = 144, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.314835, tc->fv = 0.412836, capped target = 0.412836 current term = 3, type = 2, id = 144, smoothing = 1 prev term = 3, type = 1, id = 143, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.314835, tc->fv = 0.314835, capped target = 0.314835 current term = 3, type = 1, id = 143, smoothing = 1 prev term = 3, type = 2, id = 143, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.313846, tc->fv = 0.314835, capped target = 0.314835 current term = 3, type = 2, id = 143, smoothing = 0 prev term = 3, type = 1, id = 142, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.313846, tc->fv = 0.313846, capped target = 0.313846 current term = 3, type = 1, id = 142, smoothing = 0 prev term = 3, type = 2, id = 142, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.363613, tc->fv = 0.313846, capped target = 0.760561 current term = 3, type = 2, id = 142, smoothing = 0 prev term = 3, type = 1, id = 141, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.363613, tc->fv = 0.363613, capped target = 0.363613 current term = 3, type = 1, id = 141, smoothing = 0 prev term = 3, type = 2, id = 141, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.587995, tc->fv = 0.363613, capped target = 2.544784 current term = 3, type = 2, id = 141, smoothing = 1 prev term = 3, type = 1, id = 140, smoothing = 1 prev1_tc-> fv = 0.517696, tc->fv = 0.587995, capped target = 0.587995 current term = 3, type = 1, id = 140, smoothing = 1 prev term = 3, type = 2, id = 140, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.423847, tc->fv = 0.517696, capped target = 0.517696 current term = 3, type = 2, id = 140, smoothing = 1 prev term = 3, type = 1, id = 139, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.423847, tc->fv = 0.423847, capped target = 0.423847 current term = 3, type = 1, id = 139, smoothing = 1 prev term = 3, type = 2, id = 139, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.418995, tc->fv = 0.423847, capped target = 0.423847 current term = 3, type = 2, id = 139, smoothing = 1 prev term = 3, type = 1, id = 138, smoothing = 1 prev1_tc-> fv = 0.401048, tc->fv = 0.418995, capped target = 0.418995 current term = 3, type = 1, id = 138, smoothing = 1 prev term = 3, type = 2, id = 138, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321677, tc->fv = 0.401048, capped target = 0.401048 current term = 3, type = 2, id = 138, smoothing = 0 prev term = 3, type = 1, id = 137, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321677, tc->fv = 0.321677, capped target = 0.321677 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.842658, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.842658, acc = 36.402854,T = 5.894835, P = 0.468878 tc id = 11, canon_type = 1, mot type = 1 time: 0.218000 primary movement = 5.824456599594e-03 time: 2.180000000000e-01 total movement = 5.824456599594e-03 vel = 5.842658026468e+00 ******************** Handle Blend Arc prev tan = 0.996194 0.000000 0.087167 this tan = 0.970143 0.000000 -0.242536 u1 = 0.996194 0.000000 0.087167 u2 = 0.970143 0.000000 -0.242536 angle between segs = 0.332256 u1 = 0.996194 0.000000 0.087167 u2 = 0.970143 0.000000 -0.242536 theta=1.404668 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.365140, vr2 = 8.589769 v_goal = 17.179538, max scale = 2.000000 prev length L1 = 0.005411 next length L2 = 0.006185 K = 0.000342 d_geom = 0.003800, d_prev = 0.003800, d_next = 0.004442 R_geom = 0.022663 v_normal = 0.767331 v_plan = 0.767331 R_plan = 0.022663 v_actual = 0.767331 effective a_n = 25.980762 arc length = 0.007530, L_prev = 0.001611, L_next = 0.008569 Check: v_plan = 0.767331, v_para = 0.425885 angle = 0.332256 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.473186 prev smoothing enabled Old target = 0.005411 Target = 0.001611 setting term condition 3 on tc id 149, type 1 Adding TC id 150 of type 2 Adding TC id 150 of type 1 current term = 3, type = 2, id = 150, smoothing = 1 prev term = 3, type = 1, id = 149, smoothing = 1 prev1_tc-> fv = 0.311534, tc->fv = 0.000000, capped target = 0.311534 current term = 3, type = 1, id = 149, smoothing = 1 prev term = 3, type = 2, id = 149, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.395661, tc->fv = 0.311534, capped target = 0.395661 current term = 3, type = 2, id = 149, smoothing = 1 prev term = 3, type = 1, id = 148, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.395661, tc->fv = 0.395661, capped target = 0.395661 current term = 3, type = 1, id = 148, smoothing = 1 prev term = 3, type = 2, id = 148, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.361609, tc->fv = 0.395661, capped target = 0.395661 current term = 3, type = 2, id = 148, smoothing = 0 prev term = 3, type = 1, id = 147, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.361609, tc->fv = 0.361609, capped target = 0.361609 current term = 3, type = 1, id = 147, smoothing = 0 prev term = 3, type = 2, id = 147, smoothing = 0 prev1_tc-> fv = 0.576219, tc->fv = 0.361609, capped target = 1.597357 current term = 3, type = 2, id = 147, smoothing = 0 prev term = 3, type = 1, id = 146, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.612283, tc->fv = 0.576219, capped target = 0.612283 current term = 3, type = 1, id = 146, smoothing = 0 prev term = 3, type = 2, id = 146, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.698636, tc->fv = 0.612283, capped target = 1.961774 current term = 3, type = 2, id = 146, smoothing = 1 prev term = 3, type = 1, id = 145, smoothing = 1 prev1_tc-> fv = 0.524683, tc->fv = 0.698636, capped target = 0.698636 current term = 3, type = 1, id = 145, smoothing = 1 prev term = 3, type = 2, id = 145, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.420680, tc->fv = 0.524683, capped target = 0.524683 current term = 3, type = 2, id = 145, smoothing = 1 prev term = 3, type = 1, id = 144, smoothing = 1 prev1_tc-> fv = 0.412836, tc->fv = 0.420680, capped target = 0.420680 current term = 3, type = 1, id = 144, smoothing = 1 prev term = 3, type = 2, id = 144, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.314835, tc->fv = 0.412836, capped target = 0.412836 current term = 3, type = 2, id = 144, smoothing = 1 prev term = 3, type = 1, id = 143, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.314835, tc->fv = 0.314835, capped target = 0.314835 current term = 3, type = 1, id = 143, smoothing = 1 prev term = 3, type = 2, id = 143, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.313846, tc->fv = 0.314835, capped target = 0.314835 current term = 3, type = 2, id = 143, smoothing = 0 prev term = 3, type = 1, id = 142, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.313846, tc->fv = 0.313846, capped target = 0.313846 current term = 3, type = 1, id = 142, smoothing = 0 prev term = 3, type = 2, id = 142, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.363613, tc->fv = 0.313846, capped target = 0.760561 current term = 3, type = 2, id = 142, smoothing = 0 prev term = 3, type = 1, id = 141, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.363613, tc->fv = 0.363613, capped target = 0.363613 current term = 3, type = 1, id = 141, smoothing = 0 prev term = 3, type = 2, id = 141, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.587995, tc->fv = 0.363613, capped target = 2.544784 current term = 3, type = 2, id = 141, smoothing = 1 prev term = 3, type = 1, id = 140, smoothing = 1 prev1_tc-> fv = 0.517696, tc->fv = 0.587995, capped target = 0.587995 current term = 3, type = 1, id = 140, smoothing = 1 prev term = 3, type = 2, id = 140, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.423847, tc->fv = 0.517696, capped target = 0.517696 current term = 3, type = 2, id = 140, smoothing = 1 prev term = 3, type = 1, id = 139, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.423847, tc->fv = 0.423847, capped target = 0.423847 current term = 3, type = 1, id = 139, smoothing = 1 prev term = 3, type = 2, id = 139, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.418995, tc->fv = 0.423847, capped target = 0.423847 current term = 3, type = 2, id = 139, smoothing = 1 prev term = 3, type = 1, id = 138, smoothing = 1 prev1_tc-> fv = 0.401048, tc->fv = 0.418995, capped target = 0.418995 current term = 3, type = 1, id = 138, smoothing = 1 prev term = 3, type = 2, id = 138, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321677, tc->fv = 0.401048, capped target = 0.401048 current term = 3, type = 2, id = 138, smoothing = 0 prev term = 3, type = 1, id = 137, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321677, tc->fv = 0.321677, capped target = 0.321677 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.879061, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.879061, acc = 36.402854,T = 5.894835, P = 0.474739 tc id = 11, canon_type = 1, mot type = 1 time: 0.219000 primary movement = 5.860859453342e-03 time: 2.190000000000e-01 total movement = 5.860859453342e-03 vel = 5.879060880216e+00 ******************** Handle Blend Arc prev tan = 0.970143 0.000000 -0.242536 this tan = 0.894427 0.000000 0.447214 u1 = 0.970143 0.000000 -0.242536 u2 = 0.894427 0.000000 0.447214 angle between segs = 0.708626 u1 = 0.970143 0.000000 -0.242536 u2 = 0.894427 0.000000 0.447214 theta=1.216483 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.589769, vr2 = 9.316913 v_goal = 18.633825, max scale = 2.000000 prev length L1 = 0.008569 next length L2 = 0.004472 K = 0.000155 d_geom = 0.003440, d_prev = 0.007088, d_next = 0.003440 R_geom = 0.009299 v_normal = 0.491524 v_plan = 0.491524 R_plan = 0.009299 v_actual = 0.491524 effective a_n = 25.980762 arc length = 0.006590, L_prev = 0.005129, L_next = 0.005504 Check: v_plan = 0.491524, v_para = 0.357071 angle = 0.708626 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.278102 Old target = 0.008569 Target = 0.005129 setting term condition 3 on tc id 150, type 1 Adding TC id 151 of type 2 Adding TC id 151 of type 1 current term = 3, type = 2, id = 151, smoothing = 0 prev term = 3, type = 1, id = 150, smoothing = 0 prev1_tc-> fv = 0.444619, tc->fv = 0.000000, capped target = 0.491524 current term = 3, type = 1, id = 150, smoothing = 0 prev term = 3, type = 2, id = 150, smoothing = 1 prev1_tc-> fv = 0.568286, tc->fv = 0.444619, capped target = 2.442584 current term = 3, type = 2, id = 150, smoothing = 1 prev term = 3, type = 1, id = 149, smoothing = 1 prev1_tc-> fv = 0.503588, tc->fv = 0.568286, capped target = 0.568286 current term = 3, type = 1, id = 149, smoothing = 1 prev term = 3, type = 2, id = 149, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.395661, tc->fv = 0.503588, capped target = 0.503588 current term = 3, type = 2, id = 149, smoothing = 1 prev term = 3, type = 1, id = 148, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.395661, tc->fv = 0.395661, capped target = 0.395661 current term = 3, type = 1, id = 148, smoothing = 1 prev term = 3, type = 2, id = 148, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.361609, tc->fv = 0.395661, capped target = 0.395661 current term = 3, type = 2, id = 148, smoothing = 0 prev term = 3, type = 1, id = 147, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.361609, tc->fv = 0.361609, capped target = 0.361609 current term = 3, type = 1, id = 147, smoothing = 0 prev term = 3, type = 2, id = 147, smoothing = 0 prev1_tc-> fv = 0.576219, tc->fv = 0.361609, capped target = 1.597357 current term = 3, type = 2, id = 147, smoothing = 0 prev term = 3, type = 1, id = 146, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.612283, tc->fv = 0.576219, capped target = 0.612283 current term = 3, type = 1, id = 146, smoothing = 0 prev term = 3, type = 2, id = 146, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.698636, tc->fv = 0.612283, capped target = 1.961774 current term = 3, type = 2, id = 146, smoothing = 1 prev term = 3, type = 1, id = 145, smoothing = 1 prev1_tc-> fv = 0.524683, tc->fv = 0.698636, capped target = 0.698636 current term = 3, type = 1, id = 145, smoothing = 1 prev term = 3, type = 2, id = 145, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.420680, tc->fv = 0.524683, capped target = 0.524683 current term = 3, type = 2, id = 145, smoothing = 1 prev term = 3, type = 1, id = 144, smoothing = 1 prev1_tc-> fv = 0.412836, tc->fv = 0.420680, capped target = 0.420680 current term = 3, type = 1, id = 144, smoothing = 1 prev term = 3, type = 2, id = 144, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.314835, tc->fv = 0.412836, capped target = 0.412836 current term = 3, type = 2, id = 144, smoothing = 1 prev term = 3, type = 1, id = 143, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.314835, tc->fv = 0.314835, capped target = 0.314835 current term = 3, type = 1, id = 143, smoothing = 1 prev term = 3, type = 2, id = 143, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.313846, tc->fv = 0.314835, capped target = 0.314835 current term = 3, type = 2, id = 143, smoothing = 0 prev term = 3, type = 1, id = 142, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.313846, tc->fv = 0.313846, capped target = 0.313846 current term = 3, type = 1, id = 142, smoothing = 0 prev term = 3, type = 2, id = 142, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.363613, tc->fv = 0.313846, capped target = 0.760561 current term = 3, type = 2, id = 142, smoothing = 0 prev term = 3, type = 1, id = 141, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.363613, tc->fv = 0.363613, capped target = 0.363613 current term = 3, type = 1, id = 141, smoothing = 0 prev term = 3, type = 2, id = 141, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.587995, tc->fv = 0.363613, capped target = 2.544784 current term = 3, type = 2, id = 141, smoothing = 1 prev term = 3, type = 1, id = 140, smoothing = 1 prev1_tc-> fv = 0.517696, tc->fv = 0.587995, capped target = 0.587995 current term = 3, type = 1, id = 140, smoothing = 1 prev term = 3, type = 2, id = 140, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.423847, tc->fv = 0.517696, capped target = 0.517696 current term = 3, type = 2, id = 140, smoothing = 1 prev term = 3, type = 1, id = 139, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.423847, tc->fv = 0.423847, capped target = 0.423847 current term = 3, type = 1, id = 139, smoothing = 1 prev term = 3, type = 2, id = 139, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.418995, tc->fv = 0.423847, capped target = 0.423847 current term = 3, type = 2, id = 139, smoothing = 1 prev term = 3, type = 1, id = 138, smoothing = 1 prev1_tc-> fv = 0.401048, tc->fv = 0.418995, capped target = 0.418995 current term = 3, type = 1, id = 138, smoothing = 1 prev term = 3, type = 2, id = 138, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321677, tc->fv = 0.401048, capped target = 0.401048 current term = 3, type = 2, id = 138, smoothing = 0 prev term = 3, type = 1, id = 137, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321677, tc->fv = 0.321677, capped target = 0.321677 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.915464, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.915464, acc = 36.402854,T = 5.894835, P = 0.480636 tc id = 11, canon_type = 1, mot type = 1 time: 0.220000 primary movement = 5.897262307089e-03 time: 2.200000000000e-01 total movement = 5.897262307089e-03 vel = 5.915463733963e+00 ******************** Handle Blend Arc prev tan = 0.894427 0.000000 0.447214 this tan = 0.993884 0.000000 -0.110432 u1 = 0.894427 0.000000 0.447214 u2 = 0.993884 0.000000 -0.110432 angle between segs = 0.574305 u1 = 0.894427 0.000000 0.447214 u2 = 0.993884 0.000000 -0.110432 theta=1.283644 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.316913, vr2 = 8.384582 v_goal = 18.633825, max scale = 2.000000 prev length L1 = 0.005504 next length L2 = 0.009055 K = 0.000194 d_geom = 0.004224, d_prev = 0.004224, d_next = 0.007365 R_geom = 0.014304 v_normal = 0.609612 v_plan = 0.609612 R_plan = 0.014304 v_actual = 0.609612 effective a_n = 25.980762 arc length = 0.008215, L_prev = 0.001280, L_next = 0.013887 Check: v_plan = 0.609612, v_para = 0.522813 angle = 0.574305 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.472274 prev smoothing enabled Old target = 0.005504 Target = 0.001280 setting term condition 3 on tc id 151, type 1 Adding TC id 152 of type 2 Adding TC id 152 of type 1 current term = 3, type = 2, id = 152, smoothing = 1 prev term = 3, type = 1, id = 151, smoothing = 1 prev1_tc-> fv = 0.293049, tc->fv = 0.000000, capped target = 0.293049 current term = 3, type = 1, id = 151, smoothing = 1 prev term = 3, type = 2, id = 151, smoothing = 0 prev1_tc-> fv = 0.414433, tc->fv = 0.293049, capped target = 0.414433 current term = 3, type = 2, id = 151, smoothing = 0 prev term = 3, type = 1, id = 150, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.491524, tc->fv = 0.414433, capped target = 0.491524 current term = 3, type = 1, id = 150, smoothing = 0 prev term = 3, type = 2, id = 150, smoothing = 1 prev1_tc-> fv = 0.692457, tc->fv = 0.491524, capped target = 2.442584 current term = 3, type = 2, id = 150, smoothing = 1 prev term = 3, type = 1, id = 149, smoothing = 1 prev1_tc-> fv = 0.503588, tc->fv = 0.692457, capped target = 0.692457 current term = 3, type = 1, id = 149, smoothing = 1 prev term = 3, type = 2, id = 149, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.395661, tc->fv = 0.503588, capped target = 0.503588 current term = 3, type = 2, id = 149, smoothing = 1 prev term = 3, type = 1, id = 148, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.395661, tc->fv = 0.395661, capped target = 0.395661 current term = 3, type = 1, id = 148, smoothing = 1 prev term = 3, type = 2, id = 148, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.361609, tc->fv = 0.395661, capped target = 0.395661 current term = 3, type = 2, id = 148, smoothing = 0 prev term = 3, type = 1, id = 147, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.361609, tc->fv = 0.361609, capped target = 0.361609 current term = 3, type = 1, id = 147, smoothing = 0 prev term = 3, type = 2, id = 147, smoothing = 0 prev1_tc-> fv = 0.576219, tc->fv = 0.361609, capped target = 1.597357 current term = 3, type = 2, id = 147, smoothing = 0 prev term = 3, type = 1, id = 146, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.612283, tc->fv = 0.576219, capped target = 0.612283 current term = 3, type = 1, id = 146, smoothing = 0 prev term = 3, type = 2, id = 146, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.698636, tc->fv = 0.612283, capped target = 1.961774 current term = 3, type = 2, id = 146, smoothing = 1 prev term = 3, type = 1, id = 145, smoothing = 1 prev1_tc-> fv = 0.524683, tc->fv = 0.698636, capped target = 0.698636 current term = 3, type = 1, id = 145, smoothing = 1 prev term = 3, type = 2, id = 145, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.420680, tc->fv = 0.524683, capped target = 0.524683 current term = 3, type = 2, id = 145, smoothing = 1 prev term = 3, type = 1, id = 144, smoothing = 1 prev1_tc-> fv = 0.412836, tc->fv = 0.420680, capped target = 0.420680 current term = 3, type = 1, id = 144, smoothing = 1 prev term = 3, type = 2, id = 144, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.314835, tc->fv = 0.412836, capped target = 0.412836 current term = 3, type = 2, id = 144, smoothing = 1 prev term = 3, type = 1, id = 143, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.314835, tc->fv = 0.314835, capped target = 0.314835 current term = 3, type = 1, id = 143, smoothing = 1 prev term = 3, type = 2, id = 143, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.313846, tc->fv = 0.314835, capped target = 0.314835 current term = 3, type = 2, id = 143, smoothing = 0 prev term = 3, type = 1, id = 142, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.313846, tc->fv = 0.313846, capped target = 0.313846 current term = 3, type = 1, id = 142, smoothing = 0 prev term = 3, type = 2, id = 142, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.363613, tc->fv = 0.313846, capped target = 0.760561 current term = 3, type = 2, id = 142, smoothing = 0 prev term = 3, type = 1, id = 141, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.363613, tc->fv = 0.363613, capped target = 0.363613 current term = 3, type = 1, id = 141, smoothing = 0 prev term = 3, type = 2, id = 141, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.587995, tc->fv = 0.363613, capped target = 2.544784 current term = 3, type = 2, id = 141, smoothing = 1 prev term = 3, type = 1, id = 140, smoothing = 1 prev1_tc-> fv = 0.517696, tc->fv = 0.587995, capped target = 0.587995 current term = 3, type = 1, id = 140, smoothing = 1 prev term = 3, type = 2, id = 140, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.423847, tc->fv = 0.517696, capped target = 0.517696 current term = 3, type = 2, id = 140, smoothing = 1 prev term = 3, type = 1, id = 139, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.423847, tc->fv = 0.423847, capped target = 0.423847 current term = 3, type = 1, id = 139, smoothing = 1 prev term = 3, type = 2, id = 139, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.418995, tc->fv = 0.423847, capped target = 0.423847 current term = 3, type = 2, id = 139, smoothing = 1 prev term = 3, type = 1, id = 138, smoothing = 1 prev1_tc-> fv = 0.401048, tc->fv = 0.418995, capped target = 0.418995 current term = 3, type = 1, id = 138, smoothing = 1 prev term = 3, type = 2, id = 138, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321677, tc->fv = 0.401048, capped target = 0.401048 current term = 3, type = 2, id = 138, smoothing = 0 prev term = 3, type = 1, id = 137, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321677, tc->fv = 0.321677, capped target = 0.321677 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.951867, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.951867, acc = 36.402854,T = 5.894835, P = 0.486570 tc id = 11, canon_type = 1, mot type = 1 time: 0.221000 primary movement = 5.933665160837e-03 time: 2.210000000000e-01 total movement = 5.933665160837e-03 vel = 5.951866587711e+00 ******************** Handle Blend Arc prev tan = 0.993884 0.000000 -0.110432 this tan = 0.986394 0.000000 0.164399 u1 = 0.993884 0.000000 -0.110432 u2 = 0.986394 0.000000 0.164399 angle between segs = 0.275806 u1 = 0.993884 0.000000 -0.110432 u2 = 0.986394 0.000000 0.164399 theta=1.432893 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.384582, vr2 = 8.448247 v_goal = 16.896495, max scale = 2.000000 prev length L1 = 0.013887 next length L2 = 0.003041 K = 0.000413 d_geom = 0.001817, d_prev = 0.010888, d_next = 0.001817 R_geom = 0.013090 v_normal = 0.583176 v_plan = 0.583176 R_plan = 0.013090 v_actual = 0.583176 effective a_n = 25.980762 arc length = 0.003610, L_prev = 0.012070, L_next = 0.004266 Check: v_plan = 0.583176, v_para = 0.301846 angle = 0.275806 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.100311 Old target = 0.013887 Target = 0.012070 setting term condition 3 on tc id 152, type 1 Adding TC id 153 of type 2 Adding TC id 153 of type 1 current term = 3, type = 2, id = 153, smoothing = 0 prev term = 3, type = 1, id = 152, smoothing = 0 prev1_tc-> fv = 0.329106, tc->fv = 0.000000, capped target = 0.583176 current term = 3, type = 1, id = 152, smoothing = 0 prev term = 3, type = 2, id = 152, smoothing = 1 prev1_tc-> fv = 0.576474, tc->fv = 0.329106, capped target = 5.747575 current term = 3, type = 2, id = 152, smoothing = 1 prev term = 3, type = 1, id = 151, smoothing = 1 prev1_tc-> fv = 0.507575, tc->fv = 0.576474, capped target = 0.576474 current term = 3, type = 1, id = 151, smoothing = 1 prev term = 3, type = 2, id = 151, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.491524, tc->fv = 0.507575, capped target = 0.507575 current term = 3, type = 2, id = 151, smoothing = 0 prev term = 3, type = 1, id = 150, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.491524, tc->fv = 0.491524, capped target = 0.491524 current term = 3, type = 1, id = 150, smoothing = 0 prev term = 3, type = 2, id = 150, smoothing = 1 prev1_tc-> fv = 0.692457, tc->fv = 0.491524, capped target = 2.442584 current term = 3, type = 2, id = 150, smoothing = 1 prev term = 3, type = 1, id = 149, smoothing = 1 prev1_tc-> fv = 0.503588, tc->fv = 0.692457, capped target = 0.692457 current term = 3, type = 1, id = 149, smoothing = 1 prev term = 3, type = 2, id = 149, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.395661, tc->fv = 0.503588, capped target = 0.503588 current term = 3, type = 2, id = 149, smoothing = 1 prev term = 3, type = 1, id = 148, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.395661, tc->fv = 0.395661, capped target = 0.395661 current term = 3, type = 1, id = 148, smoothing = 1 prev term = 3, type = 2, id = 148, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.361609, tc->fv = 0.395661, capped target = 0.395661 current term = 3, type = 2, id = 148, smoothing = 0 prev term = 3, type = 1, id = 147, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.361609, tc->fv = 0.361609, capped target = 0.361609 current term = 3, type = 1, id = 147, smoothing = 0 prev term = 3, type = 2, id = 147, smoothing = 0 prev1_tc-> fv = 0.576219, tc->fv = 0.361609, capped target = 1.597357 current term = 3, type = 2, id = 147, smoothing = 0 prev term = 3, type = 1, id = 146, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.612283, tc->fv = 0.576219, capped target = 0.612283 current term = 3, type = 1, id = 146, smoothing = 0 prev term = 3, type = 2, id = 146, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.698636, tc->fv = 0.612283, capped target = 1.961774 current term = 3, type = 2, id = 146, smoothing = 1 prev term = 3, type = 1, id = 145, smoothing = 1 prev1_tc-> fv = 0.524683, tc->fv = 0.698636, capped target = 0.698636 current term = 3, type = 1, id = 145, smoothing = 1 prev term = 3, type = 2, id = 145, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.420680, tc->fv = 0.524683, capped target = 0.524683 current term = 3, type = 2, id = 145, smoothing = 1 prev term = 3, type = 1, id = 144, smoothing = 1 prev1_tc-> fv = 0.412836, tc->fv = 0.420680, capped target = 0.420680 current term = 3, type = 1, id = 144, smoothing = 1 prev term = 3, type = 2, id = 144, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.314835, tc->fv = 0.412836, capped target = 0.412836 current term = 3, type = 2, id = 144, smoothing = 1 prev term = 3, type = 1, id = 143, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.314835, tc->fv = 0.314835, capped target = 0.314835 current term = 3, type = 1, id = 143, smoothing = 1 prev term = 3, type = 2, id = 143, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.313846, tc->fv = 0.314835, capped target = 0.314835 current term = 3, type = 2, id = 143, smoothing = 0 prev term = 3, type = 1, id = 142, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.313846, tc->fv = 0.313846, capped target = 0.313846 current term = 3, type = 1, id = 142, smoothing = 0 prev term = 3, type = 2, id = 142, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.363613, tc->fv = 0.313846, capped target = 0.760561 current term = 3, type = 2, id = 142, smoothing = 0 prev term = 3, type = 1, id = 141, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.363613, tc->fv = 0.363613, capped target = 0.363613 current term = 3, type = 1, id = 141, smoothing = 0 prev term = 3, type = 2, id = 141, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.587995, tc->fv = 0.363613, capped target = 2.544784 current term = 3, type = 2, id = 141, smoothing = 1 prev term = 3, type = 1, id = 140, smoothing = 1 prev1_tc-> fv = 0.517696, tc->fv = 0.587995, capped target = 0.587995 current term = 3, type = 1, id = 140, smoothing = 1 prev term = 3, type = 2, id = 140, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.423847, tc->fv = 0.517696, capped target = 0.517696 current term = 3, type = 2, id = 140, smoothing = 1 prev term = 3, type = 1, id = 139, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.423847, tc->fv = 0.423847, capped target = 0.423847 current term = 3, type = 1, id = 139, smoothing = 1 prev term = 3, type = 2, id = 139, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.418995, tc->fv = 0.423847, capped target = 0.423847 current term = 3, type = 2, id = 139, smoothing = 1 prev term = 3, type = 1, id = 138, smoothing = 1 prev1_tc-> fv = 0.401048, tc->fv = 0.418995, capped target = 0.418995 current term = 3, type = 1, id = 138, smoothing = 1 prev term = 3, type = 2, id = 138, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321677, tc->fv = 0.401048, capped target = 0.401048 current term = 3, type = 2, id = 138, smoothing = 0 prev term = 3, type = 1, id = 137, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321677, tc->fv = 0.321677, capped target = 0.321677 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.988269, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.988269, acc = 36.402854,T = 5.894835, P = 0.492540 tc id = 11, canon_type = 1, mot type = 1 time: 0.222000 primary movement = 5.970068014584e-03 time: 2.220000000000e-01 total movement = 5.970068014584e-03 vel = 5.988269441458e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.024672, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.024672, acc = 36.402854,T = 5.894835, P = 0.498546 tc id = 11, canon_type = 1, mot type = 1 time: 0.223000 primary movement = 6.006470868332e-03 time: 2.230000000000e-01 total movement = 6.006470868332e-03 vel = 6.024672295206e+00 ******************** Handle Blend Arc prev tan = 0.986394 0.000000 0.164399 this tan = 0.707107 0.000000 -0.707107 u1 = 0.986394 0.000000 0.164399 u2 = 0.707107 0.000000 -0.707107 angle between segs = 0.950547 u1 = 0.986394 0.000000 0.164399 u2 = 0.707107 0.000000 -0.707107 theta=1.095523 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.448247, vr2 = 11.785066 v_goal = 23.570132, max scale = 2.000000 prev length L1 = 0.004266 next length L2 = 0.002828 K = 0.000111 d_geom = 0.002138, d_prev = 0.003396, d_next = 0.002138 R_geom = 0.004155 v_normal = 0.328572 v_plan = 0.328572 R_plan = 0.004155 v_actual = 0.328572 effective a_n = 25.980762 arc length = 0.003950, L_prev = 0.002128, L_next = 0.003518 Check: v_plan = 0.328572, v_para = 0.248328 angle = 0.950547 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.351555 prev smoothing enabled Old target = 0.004266 Target = 0.002128 setting term condition 3 on tc id 153, type 1 Adding TC id 154 of type 2 Adding TC id 154 of type 1 current term = 3, type = 2, id = 154, smoothing = 1 prev term = 3, type = 1, id = 153, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.328572, tc->fv = 0.000000, capped target = 0.328572 current term = 3, type = 1, id = 153, smoothing = 1 prev term = 3, type = 2, id = 153, smoothing = 0 prev1_tc-> fv = 0.465426, tc->fv = 0.328572, capped target = 0.465426 current term = 3, type = 2, id = 153, smoothing = 0 prev term = 3, type = 1, id = 152, smoothing = 0 prev1_tc-> fv = 0.570029, tc->fv = 0.465426, capped target = 0.583176 current term = 3, type = 1, id = 152, smoothing = 0 prev term = 3, type = 2, id = 152, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.609612, tc->fv = 0.570029, capped target = 5.747575 current term = 3, type = 2, id = 152, smoothing = 1 prev term = 3, type = 1, id = 151, smoothing = 1 prev1_tc-> fv = 0.572253, tc->fv = 0.609612, capped target = 0.609612 current term = 3, type = 1, id = 151, smoothing = 1 prev term = 3, type = 2, id = 151, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.491524, tc->fv = 0.572253, capped target = 0.572253 current term = 3, type = 2, id = 151, smoothing = 0 prev term = 3, type = 1, id = 150, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.491524, tc->fv = 0.491524, capped target = 0.491524 current term = 3, type = 1, id = 150, smoothing = 0 prev term = 3, type = 2, id = 150, smoothing = 1 prev1_tc-> fv = 0.692457, tc->fv = 0.491524, capped target = 2.442584 current term = 3, type = 2, id = 150, smoothing = 1 prev term = 3, type = 1, id = 149, smoothing = 1 prev1_tc-> fv = 0.503588, tc->fv = 0.692457, capped target = 0.692457 current term = 3, type = 1, id = 149, smoothing = 1 prev term = 3, type = 2, id = 149, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.395661, tc->fv = 0.503588, capped target = 0.503588 current term = 3, type = 2, id = 149, smoothing = 1 prev term = 3, type = 1, id = 148, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.395661, tc->fv = 0.395661, capped target = 0.395661 current term = 3, type = 1, id = 148, smoothing = 1 prev term = 3, type = 2, id = 148, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.361609, tc->fv = 0.395661, capped target = 0.395661 current term = 3, type = 2, id = 148, smoothing = 0 prev term = 3, type = 1, id = 147, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.361609, tc->fv = 0.361609, capped target = 0.361609 current term = 3, type = 1, id = 147, smoothing = 0 prev term = 3, type = 2, id = 147, smoothing = 0 prev1_tc-> fv = 0.576219, tc->fv = 0.361609, capped target = 1.597357 current term = 3, type = 2, id = 147, smoothing = 0 prev term = 3, type = 1, id = 146, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.612283, tc->fv = 0.576219, capped target = 0.612283 current term = 3, type = 1, id = 146, smoothing = 0 prev term = 3, type = 2, id = 146, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.698636, tc->fv = 0.612283, capped target = 1.961774 current term = 3, type = 2, id = 146, smoothing = 1 prev term = 3, type = 1, id = 145, smoothing = 1 prev1_tc-> fv = 0.524683, tc->fv = 0.698636, capped target = 0.698636 current term = 3, type = 1, id = 145, smoothing = 1 prev term = 3, type = 2, id = 145, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.420680, tc->fv = 0.524683, capped target = 0.524683 current term = 3, type = 2, id = 145, smoothing = 1 prev term = 3, type = 1, id = 144, smoothing = 1 prev1_tc-> fv = 0.412836, tc->fv = 0.420680, capped target = 0.420680 current term = 3, type = 1, id = 144, smoothing = 1 prev term = 3, type = 2, id = 144, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.314835, tc->fv = 0.412836, capped target = 0.412836 current term = 3, type = 2, id = 144, smoothing = 1 prev term = 3, type = 1, id = 143, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.314835, tc->fv = 0.314835, capped target = 0.314835 current term = 3, type = 1, id = 143, smoothing = 1 prev term = 3, type = 2, id = 143, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.313846, tc->fv = 0.314835, capped target = 0.314835 current term = 3, type = 2, id = 143, smoothing = 0 prev term = 3, type = 1, id = 142, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.313846, tc->fv = 0.313846, capped target = 0.313846 current term = 3, type = 1, id = 142, smoothing = 0 prev term = 3, type = 2, id = 142, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.363613, tc->fv = 0.313846, capped target = 0.760561 current term = 3, type = 2, id = 142, smoothing = 0 prev term = 3, type = 1, id = 141, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.363613, tc->fv = 0.363613, capped target = 0.363613 current term = 3, type = 1, id = 141, smoothing = 0 prev term = 3, type = 2, id = 141, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.587995, tc->fv = 0.363613, capped target = 2.544784 current term = 3, type = 2, id = 141, smoothing = 1 prev term = 3, type = 1, id = 140, smoothing = 1 prev1_tc-> fv = 0.517696, tc->fv = 0.587995, capped target = 0.587995 current term = 3, type = 1, id = 140, smoothing = 1 prev term = 3, type = 2, id = 140, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.423847, tc->fv = 0.517696, capped target = 0.517696 current term = 3, type = 2, id = 140, smoothing = 1 prev term = 3, type = 1, id = 139, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.423847, tc->fv = 0.423847, capped target = 0.423847 current term = 3, type = 1, id = 139, smoothing = 1 prev term = 3, type = 2, id = 139, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.418995, tc->fv = 0.423847, capped target = 0.423847 current term = 3, type = 2, id = 139, smoothing = 1 prev term = 3, type = 1, id = 138, smoothing = 1 prev1_tc-> fv = 0.401048, tc->fv = 0.418995, capped target = 0.418995 current term = 3, type = 1, id = 138, smoothing = 1 prev term = 3, type = 2, id = 138, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321677, tc->fv = 0.401048, capped target = 0.401048 current term = 3, type = 2, id = 138, smoothing = 0 prev term = 3, type = 1, id = 137, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.321677, tc->fv = 0.321677, capped target = 0.321677 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.061075, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.061075, acc = 36.402854,T = 5.894835, P = 0.504589 tc id = 11, canon_type = 1, mot type = 1 time: 0.224000 primary movement = 6.042873722079e-03 time: 2.240000000000e-01 total movement = 6.042873722079e-03 vel = 6.061075148953e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.097478, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.097478, acc = 36.402854,T = 5.894835, P = 0.510668 tc id = 11, canon_type = 1, mot type = 1 time: 0.225000 primary movement = 6.079276575827e-03 time: 2.250000000000e-01 total movement = 6.079276575827e-03 vel = 6.097478002700e+00 ******************** Handle Blend Arc prev tan = 0.707107 0.000000 -0.707107 this tan = 0.894427 0.000000 0.447214 u1 = 0.707107 0.000000 -0.707107 u2 = 0.894427 0.000000 0.447214 angle between segs = 1.249046 u1 = 0.707107 0.000000 -0.707107 u2 = 0.894427 0.000000 0.447214 theta=0.946273 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 11.785066, vr2 = 9.316913 v_goal = 23.570132, max scale = 2.000000 prev length L1 = 0.003518 next length L2 = 0.002236 K = 0.000079 d_geom = 0.001714, d_prev = 0.002846, d_next = 0.001714 R_geom = 0.002378 v_normal = 0.248568 v_plan = 0.248568 R_plan = 0.002378 v_actual = 0.248568 effective a_n = 25.980762 arc length = 0.002970, L_prev = 0.001804, L_next = 0.002758 Check: v_plan = 0.248568, v_para = 0.273861 blend arc NOT created prev segment parabolic, flagging blend_prev Adding TC id 155 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.133881, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.133881, acc = 36.402854,T = 5.894835, P = 0.516784 tc id = 11, canon_type = 1, mot type = 1 time: 0.226000 primary movement = 6.115679429574e-03 time: 2.260000000000e-01 total movement = 6.115679429574e-03 vel = 6.133880856448e+00 ******************** Handle Blend Arc prev tan = 0.894427 0.000000 0.447214 this tan = 0.997459 0.000000 -0.071247 u1 = 0.894427 0.000000 0.447214 u2 = 0.997459 0.000000 -0.071247 angle between segs = 0.534955 u1 = 0.894427 0.000000 0.447214 u2 = 0.997459 0.000000 -0.071247 theta=1.303319 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.316913, vr2 = 8.354531 v_goal = 18.633825, max scale = 2.000000 prev length L1 = 0.004472 next length L2 = 0.007018 K = 0.000209 d_geom = 0.003298, d_prev = 0.003298, d_next = 0.005501 R_geom = 0.012034 v_normal = 0.559158 v_plan = 0.559158 R_plan = 0.012034 v_actual = 0.559158 effective a_n = 25.980762 arc length = 0.006438, L_prev = 0.001174, L_next = 0.010738 Check: v_plan = 0.559158, v_para = 0.459425 angle = 0.534955 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.737434 prev smoothing enabled Old target = 0.004472 Target = 0.001174 setting term condition 3 on tc id 155, type 1 Adding TC id 156 of type 2 Adding TC id 156 of type 1 current term = 3, type = 2, id = 156, smoothing = 1 prev term = 3, type = 1, id = 155, smoothing = 1 prev1_tc-> fv = 0.198456, tc->fv = 0.000000, capped target = 0.198456 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.170284, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.170284, acc = 36.402854,T = 5.894835, P = 0.522936 tc id = 11, canon_type = 1, mot type = 1 time: 0.227000 primary movement = 6.152082283322e-03 time: 2.270000000000e-01 total movement = 6.152082283322e-03 vel = 6.170283710195e+00 ******************** Handle Blend Arc prev tan = 0.997459 0.000000 -0.071247 this tan = 0.970143 0.000000 0.242536 u1 = 0.997459 0.000000 -0.071247 u2 = 0.970143 0.000000 0.242536 angle between segs = 0.316286 u1 = 0.997459 0.000000 -0.071247 u2 = 0.970143 0.000000 0.242536 theta=1.412653 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.354531, vr2 = 8.589769 v_goal = 17.179538, max scale = 2.000000 prev length L1 = 0.010738 next length L2 = 0.002062 K = 0.000359 d_geom = 0.001152, d_prev = 0.008296, d_next = 0.001152 R_geom = 0.007223 v_normal = 0.433190 v_plan = 0.433190 R_plan = 0.007223 v_actual = 0.433190 effective a_n = 25.980762 arc length = 0.002284, L_prev = 0.009586, L_next = 0.002971 Check: v_plan = 0.433190, v_para = 0.245573 angle = 0.316286 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.082066 Old target = 0.010738 Target = 0.009586 setting term condition 3 on tc id 156, type 1 Adding TC id 157 of type 2 Adding TC id 157 of type 1 current term = 3, type = 2, id = 157, smoothing = 0 prev term = 3, type = 1, id = 156, smoothing = 0 prev1_tc-> fv = 0.261790, tc->fv = 0.000000, capped target = 0.433190 current term = 3, type = 1, id = 156, smoothing = 0 prev term = 3, type = 2, id = 156, smoothing = 1 prev1_tc-> fv = 0.482201, tc->fv = 0.261790, capped target = 4.564720 current term = 3, type = 2, id = 156, smoothing = 1 prev term = 3, type = 1, id = 155, smoothing = 1 prev1_tc-> fv = 0.198456, tc->fv = 0.482201, capped target = 0.482201 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.206687, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.206687, acc = 36.402854,T = 5.894835, P = 0.529125 tc id = 11, canon_type = 1, mot type = 1 time: 0.228000 primary movement = 6.188485137069e-03 time: 2.280000000000e-01 total movement = 6.188485137069e-03 vel = 6.206686563943e+00 ******************** Handle Blend Arc prev tan = 0.970143 0.000000 0.242536 this tan = 0.809610 0.000000 -0.586968 u1 = 0.970143 0.000000 0.242536 u2 = 0.809610 0.000000 -0.586968 angle between segs = 0.872287 u1 = 0.970143 0.000000 0.242536 u2 = 0.809610 0.000000 -0.586968 theta=1.134653 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.589769, vr2 = 10.292975 v_goal = 20.585950, max scale = 2.000000 prev length L1 = 0.002971 next length L2 = 0.002470 K = 0.000123 d_geom = 0.001804, d_prev = 0.002231, d_next = 0.001804 R_geom = 0.003871 v_normal = 0.317142 v_plan = 0.317142 R_plan = 0.003871 v_actual = 0.317142 effective a_n = 25.980762 arc length = 0.003377, L_prev = 0.001167, L_next = 0.003136 Check: v_plan = 0.317142, v_para = 0.252488 angle = 0.872287 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.437613 prev smoothing enabled Old target = 0.002971 Target = 0.001167 setting term condition 3 on tc id 157, type 1 Adding TC id 158 of type 2 Adding TC id 158 of type 1 current term = 3, type = 2, id = 158, smoothing = 1 prev term = 3, type = 1, id = 157, smoothing = 1 prev1_tc-> fv = 0.268646, tc->fv = 0.000000, capped target = 0.268646 current term = 3, type = 1, id = 157, smoothing = 1 prev term = 3, type = 2, id = 157, smoothing = 0 prev1_tc-> fv = 0.370227, tc->fv = 0.268646, capped target = 0.370227 current term = 3, type = 2, id = 157, smoothing = 0 prev term = 3, type = 1, id = 156, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.433190, tc->fv = 0.370227, capped target = 0.433190 current term = 3, type = 1, id = 156, smoothing = 0 prev term = 3, type = 2, id = 156, smoothing = 1 prev1_tc-> fv = 0.482201, tc->fv = 0.433190, capped target = 4.564720 current term = 3, type = 2, id = 156, smoothing = 1 prev term = 3, type = 1, id = 155, smoothing = 1 prev1_tc-> fv = 0.198456, tc->fv = 0.482201, capped target = 0.482201 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.243089, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.243089, acc = 36.402854,T = 5.894835, P = 0.535349 tc id = 11, canon_type = 1, mot type = 1 time: 0.229000 primary movement = 6.224887990817e-03 time: 2.290000000000e-01 total movement = 6.224887990817e-03 vel = 6.243089417690e+00 ******************** Handle Blend Arc prev tan = 0.809610 0.000000 -0.586968 this tan = 0.985030 0.000000 -0.172380 u1 = 0.809610 0.000000 -0.586968 u2 = 0.985030 0.000000 -0.172380 angle between segs = 0.454063 u1 = 0.809610 0.000000 -0.586968 u2 = 0.985030 0.000000 -0.172380 theta=1.343765 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 10.292975, vr2 = 8.459941 v_goal = 20.585950, max scale = 2.000000 prev length L1 = 0.003136 next length L2 = 0.002030 K = 0.000248 d_geom = 0.001245, d_prev = 0.002113, d_next = 0.001245 R_geom = 0.005388 v_normal = 0.374143 v_plan = 0.374143 R_plan = 0.005388 v_actual = 0.374143 effective a_n = 25.980762 arc length = 0.002446, L_prev = 0.001892, L_next = 0.002816 Check: v_plan = 0.374143, v_para = 0.248671 angle = 0.454063 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.251929 Old target = 0.003136 Target = 0.001892 setting term condition 3 on tc id 158, type 1 Adding TC id 159 of type 2 Adding TC id 159 of type 1 current term = 3, type = 2, id = 159, smoothing = 0 prev term = 3, type = 1, id = 158, smoothing = 0 prev1_tc-> fv = 0.270913, tc->fv = 0.000000, capped target = 0.374143 current term = 3, type = 1, id = 158, smoothing = 0 prev term = 3, type = 2, id = 158, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.317142, tc->fv = 0.270913, capped target = 0.900776 current term = 3, type = 2, id = 158, smoothing = 1 prev term = 3, type = 1, id = 157, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.317142, tc->fv = 0.317142, capped target = 0.317142 current term = 3, type = 1, id = 157, smoothing = 1 prev term = 3, type = 2, id = 157, smoothing = 0 prev1_tc-> fv = 0.415632, tc->fv = 0.317142, capped target = 0.415632 current term = 3, type = 2, id = 157, smoothing = 0 prev term = 3, type = 1, id = 156, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.433190, tc->fv = 0.415632, capped target = 0.433190 current term = 3, type = 1, id = 156, smoothing = 0 prev term = 3, type = 2, id = 156, smoothing = 1 prev1_tc-> fv = 0.482201, tc->fv = 0.433190, capped target = 4.564720 current term = 3, type = 2, id = 156, smoothing = 1 prev term = 3, type = 1, id = 155, smoothing = 1 prev1_tc-> fv = 0.198456, tc->fv = 0.482201, capped target = 0.482201 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.279492, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.279492, acc = 36.402854,T = 5.894835, P = 0.541611 tc id = 11, canon_type = 1, mot type = 1 time: 0.230000 primary movement = 6.261290844564e-03 time: 2.300000000000e-01 total movement = 6.261290844564e-03 vel = 6.279492271438e+00 ******************** Handle Blend Arc prev tan = 0.985030 0.000000 -0.172380 this tan = 0.904526 0.000000 0.426419 u1 = 0.985030 0.000000 -0.172380 u2 = 0.904526 0.000000 0.426419 angle between segs = 0.613776 u1 = 0.985030 0.000000 -0.172380 u2 = 0.904526 0.000000 0.426419 theta=1.263908 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.459941, vr2 = 9.212895 v_goal = 18.425791, max scale = 2.000000 prev length L1 = 0.002816 next length L2 = 0.007739 K = 0.000181 d_geom = 0.001972, d_prev = 0.001972, d_next = 0.006237 R_geom = 0.006222 v_normal = 0.402062 v_plan = 0.402062 R_plan = 0.006222 v_actual = 0.402062 effective a_n = 25.980762 arc length = 0.003819, L_prev = 0.000844, L_next = 0.013506 Check: v_plan = 0.402062, v_para = 0.465222 blend arc NOT created prev segment parabolic, flagging blend_prev Adding TC id 160 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.315895, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.315895, acc = 36.402854,T = 5.894835, P = 0.547908 tc id = 11, canon_type = 1, mot type = 1 time: 0.231000 primary movement = 6.297693698312e-03 time: 2.310000000000e-01 total movement = 6.297693698312e-03 vel = 6.315895125185e+00 ******************** Handle Blend Arc prev tan = 0.904526 0.000000 0.426419 this tan = 0.972937 0.000000 0.231072 u1 = 0.904526 0.000000 0.426419 u2 = 0.972937 0.000000 0.231072 angle between segs = 0.207351 u1 = 0.904526 0.000000 0.426419 u2 = 0.972937 0.000000 0.231072 theta=1.467121 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.212895, vr2 = 8.565101 v_goal = 18.425791, max scale = 2.000000 prev length L1 = 0.015478 next length L2 = 0.004111 K = 0.000551 d_geom = 0.002464, d_prev = 0.011863, d_next = 0.002464 R_geom = 0.023682 v_normal = 0.784391 v_plan = 0.784391 R_plan = 0.023682 v_actual = 0.784391 effective a_n = 25.980762 arc length = 0.004910, L_prev = 0.013014, L_next = 0.005758 Check: v_plan = 0.784391, v_para = 0.356046 angle = 0.207351 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.159199 Old target = 0.015478 Target = 0.013014 setting term condition 3 on tc id 160, type 1 Adding TC id 161 of type 2 Adding TC id 161 of type 1 current term = 3, type = 2, id = 161, smoothing = 0 prev term = 3, type = 1, id = 160, smoothing = 0 prev1_tc-> fv = 0.383813, tc->fv = 0.000000, capped target = 0.784391 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.352298, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.352298, acc = 36.402854,T = 5.894835, P = 0.554243 tc id = 11, canon_type = 1, mot type = 1 time: 0.232000 primary movement = 6.334096552059e-03 time: 2.320000000000e-01 total movement = 6.334096552059e-03 vel = 6.352297978933e+00 ******************** Handle Blend Arc prev tan = 0.972937 0.000000 0.231072 this tan = 0.898876 0.000000 -0.438202 u1 = 0.972937 0.000000 0.231072 u2 = 0.898876 0.000000 -0.438202 angle between segs = 0.686777 u1 = 0.972937 0.000000 0.231072 u2 = 0.898876 0.000000 -0.438202 theta=1.227408 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.565101, vr2 = 9.270796 v_goal = 18.541593, max scale = 2.000000 prev length L1 = 0.005758 next length L2 = 0.008900 K = 0.000160 d_geom = 0.004551, d_prev = 0.004551, d_next = 0.007364 R_geom = 0.012728 v_normal = 0.575047 v_plan = 0.575047 R_plan = 0.012728 v_actual = 0.575047 effective a_n = 25.980762 arc length = 0.008741, L_prev = 0.001208, L_next = 0.013249 Check: v_plan = 0.575047, v_para = 0.503525 angle = 0.686777 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.553466 prev smoothing enabled Old target = 0.005758 Target = 0.001208 setting term condition 3 on tc id 161, type 1 Adding TC id 162 of type 2 Adding TC id 162 of type 1 current term = 3, type = 2, id = 162, smoothing = 1 prev term = 3, type = 1, id = 161, smoothing = 1 prev1_tc-> fv = 0.272894, tc->fv = 0.000000, capped target = 0.272894 current term = 3, type = 1, id = 161, smoothing = 1 prev term = 3, type = 2, id = 161, smoothing = 0 prev1_tc-> fv = 0.385931, tc->fv = 0.272894, capped target = 0.385931 current term = 3, type = 2, id = 161, smoothing = 0 prev term = 3, type = 1, id = 160, smoothing = 0 prev1_tc-> fv = 0.544293, tc->fv = 0.385931, capped target = 0.784391 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.388701, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.388701, acc = 36.402854,T = 5.894835, P = 0.560613 tc id = 11, canon_type = 1, mot type = 1 time: 0.233000 primary movement = 6.370499405806e-03 time: 2.330000000000e-01 total movement = 6.370499405806e-03 vel = 6.388700832680e+00 ******************** Handle Blend Arc prev tan = 0.898876 0.000000 -0.438202 this tan = 0.542127 0.000000 0.840297 u1 = 0.898876 0.000000 -0.438202 u2 = 0.542127 0.000000 0.840297 angle between segs = 1.451428 u1 = 0.898876 0.000000 -0.438202 u2 = 0.542127 0.000000 0.840297 theta=0.845082 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.270796, vr2 = 9.917132 v_goal = 19.834265, max scale = 2.000000 prev length L1 = 0.013249 next length L2 = 0.003689 K = 0.000065 d_geom = 0.003061, d_prev = 0.012004, d_next = 0.003061 R_geom = 0.003450 v_normal = 0.299367 v_plan = 0.299367 R_plan = 0.003450 v_actual = 0.299367 effective a_n = 25.980762 arc length = 0.005007, L_prev = 0.010189, L_next = 0.004318 Check: v_plan = 0.299367, v_para = 0.339267 blend arc NOT created prev segment parabolic, flagging blend_prev Adding TC id 163 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.425104, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.425104, acc = 36.402854,T = 5.894835, P = 0.567020 tc id = 11, canon_type = 1, mot type = 1 time: 0.234000 primary movement = 6.406902259554e-03 time: 2.340000000000e-01 total movement = 6.406902259554e-03 vel = 6.425103686428e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.461507, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.461507, acc = 36.402854,T = 5.894835, P = 0.573463 tc id = 11, canon_type = 1, mot type = 1 time: 0.235000 primary movement = 6.443305113301e-03 time: 2.350000000000e-01 total movement = 6.443305113301e-03 vel = 6.461506540175e+00 ******************** Handle Blend Arc prev tan = 0.542127 0.000000 0.840297 this tan = 0.988936 0.000000 0.148340 u1 = 0.542127 0.000000 0.840297 u2 = 0.988936 0.000000 0.148340 angle between segs = 0.848940 u1 = 0.542127 0.000000 0.840297 u2 = 0.988936 0.000000 0.148340 theta=1.146326 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.917132, vr2 = 8.426528 v_goal = 19.834265, max scale = 2.000000 prev length L1 = 0.007378 next length L2 = 0.002022 K = 0.000127 d_geom = 0.001422, d_prev = 0.006132, d_next = 0.001422 R_geom = 0.003146 v_normal = 0.285909 v_plan = 0.285909 R_plan = 0.003146 v_actual = 0.285909 effective a_n = 25.980762 arc length = 0.002671, L_prev = 0.005956, L_next = 0.002623 Check: v_plan = 0.285909, v_para = 0.247689 angle = 0.848940 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.192721 Old target = 0.007378 Target = 0.005956 setting term condition 3 on tc id 163, type 1 Adding TC id 164 of type 2 Adding TC id 164 of type 1 current term = 3, type = 2, id = 164, smoothing = 0 prev term = 3, type = 1, id = 163, smoothing = 0 prev1_tc-> fv = 0.283075, tc->fv = 0.000000, capped target = 0.285909 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.497909, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.497909, acc = 36.402854,T = 5.894835, P = 0.579943 tc id = 11, canon_type = 1, mot type = 1 time: 0.236000 primary movement = 6.479707967049e-03 time: 2.360000000000e-01 total movement = 6.479707967049e-03 vel = 6.497909393923e+00 ******************** Handle Blend Arc prev tan = 0.988936 0.000000 0.148340 this tan = 0.987441 0.000000 -0.157991 u1 = 0.988936 0.000000 0.148340 u2 = 0.987441 0.000000 -0.157991 angle between segs = 0.307545 u1 = 0.988936 0.000000 0.148340 u2 = 0.987441 0.000000 -0.157991 theta=1.417024 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.426528, vr2 = 8.439292 v_goal = 16.878584, max scale = 2.000000 prev length L1 = 0.002623 next length L2 = 0.005064 K = 0.000370 d_geom = 0.001552, d_prev = 0.001552, d_next = 0.003464 R_geom = 0.010012 v_normal = 0.510009 v_plan = 0.510009 R_plan = 0.010012 v_actual = 0.510009 effective a_n = 25.980762 arc length = 0.003079, L_prev = 0.001071, L_next = 0.008575 Check: v_plan = 0.510009, v_para = 0.391631 angle = 0.307545 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.383649 prev smoothing enabled Old target = 0.002623 Target = 0.001071 setting term condition 3 on tc id 164, type 1 Adding TC id 165 of type 2 Adding TC id 165 of type 1 current term = 3, type = 2, id = 165, smoothing = 1 prev term = 3, type = 1, id = 164, smoothing = 1 prev1_tc-> fv = 0.254912, tc->fv = 0.000000, capped target = 0.254912 current term = 3, type = 1, id = 164, smoothing = 1 prev term = 3, type = 2, id = 164, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.285909, tc->fv = 0.254912, capped target = 0.285909 current term = 3, type = 2, id = 164, smoothing = 0 prev term = 3, type = 1, id = 163, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.285909, tc->fv = 0.285909, capped target = 0.285909 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.534312, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.534312, acc = 36.402854,T = 5.894835, P = 0.586459 tc id = 11, canon_type = 1, mot type = 1 time: 0.237000 primary movement = 6.516110820796e-03 time: 2.370000000000e-01 total movement = 6.516110820796e-03 vel = 6.534312247670e+00 ******************** Handle Blend Arc prev tan = 0.987441 0.000000 -0.157991 this tan = 0.713024 0.000000 -0.701140 u1 = 0.987441 0.000000 -0.157991 u2 = 0.713024 0.000000 -0.701140 angle between segs = 0.618340 u1 = 0.987441 0.000000 -0.157991 u2 = 0.713024 0.000000 -0.701140 theta=1.261626 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.439292, vr2 = 11.687270 v_goal = 23.374539, max scale = 2.000000 prev length L1 = 0.008575 next length L2 = 0.004207 K = 0.000179 d_geom = 0.003145, d_prev = 0.006992, d_next = 0.003145 R_geom = 0.009847 v_normal = 0.505799 v_plan = 0.505799 R_plan = 0.009847 v_actual = 0.505799 effective a_n = 25.980762 arc length = 0.006089, L_prev = 0.005430, L_next = 0.005270 Check: v_plan = 0.505799, v_para = 0.303816 angle = 0.618340 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.310575 Old target = 0.008575 Target = 0.005430 setting term condition 3 on tc id 165, type 1 Adding TC id 166 of type 2 Adding TC id 166 of type 1 current term = 3, type = 2, id = 166, smoothing = 0 prev term = 3, type = 1, id = 165, smoothing = 0 prev1_tc-> fv = 0.427392, tc->fv = 0.000000, capped target = 0.505799 current term = 3, type = 1, id = 165, smoothing = 0 prev term = 3, type = 2, id = 165, smoothing = 1 prev1_tc-> fv = 0.396675, tc->fv = 0.427392, capped target = 2.585796 current term = 3, type = 2, id = 165, smoothing = 1 prev term = 3, type = 1, id = 164, smoothing = 1 prev1_tc-> fv = 0.383046, tc->fv = 0.396675, capped target = 0.396675 current term = 3, type = 1, id = 164, smoothing = 1 prev term = 3, type = 2, id = 164, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.285909, tc->fv = 0.383046, capped target = 0.383046 current term = 3, type = 2, id = 164, smoothing = 0 prev term = 3, type = 1, id = 163, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.285909, tc->fv = 0.285909, capped target = 0.285909 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.570715, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.570715, acc = 36.402854,T = 5.894835, P = 0.593012 tc id = 11, canon_type = 1, mot type = 1 time: 0.238000 primary movement = 6.552513674544e-03 time: 2.380000000000e-01 total movement = 6.552513674544e-03 vel = 6.570715101418e+00 ******************** Handle Blend Arc prev tan = 0.713024 0.000000 -0.701140 this tan = 0.908490 0.000000 0.417906 u1 = 0.713024 0.000000 -0.701140 u2 = 0.908490 0.000000 0.417906 angle between segs = 1.208134 u1 = 0.713024 0.000000 -0.701140 u2 = 0.908490 0.000000 0.417906 theta=0.966729 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 11.687270, vr2 = 9.172689 v_goal = 23.374539, max scale = 2.000000 prev length L1 = 0.005270 next length L2 = 0.005504 K = 0.000083 d_geom = 0.004414, d_prev = 0.004414, d_next = 0.004627 R_geom = 0.006395 v_normal = 0.407623 v_plan = 0.407623 R_plan = 0.006395 v_actual = 0.407623 effective a_n = 25.980762 arc length = 0.007726, L_prev = 0.000856, L_next = 0.006594 Check: v_plan = 0.407623, v_para = 0.426310 blend arc NOT created prev segment parabolic, flagging blend_prev Adding TC id 167 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.607118, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.607118, acc = 36.402854,T = 5.894835, P = 0.599601 tc id = 11, canon_type = 1, mot type = 1 time: 0.239000 primary movement = 6.588916528291e-03 time: 2.390000000000e-01 total movement = 6.588916528291e-03 vel = 6.607117955165e+00 ******************** Handle Blend Arc prev tan = 0.908490 0.000000 0.417906 this tan = 0.894427 0.000000 -0.447214 u1 = 0.908490 0.000000 0.417906 u2 = 0.894427 0.000000 -0.447214 angle between segs = 0.894786 u1 = 0.908490 0.000000 0.417906 u2 = 0.894427 0.000000 -0.447214 theta=1.123403 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.172689, vr2 = 9.316913 v_goal = 18.633825, max scale = 2.000000 prev length L1 = 0.011007 next length L2 = 0.004472 K = 0.000119 d_geom = 0.003551, d_prev = 0.009501, d_next = 0.003551 R_geom = 0.007401 v_normal = 0.438499 v_plan = 0.438499 R_plan = 0.007401 v_actual = 0.438499 effective a_n = 25.980762 arc length = 0.006622, L_prev = 0.007456, L_next = 0.005393 Check: v_plan = 0.438499, v_para = 0.381303 angle = 0.894786 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.322631 Old target = 0.011007 Target = 0.007456 setting term condition 3 on tc id 167, type 1 Adding TC id 168 of type 2 Adding TC id 168 of type 1 current term = 3, type = 2, id = 168, smoothing = 0 prev term = 3, type = 1, id = 167, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.438499, tc->fv = 0.000000, capped target = 0.438499 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.643521, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.643521, acc = 36.402854,T = 5.894835, P = 0.606226 tc id = 11, canon_type = 1, mot type = 1 time: 0.240000 primary movement = 6.625319382039e-03 time: 2.400000000000e-01 total movement = 6.625319382039e-03 vel = 6.643520808912e+00 ******************** Handle Blend Arc prev tan = 0.894427 0.000000 -0.447214 this tan = 0.894427 0.000000 0.447214 u1 = 0.894427 0.000000 -0.447214 u2 = 0.894427 0.000000 0.447214 angle between segs = 0.927295 u1 = 0.894427 0.000000 -0.447214 u2 = 0.894427 0.000000 0.447214 theta=1.107149 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.316913, vr2 = 9.316913 v_goal = 18.633825, max scale = 2.000000 prev length L1 = 0.005393 next length L2 = 0.003354 K = 0.000115 d_geom = 0.002585, d_prev = 0.004390, d_next = 0.002585 R_geom = 0.005169 v_normal = 0.366464 v_plan = 0.366464 R_plan = 0.005169 v_actual = 0.366464 effective a_n = 25.980762 arc length = 0.004793, L_prev = 0.002808, L_next = 0.004124 Check: v_plan = 0.366464, v_para = 0.335410 angle = 0.927295 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.288959 Old target = 0.005393 Target = 0.002808 setting term condition 3 on tc id 168, type 1 Adding TC id 169 of type 2 Adding TC id 169 of type 1 current term = 3, type = 2, id = 169, smoothing = 0 prev term = 3, type = 1, id = 168, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.366464, tc->fv = 0.000000, capped target = 0.366464 current term = 3, type = 1, id = 168, smoothing = 0 prev term = 3, type = 2, id = 168, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.438499, tc->fv = 0.366464, capped target = 1.337361 current term = 3, type = 2, id = 168, smoothing = 0 prev term = 3, type = 1, id = 167, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.438499, tc->fv = 0.438499, capped target = 0.438499 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.679924, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.679924, acc = 36.402854,T = 5.894835, P = 0.612888 tc id = 11, canon_type = 1, mot type = 1 time: 0.241000 primary movement = 6.661722235786e-03 time: 2.410000000000e-01 total movement = 6.661722235786e-03 vel = 6.679923662660e+00 ******************** Handle Blend Arc prev tan = 0.894427 0.000000 0.447214 this tan = 0.898876 0.000000 -0.438202 u1 = 0.894427 0.000000 0.447214 u2 = 0.898876 0.000000 -0.438202 angle between segs = 0.917245 u1 = 0.894427 0.000000 0.447214 u2 = 0.898876 0.000000 -0.438202 theta=1.112174 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.316913, vr2 = 9.270796 v_goal = 18.633825, max scale = 2.000000 prev length L1 = 0.004124 next length L2 = 0.004450 K = 0.000116 d_geom = 0.003255, d_prev = 0.003255, d_next = 0.003543 R_geom = 0.006592 v_normal = 0.413837 v_plan = 0.413837 R_plan = 0.006592 v_actual = 0.413837 effective a_n = 25.980762 arc length = 0.006046, L_prev = 0.000869, L_next = 0.005645 Check: v_plan = 0.413837, v_para = 0.385381 angle = 0.917245 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.485170 prev smoothing enabled Old target = 0.004124 Target = 0.000869 setting term condition 3 on tc id 169, type 1 Adding TC id 170 of type 2 Adding TC id 170 of type 1 current term = 3, type = 2, id = 170, smoothing = 1 prev term = 3, type = 1, id = 169, smoothing = 1 prev1_tc-> fv = 0.241450, tc->fv = 0.000000, capped target = 0.241450 current term = 3, type = 1, id = 169, smoothing = 1 prev term = 3, type = 2, id = 169, smoothing = 0 prev1_tc-> fv = 0.341462, tc->fv = 0.241450, capped target = 0.341462 current term = 3, type = 2, id = 169, smoothing = 0 prev term = 3, type = 1, id = 168, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.366464, tc->fv = 0.341462, capped target = 0.366464 current term = 3, type = 1, id = 168, smoothing = 0 prev term = 3, type = 2, id = 168, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.438499, tc->fv = 0.366464, capped target = 1.337361 current term = 3, type = 2, id = 168, smoothing = 0 prev term = 3, type = 1, id = 167, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.438499, tc->fv = 0.438499, capped target = 0.438499 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.716327, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.716327, acc = 36.402854,T = 5.894835, P = 0.619586 tc id = 11, canon_type = 1, mot type = 1 time: 0.242000 primary movement = 6.698125089534e-03 time: 2.420000000000e-01 total movement = 6.698125089534e-03 vel = 6.716326516407e+00 prev segment parabolic, flagging blend_prev tpAddCircle: checking for tangent with previous prev tan = 0.898876 0.000000 -0.438202 this tan = 0.997612 -0.000000 0.069065 u1 = 0.898876 0.000000 -0.438202 u2 = 0.997612 -0.000000 0.069065 Adding TC id 171 of type 2 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.752729, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.752729, acc = 36.402854,T = 5.894835, P = 0.626320 tc id = 11, canon_type = 1, mot type = 1 time: 0.243000 primary movement = 6.734527943281e-03 time: 2.430000000000e-01 total movement = 6.734527943281e-03 vel = 6.752729370155e+00 ******************** Handle Blend Arc prev tan = 0.545799 -0.000000 0.837916 this tan = 0.995037 0.000000 -0.099504 u1 = 0.545799 -0.000000 0.837916 u2 = 0.995037 0.000000 -0.099504 Wrong motion type tc = 2, tc2 = 1 prev segment parabolic, flagging blend_prev Adding TC id 172 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.789132, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.789132, acc = 36.402854,T = 5.894835, P = 0.633091 tc id = 11, canon_type = 1, mot type = 1 time: 0.244000 primary movement = 6.770930797029e-03 time: 2.440000000000e-01 total movement = 6.770930797029e-03 vel = 6.789132223902e+00 ******************** Handle Blend Arc prev tan = 0.995037 0.000000 -0.099504 this tan = 0.716000 0.000000 0.698100 u1 = 0.995037 0.000000 -0.099504 u2 = 0.716000 0.000000 0.698100 angle between segs = 0.872409 u1 = 0.995037 0.000000 -0.099504 u2 = 0.716000 0.000000 0.698100 theta=1.134592 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.374863, vr2 = 11.638685 v_goal = 23.277370, max scale = 2.000000 prev length L1 = 0.010050 next length L2 = 0.002793 K = 0.000123 d_geom = 0.002079, d_prev = 0.008596, d_next = 0.002079 R_geom = 0.004459 v_normal = 0.340362 v_plan = 0.340362 R_plan = 0.004459 v_actual = 0.340362 effective a_n = 25.980762 arc length = 0.003890, L_prev = 0.007971, L_next = 0.003508 Check: v_plan = 0.340362, v_para = 0.246171 angle = 0.872409 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.206822 Old target = 0.010050 Target = 0.007971 setting term condition 3 on tc id 172, type 1 Adding TC id 173 of type 2 Adding TC id 173 of type 1 current term = 3, type = 2, id = 173, smoothing = 0 prev term = 3, type = 1, id = 172, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.340362, tc->fv = 0.000000, capped target = 0.340362 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.825535, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.825535, acc = 36.402854,T = 5.894835, P = 0.639898 tc id = 11, canon_type = 1, mot type = 1 time: 0.245000 primary movement = 6.807333650776e-03 time: 2.450000000000e-01 total movement = 6.807333650776e-03 vel = 6.825535077650e+00 ******************** Handle Blend Arc prev tan = 0.716000 0.000000 0.698100 this tan = 0.972018 0.000000 -0.234904 u1 = 0.716000 0.000000 0.698100 u2 = 0.972018 0.000000 -0.234904 angle between segs = 1.009861 u1 = 0.716000 0.000000 0.698100 u2 = 0.972018 0.000000 -0.234904 theta=1.065866 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 11.638685, vr2 = 8.573191 v_goal = 23.277370, max scale = 2.000000 prev length L1 = 0.003508 next length L2 = 0.006173 K = 0.000104 d_geom = 0.002753, d_prev = 0.002753, d_next = 0.005140 R_geom = 0.004980 v_normal = 0.359708 v_plan = 0.359708 R_plan = 0.004980 v_actual = 0.359708 effective a_n = 25.980762 arc length = 0.005029, L_prev = 0.000755, L_next = 0.009593 Check: v_plan = 0.359708, v_para = 0.436477 blend arc NOT created prev segment parabolic, flagging blend_prev Adding TC id 174 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.861938, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.861938, acc = 36.402854,T = 5.894835, P = 0.646742 tc id = 11, canon_type = 1, mot type = 1 time: 0.246000 primary movement = 6.843736504524e-03 time: 2.460000000000e-01 total movement = 6.843736504524e-03 vel = 6.861937931397e+00 ******************** Handle Blend Arc prev tan = 0.972018 0.000000 -0.234904 this tan = 0.903278 0.000000 0.429057 u1 = 0.972018 0.000000 -0.234904 u2 = 0.903278 0.000000 0.429057 angle between segs = 0.680569 u1 = 0.972018 0.000000 -0.234904 u2 = 0.903278 0.000000 0.429057 theta=1.230512 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.573191, vr2 = 9.225626 v_goal = 18.451251, max scale = 2.000000 prev length L1 = 0.012345 next length L2 = 0.002214 K = 0.000162 d_geom = 0.001514, d_prev = 0.010502, d_next = 0.001514 R_geom = 0.004277 v_normal = 0.333331 v_plan = 0.333331 R_plan = 0.004277 v_actual = 0.333331 effective a_n = 25.980762 arc length = 0.002911, L_prev = 0.010831, L_next = 0.002914 Check: v_plan = 0.333331, v_para = 0.252000 angle = 0.680569 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.122650 Old target = 0.012345 Target = 0.010831 setting term condition 3 on tc id 174, type 1 Adding TC id 175 of type 2 Adding TC id 175 of type 1 current term = 3, type = 2, id = 175, smoothing = 0 prev term = 3, type = 1, id = 174, smoothing = 0 prev1_tc-> fv = 0.295493, tc->fv = 0.000000, capped target = 0.333331 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.898341, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.898341, acc = 36.402854,T = 5.894835, P = 0.653622 tc id = 11, canon_type = 1, mot type = 1 time: 0.247000 primary movement = 6.880139358271e-03 time: 2.470000000000e-01 total movement = 6.880139358271e-03 vel = 6.898340785145e+00 ******************** Handle Blend Arc prev tan = 0.903278 0.000000 0.429057 this tan = 1.000000 0.000000 0.000000 u1 = 0.903278 0.000000 0.429057 u2 = 1.000000 0.000000 0.000000 angle between segs = 0.443448 u1 = 0.903278 0.000000 0.429057 u2 = 1.000000 0.000000 0.000000 theta=1.349072 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.225626, vr2 = 8.333300 v_goal = 18.451251, max scale = 2.000000 prev length L1 = 0.002914 next length L2 = 0.005000 K = 0.000254 d_geom = 0.001925, d_prev = 0.001925, d_next = 0.003640 R_geom = 0.008539 v_normal = 0.471017 v_plan = 0.471017 R_plan = 0.008539 v_actual = 0.471017 effective a_n = 25.980762 arc length = 0.003787, L_prev = 0.000989, L_next = 0.008075 Check: v_plan = 0.471017, v_para = 0.387298 angle = 0.443448 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.434706 prev smoothing enabled Old target = 0.002914 Target = 0.000989 setting term condition 3 on tc id 175, type 1 Adding TC id 176 of type 2 Adding TC id 176 of type 1 current term = 3, type = 2, id = 176, smoothing = 1 prev term = 3, type = 1, id = 175, smoothing = 1 prev1_tc-> fv = 0.256326, tc->fv = 0.000000, capped target = 0.256326 current term = 3, type = 1, id = 175, smoothing = 1 prev term = 3, type = 2, id = 175, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.333331, tc->fv = 0.256326, capped target = 0.333331 current term = 3, type = 2, id = 175, smoothing = 0 prev term = 3, type = 1, id = 174, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.333331, tc->fv = 0.333331, capped target = 0.333331 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.934744, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.934744, acc = 36.402854,T = 5.894835, P = 0.660539 tc id = 11, canon_type = 1, mot type = 1 time: 0.248000 primary movement = 6.916542212018e-03 time: 2.480000000000e-01 total movement = 6.916542212018e-03 vel = 6.934743638892e+00 ******************** Handle Blend Arc prev tan = 1.000000 0.000000 0.000000 this tan = 0.953342 0.000000 -0.301892 u1 = 1.000000 0.000000 0.000000 u2 = 0.953342 0.000000 -0.301892 angle between segs = 0.306676 u1 = 1.000000 0.000000 0.000000 u2 = 0.953342 0.000000 -0.301892 theta=1.417458 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.333300, vr2 = 8.741142 v_goal = 17.482284, max scale = 2.000000 prev length L1 = 0.008075 next length L2 = 0.003147 K = 0.000371 d_geom = 0.001946, d_prev = 0.005971, d_next = 0.001946 R_geom = 0.012590 v_normal = 0.571922 v_plan = 0.571922 R_plan = 0.012590 v_actual = 0.571922 effective a_n = 25.980762 arc length = 0.003861, L_prev = 0.006129, L_next = 0.004348 Check: v_plan = 0.571922, v_para = 0.300000 angle = 0.306676 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.194579 Old target = 0.008075 Target = 0.006129 setting term condition 3 on tc id 176, type 1 Adding TC id 177 of type 2 Adding TC id 177 of type 1 current term = 3, type = 2, id = 177, smoothing = 0 prev term = 3, type = 1, id = 176, smoothing = 0 prev1_tc-> fv = 0.340339, tc->fv = 0.000000, capped target = 0.571922 current term = 3, type = 1, id = 176, smoothing = 0 prev term = 3, type = 2, id = 176, smoothing = 1 prev1_tc-> fv = 0.423445, tc->fv = 0.340339, capped target = 2.918665 current term = 3, type = 2, id = 176, smoothing = 1 prev term = 3, type = 1, id = 175, smoothing = 1 prev1_tc-> fv = 0.420491, tc->fv = 0.423445, capped target = 0.423445 current term = 3, type = 1, id = 175, smoothing = 1 prev term = 3, type = 2, id = 175, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.333331, tc->fv = 0.420491, capped target = 0.420491 current term = 3, type = 2, id = 175, smoothing = 0 prev term = 3, type = 1, id = 174, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.333331, tc->fv = 0.333331, capped target = 0.333331 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.971146, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.971146, acc = 36.402854,T = 5.894835, P = 0.667492 tc id = 11, canon_type = 1, mot type = 1 time: 0.249000 primary movement = 6.952945065766e-03 time: 2.490000000000e-01 total movement = 6.952945065766e-03 vel = 6.971146492640e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.007549, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.007549, acc = 36.402854,T = 5.894835, P = 0.674481 tc id = 11, canon_type = 1, mot type = 1 time: 0.250000 primary movement = 6.989347919513e-03 time: 2.500000000000e-01 total movement = 6.989347919513e-03 vel = 7.007549346387e+00 ******************** Handle Blend Arc prev tan = 0.953342 0.000000 -0.301892 this tan = 0.977323 0.000000 0.211753 u1 = 0.953342 0.000000 -0.301892 u2 = 0.977323 0.000000 0.211753 angle between segs = 0.520045 u1 = 0.953342 0.000000 -0.301892 u2 = 0.977323 0.000000 0.211753 theta=1.310774 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.741142, vr2 = 8.526658 v_goal = 17.482284, max scale = 2.000000 prev length L1 = 0.004348 next length L2 = 0.003070 K = 0.000215 d_geom = 0.002115, d_prev = 0.003178, d_next = 0.002115 R_geom = 0.007950 v_normal = 0.454488 v_plan = 0.454488 R_plan = 0.007950 v_actual = 0.454488 effective a_n = 25.980762 arc length = 0.004135, L_prev = 0.002233, L_next = 0.004024 Check: v_plan = 0.454488, v_para = 0.306961 angle = 0.520045 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.336083 prev smoothing enabled Old target = 0.004348 Target = 0.002233 setting term condition 3 on tc id 177, type 1 Adding TC id 178 of type 2 Adding TC id 178 of type 1 current term = 3, type = 2, id = 178, smoothing = 1 prev term = 3, type = 1, id = 177, smoothing = 1 prev1_tc-> fv = 0.352190, tc->fv = 0.000000, capped target = 0.352190 current term = 3, type = 1, id = 177, smoothing = 1 prev term = 3, type = 2, id = 177, smoothing = 0 prev1_tc-> fv = 0.481312, tc->fv = 0.352190, capped target = 0.481312 current term = 3, type = 2, id = 177, smoothing = 0 prev term = 3, type = 1, id = 176, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.571922, tc->fv = 0.481312, capped target = 0.571922 current term = 3, type = 1, id = 176, smoothing = 0 prev term = 3, type = 2, id = 176, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.471017, tc->fv = 0.571922, capped target = 2.918665 current term = 3, type = 2, id = 176, smoothing = 1 prev term = 3, type = 1, id = 175, smoothing = 1 prev1_tc-> fv = 0.420491, tc->fv = 0.471017, capped target = 0.471017 current term = 3, type = 1, id = 175, smoothing = 1 prev term = 3, type = 2, id = 175, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.333331, tc->fv = 0.420491, capped target = 0.420491 current term = 3, type = 2, id = 175, smoothing = 0 prev term = 3, type = 1, id = 174, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.333331, tc->fv = 0.333331, capped target = 0.333331 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.043952, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.043952, acc = 36.402854,T = 5.894835, P = 0.681507 tc id = 11, canon_type = 1, mot type = 1 time: 0.251000 primary movement = 7.025750773261e-03 time: 2.510000000000e-01 total movement = 7.025750773261e-03 vel = 7.043952200135e+00 ******************** Handle Blend Arc prev tan = 0.977323 0.000000 0.211753 this tan = 0.752577 0.000000 0.658505 u1 = 0.977323 0.000000 0.211753 u2 = 0.752577 0.000000 0.658505 angle between segs = 0.505461 u1 = 0.977323 0.000000 0.211753 u2 = 0.752577 0.000000 0.658505 theta=1.318066 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.526658, vr2 = 11.073024 v_goal = 22.146049, max scale = 2.000000 prev length L1 = 0.004024 next length L2 = 0.002658 K = 0.000222 d_geom = 0.001771, d_prev = 0.002891, d_next = 0.001771 R_geom = 0.006858 v_normal = 0.422110 v_plan = 0.422110 R_plan = 0.006858 v_actual = 0.422110 effective a_n = 25.980762 arc length = 0.003466, L_prev = 0.002253, L_next = 0.003544 Check: v_plan = 0.422110, v_para = 0.250633 angle = 0.505461 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.288490 Old target = 0.004024 Target = 0.002253 setting term condition 3 on tc id 178, type 1 Adding TC id 179 of type 2 Adding TC id 179 of type 1 current term = 3, type = 2, id = 179, smoothing = 0 prev term = 3, type = 1, id = 178, smoothing = 0 prev1_tc-> fv = 0.322481, tc->fv = 0.000000, capped target = 0.422110 current term = 3, type = 1, id = 178, smoothing = 0 prev term = 3, type = 2, id = 178, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.454488, tc->fv = 0.322481, capped target = 1.072823 current term = 3, type = 2, id = 178, smoothing = 1 prev term = 3, type = 1, id = 177, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.454488, tc->fv = 0.454488, capped target = 0.454488 current term = 3, type = 1, id = 177, smoothing = 1 prev term = 3, type = 2, id = 177, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.571922, tc->fv = 0.454488, capped target = 0.571922 current term = 3, type = 2, id = 177, smoothing = 0 prev term = 3, type = 1, id = 176, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.571922, tc->fv = 0.571922, capped target = 0.571922 current term = 3, type = 1, id = 176, smoothing = 0 prev term = 3, type = 2, id = 176, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.471017, tc->fv = 0.571922, capped target = 2.918665 current term = 3, type = 2, id = 176, smoothing = 1 prev term = 3, type = 1, id = 175, smoothing = 1 prev1_tc-> fv = 0.420491, tc->fv = 0.471017, capped target = 0.471017 current term = 3, type = 1, id = 175, smoothing = 1 prev term = 3, type = 2, id = 175, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.333331, tc->fv = 0.420491, capped target = 0.420491 current term = 3, type = 2, id = 175, smoothing = 0 prev term = 3, type = 1, id = 174, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.333331, tc->fv = 0.333331, capped target = 0.333331 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.080355, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.080355, acc = 36.402854,T = 5.894835, P = 0.688569 tc id = 11, canon_type = 1, mot type = 1 time: 0.252000 primary movement = 7.062153627008e-03 time: 2.520000000000e-01 total movement = 7.062153627008e-03 vel = 7.080355053882e+00 ******************** Handle Blend Arc prev tan = 0.752577 0.000000 0.658505 this tan = 0.960429 0.000000 -0.278524 u1 = 0.752577 0.000000 0.658505 u2 = 0.960429 0.000000 -0.278524 angle between segs = 1.001087 u1 = 0.752577 0.000000 0.658505 u2 = 0.960429 0.000000 -0.278524 theta=1.070253 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 11.073024, vr2 = 8.676642 v_goal = 22.146049, max scale = 2.000000 prev length L1 = 0.003544 next length L2 = 0.005206 K = 0.000105 d_geom = 0.002781, d_prev = 0.002781, d_next = 0.004261 R_geom = 0.005084 v_normal = 0.363423 v_plan = 0.363423 R_plan = 0.005084 v_actual = 0.363423 effective a_n = 25.980762 arc length = 0.005089, L_prev = 0.000763, L_next = 0.007631 Check: v_plan = 0.363423, v_para = 0.403256 blend arc NOT created prev segment parabolic, flagging blend_prev Adding TC id 180 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.116758, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.116758, acc = 36.402854,T = 5.894835, P = 0.695668 tc id = 11, canon_type = 1, mot type = 1 time: 0.253000 primary movement = 7.098556480756e-03 time: 2.530000000000e-01 total movement = 7.098556480756e-03 vel = 7.116757907629e+00 prev segment parabolic, flagging blend_prev tpAddCircle: checking for tangent with previous prev tan = 0.960429 0.000000 -0.278524 this tan = 0.323144 -0.000000 0.946350 u1 = 0.960429 0.000000 -0.278524 u2 = 0.323144 -0.000000 0.946350 Adding TC id 181 of type 2 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.153161, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.153161, acc = 36.402854,T = 5.894835, P = 0.702803 tc id = 11, canon_type = 1, mot type = 1 time: 0.254000 primary movement = 7.134959334503e-03 time: 2.540000000000e-01 total movement = 7.134959334503e-03 vel = 7.153160761377e+00 ******************** Handle Blend Arc prev tan = 0.999736 -0.000000 0.022982 this tan = 1.000000 0.000000 0.000000 u1 = 0.999736 -0.000000 0.022982 u2 = 1.000000 0.000000 0.000000 Wrong motion type tc = 2, tc2 = 1 prev segment parabolic, flagging blend_prev Adding TC id 182 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.189564, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.189564, acc = 36.402854,T = 5.894835, P = 0.709974 tc id = 11, canon_type = 1, mot type = 1 time: 0.255000 primary movement = 7.171362188251e-03 time: 2.550000000000e-01 total movement = 7.171362188251e-03 vel = 7.189563615124e+00 ******************** Handle Blend Arc prev tan = 1.000000 0.000000 0.000000 this tan = 0.945687 0.000000 -0.325080 u1 = 1.000000 0.000000 0.000000 u2 = 0.945687 0.000000 -0.325080 angle between segs = 0.331096 u1 = 1.000000 0.000000 0.000000 u2 = 0.945687 0.000000 -0.325080 theta=1.405248 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.333300, vr2 = 8.811904 v_goal = 17.623809, max scale = 2.000000 prev length L1 = 0.004000 next length L2 = 0.008459 K = 0.000343 d_geom = 0.002652, d_prev = 0.002652, d_next = 0.006369 R_geom = 0.015870 v_normal = 0.642121 v_plan = 0.642121 R_plan = 0.015870 v_actual = 0.642121 effective a_n = 25.980762 arc length = 0.005255, L_prev = 0.001348, L_next = 0.014267 Check: v_plan = 0.642121, v_para = 0.489898 angle = 0.331096 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.662886 prev smoothing enabled Old target = 0.004000 Target = 0.001348 setting term condition 3 on tc id 182, type 1 Adding TC id 183 of type 2 Adding TC id 183 of type 1 current term = 3, type = 2, id = 183, smoothing = 1 prev term = 3, type = 1, id = 182, smoothing = 1 prev1_tc-> fv = 0.201131, tc->fv = 0.000000, capped target = 0.201131 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.225966, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.225966, acc = 36.402854,T = 5.894835, P = 0.717182 tc id = 11, canon_type = 1, mot type = 1 time: 0.256000 primary movement = 7.207765041998e-03 time: 2.560000000000e-01 total movement = 7.207765041998e-03 vel = 7.225966468872e+00 ******************** Handle Blend Arc prev tan = 0.945687 0.000000 -0.325080 this tan = 0.957826 0.000000 0.287348 u1 = 0.945687 0.000000 -0.325080 u2 = 0.957826 0.000000 0.287348 angle between segs = 0.622553 u1 = 0.945687 0.000000 -0.325080 u2 = 0.957826 0.000000 0.287348 theta=1.259520 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.811904, vr2 = 8.700221 v_goal = 17.623809, max scale = 2.000000 prev length L1 = 0.014267 next length L2 = 0.006264 K = 0.000178 d_geom = 0.004938, d_prev = 0.012184, d_next = 0.004938 R_geom = 0.015348 v_normal = 0.631475 v_plan = 0.631475 R_plan = 0.015348 v_actual = 0.631475 effective a_n = 25.980762 arc length = 0.009555, L_prev = 0.009329, L_next = 0.007590 Check: v_plan = 0.631475, v_para = 0.442945 angle = 0.622553 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.291868 Old target = 0.014267 Target = 0.009329 setting term condition 3 on tc id 183, type 1 Adding TC id 184 of type 2 Adding TC id 184 of type 1 current term = 3, type = 2, id = 184, smoothing = 0 prev term = 3, type = 1, id = 183, smoothing = 0 prev1_tc-> fv = 0.535400, tc->fv = 0.000000, capped target = 0.631475 current term = 3, type = 1, id = 183, smoothing = 0 prev term = 3, type = 2, id = 183, smoothing = 1 prev1_tc-> fv = 0.445073, tc->fv = 0.535400, capped target = 4.442520 current term = 3, type = 2, id = 183, smoothing = 1 prev term = 3, type = 1, id = 182, smoothing = 1 prev1_tc-> fv = 0.201131, tc->fv = 0.445073, capped target = 0.445073 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.262369, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.262369, acc = 36.402854,T = 5.894835, P = 0.724426 tc id = 11, canon_type = 1, mot type = 1 time: 0.257000 primary movement = 7.244167895746e-03 time: 2.570000000000e-01 total movement = 7.244167895746e-03 vel = 7.262369322619e+00 ******************** Handle Blend Arc prev tan = 0.957826 0.000000 0.287348 this tan = 0.793606 0.000000 -0.608432 u1 = 0.957826 0.000000 0.287348 u2 = 0.793606 0.000000 -0.608432 angle between segs = 0.945540 u1 = 0.957826 0.000000 0.287348 u2 = 0.793606 0.000000 -0.608432 theta=1.098027 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.700221, vr2 = 10.500546 v_goal = 21.001092, max scale = 2.000000 prev length L1 = 0.007590 next length L2 = 0.003780 K = 0.000112 d_geom = 0.002965, d_prev = 0.006394, d_next = 0.002965 R_geom = 0.005798 v_normal = 0.388104 v_plan = 0.388104 R_plan = 0.005798 v_actual = 0.388104 effective a_n = 25.980762 arc length = 0.005482, L_prev = 0.004625, L_next = 0.004595 Check: v_plan = 0.388104, v_para = 0.313209 angle = 0.945540 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.236678 Old target = 0.007590 Target = 0.004625 setting term condition 3 on tc id 184, type 1 Adding TC id 185 of type 2 Adding TC id 185 of type 1 current term = 3, type = 2, id = 185, smoothing = 0 prev term = 3, type = 1, id = 184, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.388104, tc->fv = 0.000000, capped target = 0.388104 current term = 3, type = 1, id = 184, smoothing = 0 prev term = 3, type = 2, id = 184, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.631475, tc->fv = 0.388104, capped target = 2.202423 current term = 3, type = 2, id = 184, smoothing = 0 prev term = 3, type = 1, id = 183, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.631475, tc->fv = 0.631475, capped target = 0.631475 current term = 3, type = 1, id = 183, smoothing = 0 prev term = 3, type = 2, id = 183, smoothing = 1 prev1_tc-> fv = 0.445073, tc->fv = 0.631475, capped target = 4.442520 current term = 3, type = 2, id = 183, smoothing = 1 prev term = 3, type = 1, id = 182, smoothing = 1 prev1_tc-> fv = 0.201131, tc->fv = 0.445073, capped target = 0.445073 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.298772, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.298772, acc = 36.402854,T = 5.894835, P = 0.731706 tc id = 11, canon_type = 1, mot type = 1 time: 0.258000 primary movement = 7.280570749493e-03 time: 2.580000000000e-01 total movement = 7.280570749493e-03 vel = 7.298772176367e+00 ******************** Handle Blend Arc prev tan = 0.793606 0.000000 -0.608432 this tan = 0.998752 0.000000 0.049938 u1 = 0.793606 0.000000 -0.608432 u2 = 0.998752 0.000000 0.049938 angle between segs = 0.704041 u1 = 0.793606 0.000000 -0.608432 u2 = 0.998752 0.000000 0.049938 theta=1.218776 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 10.500546, vr2 = 8.343710 v_goal = 21.001092, max scale = 2.000000 prev length L1 = 0.004595 next length L2 = 0.006007 K = 0.000156 d_geom = 0.003544, d_prev = 0.003544, d_next = 0.004786 R_geom = 0.009648 v_normal = 0.500658 v_plan = 0.500658 R_plan = 0.009648 v_actual = 0.500658 effective a_n = 25.980762 arc length = 0.006792, L_prev = 0.001051, L_next = 0.008471 Check: v_plan = 0.500658, v_para = 0.424794 angle = 0.704041 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.468737 prev smoothing enabled Old target = 0.004595 Target = 0.001051 setting term condition 3 on tc id 185, type 1 Adding TC id 186 of type 2 Adding TC id 186 of type 1 current term = 3, type = 2, id = 186, smoothing = 1 prev term = 3, type = 1, id = 185, smoothing = 1 prev1_tc-> fv = 0.281938, tc->fv = 0.000000, capped target = 0.281938 current term = 3, type = 1, id = 185, smoothing = 1 prev term = 3, type = 2, id = 185, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.388104, tc->fv = 0.281938, capped target = 0.388104 current term = 3, type = 2, id = 185, smoothing = 0 prev term = 3, type = 1, id = 184, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.388104, tc->fv = 0.388104, capped target = 0.388104 current term = 3, type = 1, id = 184, smoothing = 0 prev term = 3, type = 2, id = 184, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.631475, tc->fv = 0.388104, capped target = 2.202423 current term = 3, type = 2, id = 184, smoothing = 0 prev term = 3, type = 1, id = 183, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.631475, tc->fv = 0.631475, capped target = 0.631475 current term = 3, type = 1, id = 183, smoothing = 0 prev term = 3, type = 2, id = 183, smoothing = 1 prev1_tc-> fv = 0.445073, tc->fv = 0.631475, capped target = 4.442520 current term = 3, type = 2, id = 183, smoothing = 1 prev term = 3, type = 1, id = 182, smoothing = 1 prev1_tc-> fv = 0.201131, tc->fv = 0.445073, capped target = 0.445073 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.335175, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.335175, acc = 36.402854,T = 5.894835, P = 0.739023 tc id = 11, canon_type = 1, mot type = 1 time: 0.259000 primary movement = 7.316973603241e-03 time: 2.590000000000e-01 total movement = 7.316973603241e-03 vel = 7.335175030114e+00 ******************** Handle Blend Arc prev tan = 0.998752 0.000000 0.049938 this tan = 0.894427 0.000000 0.447214 u1 = 0.998752 0.000000 0.049938 u2 = 0.894427 0.000000 0.447214 angle between segs = 0.413689 u1 = 0.998752 0.000000 0.049938 u2 = 0.894427 0.000000 0.447214 theta=1.363952 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.343710, vr2 = 9.316913 v_goal = 18.633825, max scale = 2.000000 prev length L1 = 0.008471 next length L2 = 0.001118 K = 0.000273 d_geom = 0.000563, d_prev = 0.006576, d_next = 0.000563 R_geom = 0.002685 v_normal = 0.264110 v_plan = 0.264110 R_plan = 0.002685 v_actual = 0.264110 effective a_n = 25.980762 arc length = 0.001111, L_prev = 0.007908, L_next = 0.001673 Check: v_plan = 0.264110, v_para = 0.173421 angle = 0.413689 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.046892 Old target = 0.008471 Target = 0.007908 setting term condition 3 on tc id 186, type 1 Adding TC id 187 of type 2 Adding TC id 187 of type 1 current term = 3, type = 2, id = 187, smoothing = 0 prev term = 3, type = 1, id = 186, smoothing = 0 prev1_tc-> fv = 0.182540, tc->fv = 0.000000, capped target = 0.264110 current term = 3, type = 1, id = 186, smoothing = 0 prev term = 3, type = 2, id = 186, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.500658, tc->fv = 0.182540, capped target = 3.765590 current term = 3, type = 2, id = 186, smoothing = 1 prev term = 3, type = 1, id = 185, smoothing = 1 prev1_tc-> fv = 0.479702, tc->fv = 0.500658, capped target = 0.500658 current term = 3, type = 1, id = 185, smoothing = 1 prev term = 3, type = 2, id = 185, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.388104, tc->fv = 0.479702, capped target = 0.479702 current term = 3, type = 2, id = 185, smoothing = 0 prev term = 3, type = 1, id = 184, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.388104, tc->fv = 0.388104, capped target = 0.388104 current term = 3, type = 1, id = 184, smoothing = 0 prev term = 3, type = 2, id = 184, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.631475, tc->fv = 0.388104, capped target = 2.202423 current term = 3, type = 2, id = 184, smoothing = 0 prev term = 3, type = 1, id = 183, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.631475, tc->fv = 0.631475, capped target = 0.631475 current term = 3, type = 1, id = 183, smoothing = 0 prev term = 3, type = 2, id = 183, smoothing = 1 prev1_tc-> fv = 0.445073, tc->fv = 0.631475, capped target = 4.442520 current term = 3, type = 2, id = 183, smoothing = 1 prev term = 3, type = 1, id = 182, smoothing = 1 prev1_tc-> fv = 0.201131, tc->fv = 0.445073, capped target = 0.445073 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.371578, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.371578, acc = 36.402854,T = 5.894835, P = 0.746377 tc id = 11, canon_type = 1, mot type = 1 time: 0.260000 primary movement = 7.353376456988e-03 time: 2.600000000000e-01 total movement = 7.353376456988e-03 vel = 7.371577883862e+00 ******************** Handle Blend Arc prev tan = 0.894427 0.000000 0.447214 this tan = 0.377897 0.000000 0.925848 u1 = 0.894427 0.000000 0.447214 u2 = 0.377897 0.000000 0.925848 angle between segs = 0.719625 u1 = 0.894427 0.000000 0.447214 u2 = 0.377897 0.000000 0.925848 theta=1.210984 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.316913, vr2 = 9.000761 v_goal = 18.633825, max scale = 2.000000 prev length L1 = 0.001673 next length L2 = 0.002646 K = 0.000152 d_geom = 0.001095, d_prev = 0.001095, d_next = 0.001888 R_geom = 0.002911 v_normal = 0.275015 v_plan = 0.275015 R_plan = 0.002911 v_actual = 0.275015 effective a_n = 25.980762 arc length = 0.002095, L_prev = 0.000578, L_next = 0.004197 Check: v_plan = 0.275015, v_para = 0.292822 blend arc NOT created prev segment parabolic, flagging blend_prev Adding TC id 188 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.407981, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.407981, acc = 36.402854,T = 5.894835, P = 0.753767 tc id = 11, canon_type = 1, mot type = 1 time: 0.261000 primary movement = 7.389779310736e-03 time: 2.610000000000e-01 total movement = 7.389779310736e-03 vel = 7.407980737609e+00 ******************** Handle Blend Arc prev tan = 0.377897 0.000000 0.925848 this tan = 0.894427 0.000000 0.447214 u1 = 0.377897 0.000000 0.925848 u2 = 0.894427 0.000000 0.447214 angle between segs = 0.719625 u1 = 0.377897 0.000000 0.925848 u2 = 0.894427 0.000000 0.447214 theta=1.210984 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.000761, vr2 = 9.316913 v_goal = 18.633825, max scale = 2.000000 prev length L1 = 0.005292 next length L2 = 0.002236 K = 0.000152 d_geom = 0.001549, d_prev = 0.004166, d_next = 0.001549 R_geom = 0.004118 v_normal = 0.327094 v_plan = 0.327094 R_plan = 0.004118 v_actual = 0.327094 effective a_n = 25.980762 arc length = 0.002963, L_prev = 0.003743, L_next = 0.002923 Check: v_plan = 0.327094, v_para = 0.264567 angle = 0.719625 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.292713 Old target = 0.005292 Target = 0.003743 setting term condition 3 on tc id 188, type 1 Adding TC id 189 of type 2 Adding TC id 189 of type 1 current term = 3, type = 2, id = 189, smoothing = 0 prev term = 3, type = 1, id = 188, smoothing = 0 prev1_tc-> fv = 0.298168, tc->fv = 0.000000, capped target = 0.327094 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.444384, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.444384, acc = 36.402854,T = 5.894835, P = 0.761193 tc id = 11, canon_type = 1, mot type = 1 time: 0.262000 primary movement = 7.426182164483e-03 time: 2.620000000000e-01 total movement = 7.426182164483e-03 vel = 7.444383591357e+00 ******************** Handle Blend Arc prev tan = 0.894427 0.000000 0.447214 this tan = 0.948683 0.000000 -0.316228 u1 = 0.894427 0.000000 0.447214 u2 = 0.948683 0.000000 -0.316228 angle between segs = 0.785398 u1 = 0.894427 0.000000 0.447214 u2 = 0.948683 0.000000 -0.316228 theta=1.178097 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.316913, vr2 = 8.784069 v_goal = 18.633825, max scale = 2.000000 prev length L1 = 0.002923 next length L2 = 0.003162 K = 0.000138 d_geom = 0.002152, d_prev = 0.002152, d_next = 0.002355 R_geom = 0.005194 v_normal = 0.367355 v_plan = 0.367355 R_plan = 0.005194 v_actual = 0.367355 effective a_n = 25.980762 arc length = 0.004080, L_prev = 0.000771, L_next = 0.004173 Check: v_plan = 0.367355, v_para = 0.316228 angle = 0.785398 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.481094 prev smoothing enabled Old target = 0.002923 Target = 0.000771 setting term condition 3 on tc id 189, type 1 Adding TC id 190 of type 2 Adding TC id 190 of type 1 current term = 3, type = 2, id = 190, smoothing = 1 prev term = 3, type = 1, id = 189, smoothing = 1 prev1_tc-> fv = 0.227487, tc->fv = 0.000000, capped target = 0.227487 current term = 3, type = 1, id = 189, smoothing = 1 prev term = 3, type = 2, id = 189, smoothing = 0 prev1_tc-> fv = 0.321715, tc->fv = 0.227487, capped target = 0.321715 current term = 3, type = 2, id = 189, smoothing = 0 prev term = 3, type = 1, id = 188, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.327094, tc->fv = 0.321715, capped target = 0.327094 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.480786, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.480786, acc = 36.402854,T = 5.894835, P = 0.768655 tc id = 11, canon_type = 1, mot type = 1 time: 0.263000 primary movement = 7.462585018230e-03 time: 2.630000000000e-01 total movement = 7.462585018230e-03 vel = 7.480786445104e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.517189, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.517189, acc = 36.402854,T = 5.894835, P = 0.776154 tc id = 11, canon_type = 1, mot type = 1 time: 0.264000 primary movement = 7.498987871978e-03 time: 2.640000000000e-01 total movement = 7.498987871978e-03 vel = 7.517189298852e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.553592, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.553592, acc = 36.402854,T = 5.894835, P = 0.783690 tc id = 11, canon_type = 1, mot type = 1 time: 0.265000 primary movement = 7.535390725725e-03 time: 2.650000000000e-01 total movement = 7.535390725725e-03 vel = 7.553592152599e+00 ******************** Handle Blend Arc prev tan = 0.948683 0.000000 -0.316228 this tan = 0.998460 0.000000 0.055470 u1 = 0.948683 0.000000 -0.316228 u2 = 0.998460 0.000000 0.055470 angle between segs = 0.377249 u1 = 0.948683 0.000000 -0.316228 u2 = 0.998460 0.000000 0.055470 theta=1.382172 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.784069, vr2 = 8.346150 v_goal = 17.568139, max scale = 2.000000 prev length L1 = 0.004173 next length L2 = 0.009014 K = 0.000300 d_geom = 0.002862, d_prev = 0.002862, d_next = 0.006969 R_geom = 0.014994 v_normal = 0.624150 v_plan = 0.624150 R_plan = 0.014994 v_actual = 0.624150 effective a_n = 25.980762 arc length = 0.005657, L_prev = 0.001311, L_next = 0.015165 Check: v_plan = 0.624150, v_para = 0.520416 angle = 0.377249 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.452573 prev smoothing enabled Old target = 0.004173 Target = 0.001311 setting term condition 3 on tc id 190, type 1 Adding TC id 191 of type 2 Adding TC id 191 of type 1 current term = 3, type = 2, id = 191, smoothing = 1 prev term = 3, type = 1, id = 190, smoothing = 1 prev1_tc-> fv = 0.287918, tc->fv = 0.000000, capped target = 0.287918 current term = 3, type = 1, id = 190, smoothing = 1 prev term = 3, type = 2, id = 190, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.367355, tc->fv = 0.287918, capped target = 0.367355 current term = 3, type = 2, id = 190, smoothing = 1 prev term = 3, type = 1, id = 189, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.367355, tc->fv = 0.367355, capped target = 0.367355 current term = 3, type = 1, id = 189, smoothing = 1 prev term = 3, type = 2, id = 189, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.327094, tc->fv = 0.367355, capped target = 0.367355 current term = 3, type = 2, id = 189, smoothing = 0 prev term = 3, type = 1, id = 188, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.327094, tc->fv = 0.327094, capped target = 0.327094 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.589995, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.589995, acc = 36.402854,T = 5.894835, P = 0.791262 tc id = 11, canon_type = 1, mot type = 1 time: 0.266000 primary movement = 7.571793579473e-03 time: 2.660000000000e-01 total movement = 7.571793579473e-03 vel = 7.589995006347e+00 prev segment parabolic, flagging blend_prev tpAddCircle: checking for tangent with previous prev tan = 0.998460 0.000000 0.055470 this tan = 0.709987 0.000000 -0.704215 u1 = 0.998460 0.000000 0.055470 u2 = 0.709987 0.000000 -0.704215 Adding TC id 192 of type 2 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.626398, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.626398, acc = 36.402854,T = 5.894835, P = 0.798870 tc id = 11, canon_type = 1, mot type = 1 time: 0.267000 primary movement = 7.608196433220e-03 time: 2.670000000000e-01 total movement = 7.608196433220e-03 vel = 7.626397860094e+00 ******************** Handle Blend Arc prev tan = 0.991919 0.000000 -0.126873 this tan = 0.894427 0.000000 0.447214 u1 = 0.991919 0.000000 -0.126873 u2 = 0.894427 0.000000 0.447214 Wrong motion type tc = 2, tc2 = 1 prev segment parabolic, flagging blend_prev Adding TC id 193 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.662801, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.662801, acc = 36.402854,T = 5.894835, P = 0.806514 tc id = 11, canon_type = 1, mot type = 1 time: 0.268000 primary movement = 7.644599286968e-03 time: 2.680000000000e-01 total movement = 7.644599286968e-03 vel = 7.662800713841e+00 ******************** Handle Blend Arc prev tan = 0.894427 0.000000 0.447214 this tan = 1.000000 0.000000 0.000000 u1 = 0.894427 0.000000 0.447214 u2 = 1.000000 0.000000 0.000000 angle between segs = 0.463648 u1 = 0.894427 0.000000 0.447214 u2 = 1.000000 0.000000 0.000000 theta=1.338973 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.316913, vr2 = 8.333300 v_goal = 18.633825, max scale = 2.000000 prev length L1 = 0.004472 next length L2 = 0.004000 K = 0.000243 d_geom = 0.002828, d_prev = 0.003222, d_next = 0.002828 R_geom = 0.011981 v_normal = 0.557924 v_plan = 0.557924 R_plan = 0.011981 v_actual = 0.557924 effective a_n = 25.980762 arc length = 0.005555, L_prev = 0.001644, L_next = 0.005172 Check: v_plan = 0.557924, v_para = 0.346410 angle = 0.463648 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.632441 prev smoothing enabled Old target = 0.004472 Target = 0.001644 setting term condition 3 on tc id 193, type 1 Adding TC id 194 of type 2 Adding TC id 194 of type 1 current term = 3, type = 2, id = 194, smoothing = 1 prev term = 3, type = 1, id = 193, smoothing = 1 prev1_tc-> fv = 0.234806, tc->fv = 0.000000, capped target = 0.234806 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.699204, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.699204, acc = 36.402854,T = 5.894835, P = 0.814195 tc id = 11, canon_type = 1, mot type = 1 time: 0.269000 primary movement = 7.681002140715e-03 time: 2.690000000000e-01 total movement = 7.681002140715e-03 vel = 7.699203567589e+00 ******************** Handle Blend Arc prev tan = 1.000000 0.000000 0.000000 this tan = 0.894427 0.000000 -0.447214 u1 = 1.000000 0.000000 0.000000 u2 = 0.894427 0.000000 -0.447214 angle between segs = 0.463648 u1 = 1.000000 0.000000 0.000000 u2 = 0.894427 0.000000 -0.447214 theta=1.338973 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.333300, vr2 = 9.316913 v_goal = 18.633825, max scale = 2.000000 prev length L1 = 0.005172 next length L2 = 0.002236 K = 0.000243 d_geom = 0.001409, d_prev = 0.003812, d_next = 0.001409 R_geom = 0.005969 v_normal = 0.393801 v_plan = 0.393801 R_plan = 0.005969 v_actual = 0.393801 effective a_n = 25.980762 arc length = 0.002768, L_prev = 0.003763, L_next = 0.003063 Check: v_plan = 0.393801, v_para = 0.244949 angle = 0.463648 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.176136 Old target = 0.005172 Target = 0.003763 setting term condition 3 on tc id 194, type 1 Adding TC id 195 of type 2 Adding TC id 195 of type 1 current term = 3, type = 2, id = 195, smoothing = 0 prev term = 3, type = 1, id = 194, smoothing = 0 prev1_tc-> fv = 0.288141, tc->fv = 0.000000, capped target = 0.393801 current term = 3, type = 1, id = 194, smoothing = 0 prev term = 3, type = 2, id = 194, smoothing = 1 prev1_tc-> fv = 0.470940, tc->fv = 0.288141, capped target = 1.791692 current term = 3, type = 2, id = 194, smoothing = 1 prev term = 3, type = 1, id = 193, smoothing = 1 prev1_tc-> fv = 0.234806, tc->fv = 0.470940, capped target = 0.470940 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.735606, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.735606, acc = 36.402854,T = 5.894835, P = 0.821913 tc id = 11, canon_type = 1, mot type = 1 time: 0.270000 primary movement = 7.717404994463e-03 time: 2.700000000000e-01 total movement = 7.717404994463e-03 vel = 7.735606421336e+00 ******************** Handle Blend Arc prev tan = 0.894427 0.000000 -0.447214 this tan = 0.970143 0.000000 0.242536 u1 = 0.894427 0.000000 -0.447214 u2 = 0.970143 0.000000 0.242536 angle between segs = 0.708626 u1 = 0.894427 0.000000 -0.447214 u2 = 0.970143 0.000000 0.242536 theta=1.216483 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.316913, vr2 = 8.589769 v_goal = 18.633825, max scale = 2.000000 prev length L1 = 0.003063 next length L2 = 0.002062 K = 0.000155 d_geom = 0.001402, d_prev = 0.002232, d_next = 0.001402 R_geom = 0.003791 v_normal = 0.313846 v_plan = 0.313846 R_plan = 0.003791 v_actual = 0.313846 effective a_n = 25.980762 arc length = 0.002687, L_prev = 0.001661, L_next = 0.002721 Check: v_plan = 0.313846, v_para = 0.252488 angle = 0.708626 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.313603 Old target = 0.003063 Target = 0.001661 setting term condition 3 on tc id 195, type 1 Adding TC id 196 of type 2 Adding TC id 196 of type 1 current term = 3, type = 2, id = 196, smoothing = 0 prev term = 3, type = 1, id = 195, smoothing = 0 prev1_tc-> fv = 0.283897, tc->fv = 0.000000, capped target = 0.313846 current term = 3, type = 1, id = 195, smoothing = 0 prev term = 3, type = 2, id = 195, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.393801, tc->fv = 0.283897, capped target = 0.790749 current term = 3, type = 2, id = 195, smoothing = 0 prev term = 3, type = 1, id = 194, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.393801, tc->fv = 0.393801, capped target = 0.393801 current term = 3, type = 1, id = 194, smoothing = 0 prev term = 3, type = 2, id = 194, smoothing = 1 prev1_tc-> fv = 0.470940, tc->fv = 0.393801, capped target = 1.791692 current term = 3, type = 2, id = 194, smoothing = 1 prev term = 3, type = 1, id = 193, smoothing = 1 prev1_tc-> fv = 0.234806, tc->fv = 0.470940, capped target = 0.470940 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.772009, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.772009, acc = 36.402854,T = 5.894835, P = 0.829667 tc id = 11, canon_type = 1, mot type = 1 time: 0.271000 primary movement = 7.753807848210e-03 time: 2.710000000000e-01 total movement = 7.753807848210e-03 vel = 7.772009275084e+00 ******************** Handle Blend Arc prev tan = 0.970143 0.000000 0.242536 this tan = 0.894427 0.000000 -0.447214 u1 = 0.970143 0.000000 0.242536 u2 = 0.894427 0.000000 -0.447214 angle between segs = 0.708626 u1 = 0.970143 0.000000 0.242536 u2 = 0.894427 0.000000 -0.447214 theta=1.216483 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.589769, vr2 = 9.316913 v_goal = 18.633825, max scale = 2.000000 prev length L1 = 0.002721 next length L2 = 0.003354 K = 0.000155 d_geom = 0.001945, d_prev = 0.001945, d_next = 0.002478 R_geom = 0.005257 v_normal = 0.369556 v_plan = 0.369556 R_plan = 0.005257 v_actual = 0.369556 effective a_n = 25.980762 arc length = 0.003725, L_prev = 0.000776, L_next = 0.004764 Check: v_plan = 0.369556, v_para = 0.309233 angle = 0.708626 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.471626 prev smoothing enabled Old target = 0.002721 Target = 0.000776 setting term condition 3 on tc id 196, type 1 Adding TC id 197 of type 2 Adding TC id 197 of type 1 current term = 3, type = 2, id = 197, smoothing = 1 prev term = 3, type = 1, id = 196, smoothing = 1 prev1_tc-> fv = 0.219083, tc->fv = 0.000000, capped target = 0.219083 current term = 3, type = 1, id = 196, smoothing = 1 prev term = 3, type = 2, id = 196, smoothing = 0 prev1_tc-> fv = 0.309830, tc->fv = 0.219083, capped target = 0.309830 current term = 3, type = 2, id = 196, smoothing = 0 prev term = 3, type = 1, id = 195, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.313846, tc->fv = 0.309830, capped target = 0.313846 current term = 3, type = 1, id = 195, smoothing = 0 prev term = 3, type = 2, id = 195, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.393801, tc->fv = 0.313846, capped target = 0.790749 current term = 3, type = 2, id = 195, smoothing = 0 prev term = 3, type = 1, id = 194, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.393801, tc->fv = 0.393801, capped target = 0.393801 current term = 3, type = 1, id = 194, smoothing = 0 prev term = 3, type = 2, id = 194, smoothing = 1 prev1_tc-> fv = 0.470940, tc->fv = 0.393801, capped target = 1.791692 current term = 3, type = 2, id = 194, smoothing = 1 prev term = 3, type = 1, id = 193, smoothing = 1 prev1_tc-> fv = 0.234806, tc->fv = 0.470940, capped target = 0.470940 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.808412, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.808412, acc = 36.402854,T = 5.894835, P = 0.837457 tc id = 11, canon_type = 1, mot type = 1 time: 0.272000 primary movement = 7.790210701958e-03 time: 2.720000000000e-01 total movement = 7.790210701958e-03 vel = 7.808412128831e+00 ******************** Handle Blend Arc prev tan = 0.894427 0.000000 -0.447214 this tan = 0.948683 0.000000 0.316228 u1 = 0.894427 0.000000 -0.447214 u2 = 0.948683 0.000000 0.316228 angle between segs = 0.785398 u1 = 0.894427 0.000000 -0.447214 u2 = 0.948683 0.000000 0.316228 theta=1.178097 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.316913, vr2 = 8.784069 v_goal = 18.633825, max scale = 2.000000 prev length L1 = 0.004764 next length L2 = 0.003162 K = 0.000138 d_geom = 0.002355, d_prev = 0.003746, d_next = 0.002355 R_geom = 0.005686 v_normal = 0.384347 v_plan = 0.384347 R_plan = 0.005686 v_actual = 0.384347 effective a_n = 25.980762 arc length = 0.004466, L_prev = 0.002408, L_next = 0.003969 Check: v_plan = 0.384347, v_para = 0.316228 angle = 0.785398 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.351085 prev smoothing enabled Old target = 0.004764 Target = 0.002408 setting term condition 3 on tc id 197, type 1 Adding TC id 198 of type 2 Adding TC id 198 of type 1 current term = 3, type = 2, id = 198, smoothing = 1 prev term = 3, type = 1, id = 197, smoothing = 1 prev1_tc-> fv = 0.366018, tc->fv = 0.000000, capped target = 0.366018 current term = 3, type = 1, id = 197, smoothing = 1 prev term = 3, type = 2, id = 197, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.369556, tc->fv = 0.366018, capped target = 0.369556 current term = 3, type = 2, id = 197, smoothing = 1 prev term = 3, type = 1, id = 196, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.369556, tc->fv = 0.369556, capped target = 0.369556 current term = 3, type = 1, id = 196, smoothing = 1 prev term = 3, type = 2, id = 196, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.313846, tc->fv = 0.369556, capped target = 0.369556 current term = 3, type = 2, id = 196, smoothing = 0 prev term = 3, type = 1, id = 195, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.313846, tc->fv = 0.313846, capped target = 0.313846 current term = 3, type = 1, id = 195, smoothing = 0 prev term = 3, type = 2, id = 195, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.393801, tc->fv = 0.313846, capped target = 0.790749 current term = 3, type = 2, id = 195, smoothing = 0 prev term = 3, type = 1, id = 194, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.393801, tc->fv = 0.393801, capped target = 0.393801 current term = 3, type = 1, id = 194, smoothing = 0 prev term = 3, type = 2, id = 194, smoothing = 1 prev1_tc-> fv = 0.470940, tc->fv = 0.393801, capped target = 1.791692 current term = 3, type = 2, id = 194, smoothing = 1 prev term = 3, type = 1, id = 193, smoothing = 1 prev1_tc-> fv = 0.234806, tc->fv = 0.470940, capped target = 0.470940 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.844815, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.844815, acc = 36.402854,T = 5.894835, P = 0.845283 tc id = 11, canon_type = 1, mot type = 1 time: 0.273000 primary movement = 7.826613555705e-03 time: 2.730000000000e-01 total movement = 7.826613555705e-03 vel = 7.844814982579e+00 ******************** Handle Blend Arc prev tan = 0.948683 0.000000 0.316228 this tan = 1.000000 0.000000 0.000000 u1 = 0.948683 0.000000 0.316228 u2 = 1.000000 0.000000 0.000000 angle between segs = 0.321751 u1 = 0.948683 0.000000 0.316228 u2 = 1.000000 0.000000 0.000000 theta=1.409921 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.784069, vr2 = 8.333300 v_goal = 17.568139, max scale = 2.000000 prev length L1 = 0.003969 next length L2 = 0.007000 K = 0.000353 d_geom = 0.002612, d_prev = 0.002612, d_next = 0.005102 R_geom = 0.016093 v_normal = 0.646611 v_plan = 0.646611 R_plan = 0.016093 v_actual = 0.646611 effective a_n = 25.980762 arc length = 0.005178, L_prev = 0.001358, L_next = 0.011388 Check: v_plan = 0.646611, v_para = 0.458258 angle = 0.321751 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.412918 prev smoothing enabled Old target = 0.003969 Target = 0.001358 setting term condition 3 on tc id 198, type 1 Adding TC id 199 of type 2 Adding TC id 199 of type 1 current term = 3, type = 2, id = 199, smoothing = 1 prev term = 3, type = 1, id = 198, smoothing = 1 prev1_tc-> fv = 0.293053, tc->fv = 0.000000, capped target = 0.293053 current term = 3, type = 1, id = 198, smoothing = 1 prev term = 3, type = 2, id = 198, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.384347, tc->fv = 0.293053, capped target = 0.384347 current term = 3, type = 2, id = 198, smoothing = 1 prev term = 3, type = 1, id = 197, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.384347, tc->fv = 0.384347, capped target = 0.384347 current term = 3, type = 1, id = 197, smoothing = 1 prev term = 3, type = 2, id = 197, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.369556, tc->fv = 0.384347, capped target = 0.384347 current term = 3, type = 2, id = 197, smoothing = 1 prev term = 3, type = 1, id = 196, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.369556, tc->fv = 0.369556, capped target = 0.369556 current term = 3, type = 1, id = 196, smoothing = 1 prev term = 3, type = 2, id = 196, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.313846, tc->fv = 0.369556, capped target = 0.369556 current term = 3, type = 2, id = 196, smoothing = 0 prev term = 3, type = 1, id = 195, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.313846, tc->fv = 0.313846, capped target = 0.313846 current term = 3, type = 1, id = 195, smoothing = 0 prev term = 3, type = 2, id = 195, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.393801, tc->fv = 0.313846, capped target = 0.790749 current term = 3, type = 2, id = 195, smoothing = 0 prev term = 3, type = 1, id = 194, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.393801, tc->fv = 0.393801, capped target = 0.393801 current term = 3, type = 1, id = 194, smoothing = 0 prev term = 3, type = 2, id = 194, smoothing = 1 prev1_tc-> fv = 0.470940, tc->fv = 0.393801, capped target = 1.791692 current term = 3, type = 2, id = 194, smoothing = 1 prev term = 3, type = 1, id = 193, smoothing = 1 prev1_tc-> fv = 0.234806, tc->fv = 0.470940, capped target = 0.470940 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.881218, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.881218, acc = 36.402854,T = 5.894835, P = 0.853146 tc id = 11, canon_type = 1, mot type = 1 time: 0.274000 primary movement = 7.863016409453e-03 time: 2.740000000000e-01 total movement = 7.863016409453e-03 vel = 7.881217836326e+00 ******************** Handle Blend Arc prev tan = 1.000000 0.000000 0.000000 this tan = 0.970143 0.000000 -0.242536 u1 = 1.000000 0.000000 0.000000 u2 = 0.970143 0.000000 -0.242536 angle between segs = 0.244979 u1 = 1.000000 0.000000 0.000000 u2 = 0.970143 0.000000 -0.242536 theta=1.448307 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.333300, vr2 = 8.589769 v_goal = 17.179538, max scale = 2.000000 prev length L1 = 0.011388 next length L2 = 0.006185 K = 0.000465 d_geom = 0.004206, d_prev = 0.008565, d_next = 0.004206 R_geom = 0.034167 v_normal = 0.942166 v_plan = 0.942166 R_plan = 0.034167 v_actual = 0.942166 effective a_n = 25.980762 arc length = 0.008370, L_prev = 0.007182, L_next = 0.008163 Check: v_plan = 0.942166, v_para = 0.424264 angle = 0.244979 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.300436 Old target = 0.011388 Target = 0.007182 setting term condition 3 on tc id 199, type 1 Adding TC id 200 of type 2 Adding TC id 200 of type 1 current term = 3, type = 2, id = 200, smoothing = 0 prev term = 3, type = 1, id = 199, smoothing = 0 prev1_tc-> fv = 0.501102, tc->fv = 0.000000, capped target = 0.942166 current term = 3, type = 1, id = 199, smoothing = 0 prev term = 3, type = 2, id = 199, smoothing = 1 prev1_tc-> fv = 0.491139, tc->fv = 0.501102, capped target = 3.420175 current term = 3, type = 2, id = 199, smoothing = 1 prev term = 3, type = 1, id = 198, smoothing = 1 prev1_tc-> fv = 0.483324, tc->fv = 0.491139, capped target = 0.491139 current term = 3, type = 1, id = 198, smoothing = 1 prev term = 3, type = 2, id = 198, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.384347, tc->fv = 0.483324, capped target = 0.483324 current term = 3, type = 2, id = 198, smoothing = 1 prev term = 3, type = 1, id = 197, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.384347, tc->fv = 0.384347, capped target = 0.384347 current term = 3, type = 1, id = 197, smoothing = 1 prev term = 3, type = 2, id = 197, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.369556, tc->fv = 0.384347, capped target = 0.384347 current term = 3, type = 2, id = 197, smoothing = 1 prev term = 3, type = 1, id = 196, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.369556, tc->fv = 0.369556, capped target = 0.369556 current term = 3, type = 1, id = 196, smoothing = 1 prev term = 3, type = 2, id = 196, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.313846, tc->fv = 0.369556, capped target = 0.369556 current term = 3, type = 2, id = 196, smoothing = 0 prev term = 3, type = 1, id = 195, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.313846, tc->fv = 0.313846, capped target = 0.313846 current term = 3, type = 1, id = 195, smoothing = 0 prev term = 3, type = 2, id = 195, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.393801, tc->fv = 0.313846, capped target = 0.790749 current term = 3, type = 2, id = 195, smoothing = 0 prev term = 3, type = 1, id = 194, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.393801, tc->fv = 0.393801, capped target = 0.393801 current term = 3, type = 1, id = 194, smoothing = 0 prev term = 3, type = 2, id = 194, smoothing = 1 prev1_tc-> fv = 0.470940, tc->fv = 0.393801, capped target = 1.791692 current term = 3, type = 2, id = 194, smoothing = 1 prev term = 3, type = 1, id = 193, smoothing = 1 prev1_tc-> fv = 0.234806, tc->fv = 0.470940, capped target = 0.470940 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.917621, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.917621, acc = 36.402854,T = 5.894835, P = 0.861046 tc id = 11, canon_type = 1, mot type = 1 time: 0.275000 primary movement = 7.899419263200e-03 time: 2.750000000000e-01 total movement = 7.899419263200e-03 vel = 7.917620690074e+00 ******************** Handle Blend Arc prev tan = 0.970143 0.000000 -0.242536 this tan = 0.995037 0.000000 0.099504 u1 = 0.970143 0.000000 -0.242536 u2 = 0.995037 0.000000 0.099504 angle between segs = 0.344647 u1 = 0.970143 0.000000 -0.242536 u2 = 0.995037 0.000000 0.099504 theta=1.398473 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.589769, vr2 = 8.374863 v_goal = 17.179538, max scale = 2.000000 prev length L1 = 0.008163 next length L2 = 0.005025 K = 0.000329 d_geom = 0.003506, d_prev = 0.006151, d_next = 0.003506 R_geom = 0.020142 v_normal = 0.723405 v_plan = 0.723405 R_plan = 0.020142 v_actual = 0.723405 effective a_n = 25.980762 arc length = 0.006942, L_prev = 0.004657, L_next = 0.006544 Check: v_plan = 0.723405, v_para = 0.389230 angle = 0.344647 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.283426 Old target = 0.008163 Target = 0.004657 setting term condition 3 on tc id 200, type 1 Adding TC id 201 of type 2 Adding TC id 201 of type 1 current term = 3, type = 2, id = 201, smoothing = 0 prev term = 3, type = 1, id = 200, smoothing = 0 prev1_tc-> fv = 0.456356, tc->fv = 0.000000, capped target = 0.723405 current term = 3, type = 1, id = 200, smoothing = 0 prev term = 3, type = 2, id = 200, smoothing = 0 prev1_tc-> fv = 0.704490, tc->fv = 0.456356, capped target = 2.217819 current term = 3, type = 2, id = 200, smoothing = 0 prev term = 3, type = 1, id = 199, smoothing = 0 prev1_tc-> fv = 0.819853, tc->fv = 0.704490, capped target = 0.942166 current term = 3, type = 1, id = 199, smoothing = 0 prev term = 3, type = 2, id = 199, smoothing = 1 prev1_tc-> fv = 0.623650, tc->fv = 0.819853, capped target = 3.420175 current term = 3, type = 2, id = 199, smoothing = 1 prev term = 3, type = 1, id = 198, smoothing = 1 prev1_tc-> fv = 0.483324, tc->fv = 0.623650, capped target = 0.623650 current term = 3, type = 1, id = 198, smoothing = 1 prev term = 3, type = 2, id = 198, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.384347, tc->fv = 0.483324, capped target = 0.483324 current term = 3, type = 2, id = 198, smoothing = 1 prev term = 3, type = 1, id = 197, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.384347, tc->fv = 0.384347, capped target = 0.384347 current term = 3, type = 1, id = 197, smoothing = 1 prev term = 3, type = 2, id = 197, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.369556, tc->fv = 0.384347, capped target = 0.384347 current term = 3, type = 2, id = 197, smoothing = 1 prev term = 3, type = 1, id = 196, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.369556, tc->fv = 0.369556, capped target = 0.369556 current term = 3, type = 1, id = 196, smoothing = 1 prev term = 3, type = 2, id = 196, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.313846, tc->fv = 0.369556, capped target = 0.369556 current term = 3, type = 2, id = 196, smoothing = 0 prev term = 3, type = 1, id = 195, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.313846, tc->fv = 0.313846, capped target = 0.313846 current term = 3, type = 1, id = 195, smoothing = 0 prev term = 3, type = 2, id = 195, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.393801, tc->fv = 0.313846, capped target = 0.790749 current term = 3, type = 2, id = 195, smoothing = 0 prev term = 3, type = 1, id = 194, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.393801, tc->fv = 0.393801, capped target = 0.393801 current term = 3, type = 1, id = 194, smoothing = 0 prev term = 3, type = 2, id = 194, smoothing = 1 prev1_tc-> fv = 0.470940, tc->fv = 0.393801, capped target = 1.791692 current term = 3, type = 2, id = 194, smoothing = 1 prev term = 3, type = 1, id = 193, smoothing = 1 prev1_tc-> fv = 0.234806, tc->fv = 0.470940, capped target = 0.470940 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.954024, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.954024, acc = 36.402854,T = 5.894835, P = 0.868982 tc id = 11, canon_type = 1, mot type = 1 time: 0.276000 primary movement = 7.935822116947e-03 time: 2.760000000000e-01 total movement = 7.935822116947e-03 vel = 7.954023543821e+00 ******************** Handle Blend Arc prev tan = 0.995037 0.000000 0.099504 this tan = 0.707107 0.000000 0.707107 u1 = 0.995037 0.000000 0.099504 u2 = 0.707107 0.000000 0.707107 angle between segs = 0.685730 u1 = 0.995037 0.000000 0.099504 u2 = 0.707107 0.000000 0.707107 theta=1.227932 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.374863, vr2 = 11.785066 v_goal = 23.570132, max scale = 2.000000 prev length L1 = 0.006544 next length L2 = 0.002828 K = 0.000160 d_geom = 0.002023, d_prev = 0.005246, d_next = 0.002023 R_geom = 0.005666 v_normal = 0.383688 v_plan = 0.383688 R_plan = 0.005666 v_actual = 0.383688 effective a_n = 25.980762 arc length = 0.003886, L_prev = 0.004521, L_next = 0.003634 Check: v_plan = 0.383688, v_para = 0.246171 angle = 0.685730 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.201264 Old target = 0.006544 Target = 0.004521 setting term condition 3 on tc id 201, type 1 Adding TC id 202 of type 2 Adding TC id 202 of type 1 current term = 3, type = 2, id = 202, smoothing = 0 prev term = 3, type = 1, id = 201, smoothing = 0 prev1_tc-> fv = 0.341420, tc->fv = 0.000000, capped target = 0.383688 current term = 3, type = 1, id = 201, smoothing = 0 prev term = 3, type = 2, id = 201, smoothing = 0 prev1_tc-> fv = 0.623863, tc->fv = 0.341420, capped target = 2.153051 current term = 3, type = 2, id = 201, smoothing = 0 prev term = 3, type = 1, id = 200, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.723405, tc->fv = 0.623863, capped target = 0.723405 current term = 3, type = 1, id = 200, smoothing = 0 prev term = 3, type = 2, id = 200, smoothing = 0 prev1_tc-> fv = 0.900756, tc->fv = 0.723405, capped target = 2.217819 current term = 3, type = 2, id = 200, smoothing = 0 prev term = 3, type = 1, id = 199, smoothing = 0 prev1_tc-> fv = 0.905473, tc->fv = 0.900756, capped target = 0.942166 current term = 3, type = 1, id = 199, smoothing = 0 prev term = 3, type = 2, id = 199, smoothing = 1 prev1_tc-> fv = 0.623650, tc->fv = 0.905473, capped target = 3.420175 current term = 3, type = 2, id = 199, smoothing = 1 prev term = 3, type = 1, id = 198, smoothing = 1 prev1_tc-> fv = 0.483324, tc->fv = 0.623650, capped target = 0.623650 current term = 3, type = 1, id = 198, smoothing = 1 prev term = 3, type = 2, id = 198, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.384347, tc->fv = 0.483324, capped target = 0.483324 current term = 3, type = 2, id = 198, smoothing = 1 prev term = 3, type = 1, id = 197, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.384347, tc->fv = 0.384347, capped target = 0.384347 current term = 3, type = 1, id = 197, smoothing = 1 prev term = 3, type = 2, id = 197, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.369556, tc->fv = 0.384347, capped target = 0.384347 current term = 3, type = 2, id = 197, smoothing = 1 prev term = 3, type = 1, id = 196, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.369556, tc->fv = 0.369556, capped target = 0.369556 current term = 3, type = 1, id = 196, smoothing = 1 prev term = 3, type = 2, id = 196, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.313846, tc->fv = 0.369556, capped target = 0.369556 current term = 3, type = 2, id = 196, smoothing = 0 prev term = 3, type = 1, id = 195, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.313846, tc->fv = 0.313846, capped target = 0.313846 current term = 3, type = 1, id = 195, smoothing = 0 prev term = 3, type = 2, id = 195, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.393801, tc->fv = 0.313846, capped target = 0.790749 current term = 3, type = 2, id = 195, smoothing = 0 prev term = 3, type = 1, id = 194, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.393801, tc->fv = 0.393801, capped target = 0.393801 current term = 3, type = 1, id = 194, smoothing = 0 prev term = 3, type = 2, id = 194, smoothing = 1 prev1_tc-> fv = 0.470940, tc->fv = 0.393801, capped target = 1.791692 current term = 3, type = 2, id = 194, smoothing = 1 prev term = 3, type = 1, id = 193, smoothing = 1 prev1_tc-> fv = 0.234806, tc->fv = 0.470940, capped target = 0.470940 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.990426, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.990426, acc = 36.402854,T = 5.894835, P = 0.876954 tc id = 11, canon_type = 1, mot type = 1 time: 0.277000 primary movement = 7.972224970695e-03 time: 2.770000000000e-01 total movement = 7.972224970695e-03 vel = 7.990426397569e+00 ******************** Handle Blend Arc prev tan = 0.707107 0.000000 0.707107 this tan = 0.928477 0.000000 -0.371391 u1 = 0.707107 0.000000 0.707107 u2 = 0.928477 0.000000 -0.371391 angle between segs = 1.165905 u1 = 0.707107 0.000000 0.707107 u2 = 0.928477 0.000000 -0.371391 theta=0.987844 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 11.785066, vr2 = 8.975239 v_goal = 23.570132, max scale = 2.000000 prev length L1 = 0.003634 next length L2 = 0.005385 K = 0.000087 d_geom = 0.002922, d_prev = 0.002922, d_next = 0.004501 R_geom = 0.004431 v_normal = 0.339288 v_plan = 0.339288 R_plan = 0.004431 v_actual = 0.339288 effective a_n = 25.980762 arc length = 0.005166, L_prev = 0.000713, L_next = 0.007849 Check: v_plan = 0.339288, v_para = 0.417133 blend arc NOT created prev segment parabolic, flagging blend_prev Adding TC id 203 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.026829, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.026829, acc = 36.402854,T = 5.894835, P = 0.884962 tc id = 11, canon_type = 1, mot type = 1 time: 0.278000 primary movement = 8.008627824442e-03 time: 2.780000000000e-01 total movement = 8.008627824442e-03 vel = 8.026829251316e+00 ******************** Handle Blend Arc prev tan = 0.928477 0.000000 -0.371391 this tan = 0.970143 0.000000 0.242536 u1 = 0.928477 0.000000 -0.371391 u2 = 0.970143 0.000000 0.242536 angle between segs = 0.625485 u1 = 0.928477 0.000000 -0.371391 u2 = 0.970143 0.000000 0.242536 theta=1.258054 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.975239, vr2 = 8.589769 v_goal = 17.950478, max scale = 2.000000 prev length L1 = 0.010770 next length L2 = 0.004123 K = 0.000177 d_geom = 0.003079, d_prev = 0.008986, d_next = 0.003079 R_geom = 0.009521 v_normal = 0.497356 v_plan = 0.497356 R_plan = 0.009521 v_actual = 0.497356 effective a_n = 25.980762 arc length = 0.005955, L_prev = 0.007692, L_next = 0.005168 Check: v_plan = 0.497356, v_para = 0.357071 angle = 0.625485 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.285846 Old target = 0.010770 Target = 0.007692 setting term condition 3 on tc id 203, type 1 Adding TC id 204 of type 2 Adding TC id 204 of type 1 current term = 3, type = 2, id = 204, smoothing = 0 prev term = 3, type = 1, id = 203, smoothing = 0 prev1_tc-> fv = 0.422679, tc->fv = 0.000000, capped target = 0.497356 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.063232, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.063232, acc = 36.402854,T = 5.894835, P = 0.893008 tc id = 11, canon_type = 1, mot type = 1 time: 0.279000 primary movement = 8.045030678190e-03 time: 2.790000000000e-01 total movement = 8.045030678190e-03 vel = 8.063232105064e+00 ******************** Handle Blend Arc prev tan = 0.970143 0.000000 0.242536 this tan = 0.809610 0.000000 0.586968 u1 = 0.970143 0.000000 0.242536 u2 = 0.809610 0.000000 0.586968 angle between segs = 0.382330 u1 = 0.970143 0.000000 0.242536 u2 = 0.809610 0.000000 0.586968 theta=1.379632 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.589769, vr2 = 10.292975 v_goal = 20.585950, max scale = 2.000000 prev length L1 = 0.005168 next length L2 = 0.002470 K = 0.000296 d_geom = 0.001521, d_prev = 0.003690, d_next = 0.001521 R_geom = 0.007861 v_normal = 0.451919 v_plan = 0.451919 R_plan = 0.007861 v_actual = 0.451919 effective a_n = 25.980762 arc length = 0.003005, L_prev = 0.003646, L_next = 0.003419 Check: v_plan = 0.451919, v_para = 0.252488 angle = 0.382330 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.184484 Old target = 0.005168 Target = 0.003646 setting term condition 3 on tc id 204, type 1 Adding TC id 205 of type 2 Adding TC id 205 of type 1 current term = 3, type = 2, id = 205, smoothing = 0 prev term = 3, type = 1, id = 204, smoothing = 0 prev1_tc-> fv = 0.300272, tc->fv = 0.000000, capped target = 0.451919 current term = 3, type = 1, id = 204, smoothing = 0 prev term = 3, type = 2, id = 204, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.497356, tc->fv = 0.300272, capped target = 1.736314 current term = 3, type = 2, id = 204, smoothing = 0 prev term = 3, type = 1, id = 203, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.497356, tc->fv = 0.497356, capped target = 0.497356 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.099635, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.099635, acc = 36.402854,T = 5.894835, P = 0.901089 tc id = 11, canon_type = 1, mot type = 1 time: 0.280000 primary movement = 8.081433531937e-03 time: 2.800000000000e-01 total movement = 8.081433531937e-03 vel = 8.099634958811e+00 ******************** Handle Blend Arc prev tan = 0.809610 0.000000 0.586968 this tan = 0.951034 0.000000 -0.309086 u1 = 0.809610 0.000000 0.586968 u2 = 0.951034 0.000000 -0.309086 angle between segs = 0.941540 u1 = 0.809610 0.000000 0.586968 u2 = 0.951034 0.000000 -0.309086 theta=1.100026 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 10.292975, vr2 = 8.762357 v_goal = 20.585950, max scale = 2.000000 prev length L1 = 0.003419 next length L2 = 0.006309 K = 0.000113 d_geom = 0.002647, d_prev = 0.002647, d_next = 0.005224 R_geom = 0.005202 v_normal = 0.367621 v_plan = 0.367621 R_plan = 0.005202 v_actual = 0.367621 effective a_n = 25.980762 arc length = 0.004898, L_prev = 0.000772, L_next = 0.009970 Check: v_plan = 0.367621, v_para = 0.446108 blend arc NOT created prev segment parabolic, flagging blend_prev Adding TC id 206 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.136038, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.136038, acc = 36.402854,T = 5.894835, P = 0.909207 tc id = 11, canon_type = 1, mot type = 1 time: 0.281000 primary movement = 8.117836385685e-03 time: 2.810000000000e-01 total movement = 8.117836385685e-03 vel = 8.136037812559e+00 ******************** Handle Blend Arc prev tan = 0.951034 0.000000 -0.309086 this tan = 1.000000 0.000000 0.000000 u1 = 0.951034 0.000000 -0.309086 u2 = 1.000000 0.000000 0.000000 angle between segs = 0.314232 u1 = 0.951034 0.000000 -0.309086 u2 = 1.000000 0.000000 0.000000 theta=1.413680 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.762357, vr2 = 8.333300 v_goal = 17.524714, max scale = 2.000000 prev length L1 = 0.012618 next length L2 = 0.001000 K = 0.000362 d_geom = 0.000437, d_prev = 0.009937, d_next = 0.000437 R_geom = 0.002762 v_normal = 0.267859 v_plan = 0.267859 R_plan = 0.002762 v_actual = 0.267859 effective a_n = 25.980762 arc length = 0.000868, L_prev = 0.012180, L_next = 0.001563 Check: v_plan = 0.267859, v_para = 0.173205 angle = 0.314232 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.034673 Old target = 0.012618 Target = 0.012180 setting term condition 3 on tc id 206, type 1 Adding TC id 207 of type 2 Adding TC id 207 of type 1 current term = 3, type = 2, id = 207, smoothing = 0 prev term = 3, type = 1, id = 206, smoothing = 0 prev1_tc-> fv = 0.161349, tc->fv = 0.000000, capped target = 0.267859 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.172441, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.172441, acc = 36.402854,T = 5.894835, P = 0.917361 tc id = 11, canon_type = 1, mot type = 1 time: 0.282000 primary movement = 8.154239239432e-03 time: 2.820000000000e-01 total movement = 8.154239239432e-03 vel = 8.172440666306e+00 ******************** Handle Blend Arc prev tan = 1.000000 0.000000 0.000000 this tan = 0.518302 0.000000 0.855198 u1 = 1.000000 0.000000 0.000000 u2 = 0.518302 0.000000 0.855198 angle between segs = 1.025932 u1 = 1.000000 0.000000 0.000000 u2 = 0.518302 0.000000 0.855198 theta=1.057830 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.333300, vr2 = 9.744334 v_goal = 19.488667, max scale = 2.000000 prev length L1 = 0.001563 next length L2 = 0.001929 K = 0.000102 d_geom = 0.001091, d_prev = 0.001091, d_next = 0.001396 R_geom = 0.001938 v_normal = 0.224363 v_plan = 0.224363 R_plan = 0.001938 v_actual = 0.224363 effective a_n = 25.980762 arc length = 0.001988, L_prev = 0.000471, L_next = 0.002767 Check: v_plan = 0.224363, v_para = 0.222486 angle = 1.025932 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.545670 prev smoothing enabled Old target = 0.001563 Target = 0.000471 setting term condition 3 on tc id 207, type 1 Adding TC id 208 of type 2 Adding TC id 208 of type 1 current term = 3, type = 2, id = 208, smoothing = 1 prev term = 3, type = 1, id = 207, smoothing = 1 prev1_tc-> fv = 0.168136, tc->fv = 0.000000, capped target = 0.168136 current term = 3, type = 1, id = 207, smoothing = 1 prev term = 3, type = 2, id = 207, smoothing = 0 prev1_tc-> fv = 0.228182, tc->fv = 0.168136, capped target = 0.228182 current term = 3, type = 2, id = 207, smoothing = 0 prev term = 3, type = 1, id = 206, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.267859, tc->fv = 0.228182, capped target = 0.267859 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.208844, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.208844, acc = 36.402854,T = 5.894835, P = 0.925552 tc id = 11, canon_type = 1, mot type = 1 time: 0.283000 primary movement = 8.190642093180e-03 time: 2.830000000000e-01 total movement = 8.190642093180e-03 vel = 8.208843520053e+00 ******************** Handle Blend Arc prev tan = 0.518302 0.000000 0.855198 this tan = 0.988936 0.000000 0.148340 u1 = 0.518302 0.000000 0.855198 u2 = 0.988936 0.000000 0.148340 angle between segs = 0.877042 u1 = 0.518302 0.000000 0.855198 u2 = 0.988936 0.000000 0.148340 theta=1.132275 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.744334, vr2 = 8.426528 v_goal = 19.488667, max scale = 2.000000 prev length L1 = 0.002767 next length L2 = 0.002022 K = 0.000122 d_geom = 0.001431, d_prev = 0.002058, d_next = 0.001431 R_geom = 0.003052 v_normal = 0.281568 v_plan = 0.281568 R_plan = 0.003052 v_actual = 0.281568 effective a_n = 25.980762 arc length = 0.002676, L_prev = 0.001336, L_next = 0.002614 Check: v_plan = 0.281568, v_para = 0.247689 angle = 0.877042 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.370866 prev smoothing enabled Old target = 0.002767 Target = 0.001336 setting term condition 3 on tc id 208, type 1 Adding TC id 209 of type 2 Adding TC id 209 of type 1 current term = 3, type = 2, id = 209, smoothing = 1 prev term = 3, type = 1, id = 208, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.281568, tc->fv = 0.000000, capped target = 0.281568 current term = 3, type = 1, id = 208, smoothing = 1 prev term = 3, type = 2, id = 208, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.224363, tc->fv = 0.281568, capped target = 0.281568 current term = 3, type = 2, id = 208, smoothing = 1 prev term = 3, type = 1, id = 207, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.224363, tc->fv = 0.224363, capped target = 0.224363 current term = 3, type = 1, id = 207, smoothing = 1 prev term = 3, type = 2, id = 207, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.267859, tc->fv = 0.224363, capped target = 0.267859 current term = 3, type = 2, id = 207, smoothing = 0 prev term = 3, type = 1, id = 206, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.267859, tc->fv = 0.267859, capped target = 0.267859 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.245246, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.245246, acc = 36.402854,T = 5.894835, P = 0.933779 tc id = 11, canon_type = 1, mot type = 1 time: 0.284000 primary movement = 8.227044946927e-03 time: 2.840000000000e-01 total movement = 8.227044946927e-03 vel = 8.245246373801e+00 ******************** Handle Blend Arc prev tan = 0.988936 0.000000 0.148340 this tan = 0.761939 0.000000 -0.647648 u1 = 0.988936 0.000000 0.148340 u2 = 0.761939 0.000000 -0.647648 angle between segs = 0.853384 u1 = 0.988936 0.000000 0.148340 u2 = 0.761939 0.000000 -0.647648 theta=1.144104 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.426528, vr2 = 10.936960 v_goal = 21.873920, max scale = 2.000000 prev length L1 = 0.002614 next length L2 = 0.005250 K = 0.000126 d_geom = 0.001918, d_prev = 0.001918, d_next = 0.004219 R_geom = 0.004220 v_normal = 0.331104 v_plan = 0.331104 R_plan = 0.004220 v_actual = 0.331104 effective a_n = 25.980762 arc length = 0.003601, L_prev = 0.000695, L_next = 0.008581 Check: v_plan = 0.331104, v_para = 0.350286 blend arc NOT created prev segment parabolic, flagging blend_prev Adding TC id 210 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.281649, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.281649, acc = 36.402854,T = 5.894835, P = 0.942042 tc id = 11, canon_type = 1, mot type = 1 time: 0.285000 primary movement = 8.263447800675e-03 time: 2.850000000000e-01 total movement = 8.263447800675e-03 vel = 8.281649227548e+00 ******************** Handle Blend Arc prev tan = 0.761939 0.000000 -0.647648 this tan = 1.000000 0.000000 0.000000 u1 = 0.761939 0.000000 -0.647648 u2 = 1.000000 0.000000 0.000000 angle between segs = 0.704494 u1 = 0.761939 0.000000 -0.647648 u2 = 1.000000 0.000000 0.000000 theta=1.218549 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 10.936960, vr2 = 8.333300 v_goal = 21.873920, max scale = 2.000000 prev length L1 = 0.010500 next length L2 = 0.001000 K = 0.000156 d_geom = 0.000576, d_prev = 0.008840, d_next = 0.000576 R_geom = 0.001568 v_normal = 0.201808 v_plan = 0.201808 R_plan = 0.001568 v_actual = 0.201808 effective a_n = 25.980762 arc length = 0.001104, L_prev = 0.009923, L_next = 0.001424 Check: v_plan = 0.201808, v_para = 0.173205 angle = 0.704494 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.054879 Old target = 0.010500 Target = 0.009923 setting term condition 3 on tc id 210, type 1 Adding TC id 211 of type 2 Adding TC id 211 of type 1 current term = 3, type = 2, id = 211, smoothing = 0 prev term = 3, type = 1, id = 210, smoothing = 0 prev1_tc-> fv = 0.182017, tc->fv = 0.000000, capped target = 0.201808 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.318052, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.318052, acc = 36.402854,T = 5.894835, P = 0.950342 tc id = 11, canon_type = 1, mot type = 1 time: 0.286000 primary movement = 8.299850654422e-03 time: 2.860000000000e-01 total movement = 8.299850654422e-03 vel = 8.318052081296e+00 prev segment parabolic, flagging blend_prev tpAddCircle: checking for tangent with previous prev tan = 1.000000 0.000000 0.000000 this tan = 0.996823 -0.000000 0.079643 u1 = 1.000000 0.000000 0.000000 u2 = 0.996823 -0.000000 0.079643 Adding TC id 212 of type 2 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.354455, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.354455, acc = 36.402854,T = 5.894835, P = 0.958678 tc id = 11, canon_type = 1, mot type = 1 time: 0.287000 primary movement = 8.336253508170e-03 time: 2.870000000000e-01 total movement = 8.336253508170e-03 vel = 8.354454935043e+00 ******************** Handle Blend Arc prev tan = 0.871849 -0.000000 0.489774 this tan = 0.993731 0.000000 -0.111795 u1 = 0.871849 -0.000000 0.489774 u2 = 0.993731 0.000000 -0.111795 Wrong motion type tc = 2, tc2 = 1 prev segment parabolic, flagging blend_prev Adding TC id 213 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.390858, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.390858, acc = 36.402854,T = 5.894835, P = 0.967051 tc id = 11, canon_type = 1, mot type = 1 time: 0.288000 primary movement = 8.372656361917e-03 time: 2.880000000000e-01 total movement = 8.372656361917e-03 vel = 8.390857788791e+00 ******************** Handle Blend Arc prev tan = 0.993731 0.000000 -0.111795 this tan = 0.940136 0.000000 0.340799 u1 = 0.993731 0.000000 -0.111795 u2 = 0.940136 0.000000 0.340799 angle between segs = 0.459796 u1 = 0.993731 0.000000 -0.111795 u2 = 0.940136 0.000000 0.340799 theta=1.340898 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.385868, vr2 = 8.863930 v_goal = 17.727859, max scale = 2.000000 prev length L1 = 0.008050 next length L2 = 0.004255 K = 0.000245 d_geom = 0.003036, d_prev = 0.006295, d_next = 0.003036 R_geom = 0.012971 v_normal = 0.580510 v_plan = 0.580510 R_plan = 0.012971 v_actual = 0.580510 effective a_n = 25.980762 arc length = 0.005964, L_prev = 0.005015, L_next = 0.005474 Check: v_plan = 0.580510, v_para = 0.348595 angle = 0.459796 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.377075 prev smoothing enabled Old target = 0.008050 Target = 0.005015 setting term condition 3 on tc id 213, type 1 Adding TC id 214 of type 2 Adding TC id 214 of type 1 current term = 3, type = 2, id = 214, smoothing = 1 prev term = 3, type = 1, id = 213, smoothing = 1 prev1_tc-> fv = 0.389094, tc->fv = 0.000000, capped target = 0.389094 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.427261, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.427261, acc = 36.402854,T = 5.894835, P = 0.975460 tc id = 11, canon_type = 1, mot type = 1 time: 0.289000 primary movement = 8.409059215664e-03 time: 2.890000000000e-01 total movement = 8.409059215664e-03 vel = 8.427260642538e+00 ******************** Handle Blend Arc prev tan = 0.940136 0.000000 0.340799 this tan = 0.986394 0.000000 -0.164399 u1 = 0.940136 0.000000 0.340799 u2 = 0.986394 0.000000 -0.164399 angle between segs = 0.512916 u1 = 0.940136 0.000000 0.340799 u2 = 0.986394 0.000000 -0.164399 theta=1.314338 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.863930, vr2 = 8.448247 v_goal = 17.727859, max scale = 2.000000 prev length L1 = 0.005474 next length L2 = 0.003041 K = 0.000218 d_geom = 0.002087, d_prev = 0.004130, d_next = 0.002087 R_geom = 0.007957 v_normal = 0.454673 v_plan = 0.454673 R_plan = 0.007957 v_actual = 0.454673 effective a_n = 25.980762 arc length = 0.004081, L_prev = 0.003387, L_next = 0.003996 Check: v_plan = 0.454673, v_para = 0.304138 angle = 0.512916 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.245207 Old target = 0.005474 Target = 0.003387 setting term condition 3 on tc id 214, type 1 Adding TC id 215 of type 2 Adding TC id 215 of type 1 current term = 3, type = 2, id = 215, smoothing = 0 prev term = 3, type = 1, id = 214, smoothing = 0 prev1_tc-> fv = 0.349910, tc->fv = 0.000000, capped target = 0.454673 current term = 3, type = 1, id = 214, smoothing = 0 prev term = 3, type = 2, id = 214, smoothing = 1 prev1_tc-> fv = 0.574728, tc->fv = 0.349910, capped target = 1.612955 current term = 3, type = 2, id = 214, smoothing = 1 prev term = 3, type = 1, id = 213, smoothing = 1 prev1_tc-> fv = 0.389094, tc->fv = 0.574728, capped target = 0.574728 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.463663, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.463663, acc = 36.402854,T = 5.894835, P = 0.983905 tc id = 11, canon_type = 1, mot type = 1 time: 0.290000 primary movement = 8.445462069412e-03 time: 2.900000000000e-01 total movement = 8.445462069412e-03 vel = 8.463663496286e+00 ******************** Handle Blend Arc prev tan = 0.986394 0.000000 -0.164399 this tan = 0.894427 0.000000 0.447214 u1 = 0.986394 0.000000 -0.164399 u2 = 0.894427 0.000000 0.447214 angle between segs = 0.628796 u1 = 0.986394 0.000000 -0.164399 u2 = 0.894427 0.000000 0.447214 theta=1.256398 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.448247, vr2 = 9.316913 v_goal = 18.633825, max scale = 2.000000 prev length L1 = 0.003996 next length L2 = 0.003354 K = 0.000176 d_geom = 0.002429, d_prev = 0.002973, d_next = 0.002429 R_geom = 0.007470 v_normal = 0.440529 v_plan = 0.440529 R_plan = 0.007470 v_actual = 0.440529 effective a_n = 25.980762 arc length = 0.004697, L_prev = 0.001567, L_next = 0.004279 Check: v_plan = 0.440529, v_para = 0.304138 angle = 0.628796 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.399324 prev smoothing enabled Old target = 0.003996 Target = 0.001567 setting term condition 3 on tc id 215, type 1 Adding TC id 216 of type 2 Adding TC id 216 of type 1 current term = 3, type = 2, id = 216, smoothing = 1 prev term = 3, type = 1, id = 215, smoothing = 1 prev1_tc-> fv = 0.308754, tc->fv = 0.000000, capped target = 0.308754 current term = 3, type = 1, id = 215, smoothing = 1 prev term = 3, type = 2, id = 215, smoothing = 0 prev1_tc-> fv = 0.436645, tc->fv = 0.308754, capped target = 0.436645 current term = 3, type = 2, id = 215, smoothing = 0 prev term = 3, type = 1, id = 214, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.454673, tc->fv = 0.436645, capped target = 0.454673 current term = 3, type = 1, id = 214, smoothing = 0 prev term = 3, type = 2, id = 214, smoothing = 1 prev1_tc-> fv = 0.574728, tc->fv = 0.454673, capped target = 1.612955 current term = 3, type = 2, id = 214, smoothing = 1 prev term = 3, type = 1, id = 213, smoothing = 1 prev1_tc-> fv = 0.389094, tc->fv = 0.574728, capped target = 0.574728 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.500066, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.500066, acc = 36.402854,T = 5.894835, P = 0.992387 tc id = 11, canon_type = 1, mot type = 1 time: 0.291000 primary movement = 8.481864923160e-03 time: 2.910000000000e-01 total movement = 8.481864923160e-03 vel = 8.500066350033e+00 ******************** Handle Blend Arc prev tan = 0.894427 0.000000 0.447214 this tan = 0.972018 0.000000 -0.234904 u1 = 0.894427 0.000000 0.447214 u2 = 0.972018 0.000000 -0.234904 angle between segs = 0.700768 u1 = 0.894427 0.000000 0.447214 u2 = 0.972018 0.000000 -0.234904 theta=1.220412 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.316913, vr2 = 8.573191 v_goal = 18.633825, max scale = 2.000000 prev length L1 = 0.004279 next length L2 = 0.006173 K = 0.000157 d_geom = 0.003267, d_prev = 0.003267, d_next = 0.004930 R_geom = 0.008940 v_normal = 0.481935 v_plan = 0.481935 R_plan = 0.008940 v_actual = 0.481935 effective a_n = 25.980762 arc length = 0.006265, L_prev = 0.001012, L_next = 0.009078 Check: v_plan = 0.481935, v_para = 0.436477 angle = 0.700768 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.487038 prev smoothing enabled Old target = 0.004279 Target = 0.001012 setting term condition 3 on tc id 216, type 1 Adding TC id 217 of type 2 Adding TC id 217 of type 1 current term = 3, type = 2, id = 217, smoothing = 1 prev term = 3, type = 1, id = 216, smoothing = 1 prev1_tc-> fv = 0.260560, tc->fv = 0.000000, capped target = 0.260560 current term = 3, type = 1, id = 216, smoothing = 1 prev term = 3, type = 2, id = 216, smoothing = 1 prev1_tc-> fv = 0.368487, tc->fv = 0.260560, capped target = 0.368487 current term = 3, type = 2, id = 216, smoothing = 1 prev term = 3, type = 1, id = 215, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.440529, tc->fv = 0.368487, capped target = 0.440529 current term = 3, type = 1, id = 215, smoothing = 1 prev term = 3, type = 2, id = 215, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.454673, tc->fv = 0.440529, capped target = 0.454673 current term = 3, type = 2, id = 215, smoothing = 0 prev term = 3, type = 1, id = 214, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.454673, tc->fv = 0.454673, capped target = 0.454673 current term = 3, type = 1, id = 214, smoothing = 0 prev term = 3, type = 2, id = 214, smoothing = 1 prev1_tc-> fv = 0.574728, tc->fv = 0.454673, capped target = 1.612955 current term = 3, type = 2, id = 214, smoothing = 1 prev term = 3, type = 1, id = 213, smoothing = 1 prev1_tc-> fv = 0.389094, tc->fv = 0.574728, capped target = 0.574728 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.536469, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.536469, acc = 36.402854,T = 5.894835, P = 1.000906 tc id = 11, canon_type = 1, mot type = 1 time: 0.292000 primary movement = 8.518267776907e-03 time: 2.920000000000e-01 total movement = 8.518267776907e-03 vel = 8.536469203781e+00 ******************** Handle Blend Arc prev tan = 0.972018 0.000000 -0.234904 this tan = 0.988936 0.000000 0.148340 u1 = 0.972018 0.000000 -0.234904 u2 = 0.988936 0.000000 0.148340 angle between segs = 0.386010 u1 = 0.972018 0.000000 -0.234904 u2 = 0.988936 0.000000 0.148340 theta=1.377791 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.573191, vr2 = 8.426528 v_goal = 17.146382, max scale = 2.000000 prev length L1 = 0.009078 next length L2 = 0.003034 K = 0.000293 d_geom = 0.001961, d_prev = 0.007046, d_next = 0.001961 R_geom = 0.010035 v_normal = 0.510612 v_plan = 0.510612 R_plan = 0.010035 v_actual = 0.510612 effective a_n = 25.980762 arc length = 0.003874, L_prev = 0.007117, L_next = 0.004106 Check: v_plan = 0.510612, v_para = 0.303356 angle = 0.386010 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.158866 Old target = 0.009078 Target = 0.007117 setting term condition 3 on tc id 217, type 1 Adding TC id 218 of type 2 Adding TC id 218 of type 1 current term = 3, type = 2, id = 218, smoothing = 0 prev term = 3, type = 1, id = 217, smoothing = 0 prev1_tc-> fv = 0.340899, tc->fv = 0.000000, capped target = 0.510612 current term = 3, type = 1, id = 217, smoothing = 0 prev term = 3, type = 2, id = 217, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.481935, tc->fv = 0.340899, capped target = 3.389056 current term = 3, type = 2, id = 217, smoothing = 1 prev term = 3, type = 1, id = 216, smoothing = 1 prev1_tc-> fv = 0.451302, tc->fv = 0.481935, capped target = 0.481935 current term = 3, type = 1, id = 216, smoothing = 1 prev term = 3, type = 2, id = 216, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.440529, tc->fv = 0.451302, capped target = 0.451302 current term = 3, type = 2, id = 216, smoothing = 1 prev term = 3, type = 1, id = 215, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.440529, tc->fv = 0.440529, capped target = 0.440529 current term = 3, type = 1, id = 215, smoothing = 1 prev term = 3, type = 2, id = 215, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.454673, tc->fv = 0.440529, capped target = 0.454673 current term = 3, type = 2, id = 215, smoothing = 0 prev term = 3, type = 1, id = 214, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.454673, tc->fv = 0.454673, capped target = 0.454673 current term = 3, type = 1, id = 214, smoothing = 0 prev term = 3, type = 2, id = 214, smoothing = 1 prev1_tc-> fv = 0.574728, tc->fv = 0.454673, capped target = 1.612955 current term = 3, type = 2, id = 214, smoothing = 1 prev term = 3, type = 1, id = 213, smoothing = 1 prev1_tc-> fv = 0.389094, tc->fv = 0.574728, capped target = 0.574728 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.572872, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.572872, acc = 36.402854,T = 5.894835, P = 1.009460 tc id = 11, canon_type = 1, mot type = 1 time: 0.293000 primary movement = 8.554670630654e-03 time: 2.930000000000e-01 total movement = 8.554670630654e-03 vel = 8.572872057528e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.609275, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.609275, acc = 36.402854,T = 5.894835, P = 1.018051 tc id = 11, canon_type = 1, mot type = 1 time: 0.294000 primary movement = 8.591073484402e-03 time: 2.940000000000e-01 total movement = 8.591073484402e-03 vel = 8.609274911276e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.645678, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.645678, acc = 36.402854,T = 5.894835, P = 1.026679 tc id = 11, canon_type = 1, mot type = 1 time: 0.295000 primary movement = 8.627476338149e-03 time: 2.950000000000e-01 total movement = 8.627476338149e-03 vel = 8.645677765023e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.682081, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.682081, acc = 36.402854,T = 5.894835, P = 1.035343 tc id = 11, canon_type = 1, mot type = 1 time: 0.296000 primary movement = 8.663879191897e-03 time: 2.960000000000e-01 total movement = 8.663879191897e-03 vel = 8.682080618771e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.718483, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.718483, acc = 36.402854,T = 5.894835, P = 1.044043 tc id = 11, canon_type = 1, mot type = 1 time: 0.297000 primary movement = 8.700282045644e-03 time: 2.970000000000e-01 total movement = 8.700282045644e-03 vel = 8.718483472518e+00 ******************** Handle Blend Arc prev tan = 0.988936 0.000000 0.148340 this tan = 0.957826 0.000000 -0.287348 u1 = 0.988936 0.000000 0.148340 u2 = 0.957826 0.000000 -0.287348 angle between segs = 0.440347 u1 = 0.988936 0.000000 0.148340 u2 = 0.957826 0.000000 -0.287348 theta=1.350623 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.426528, vr2 = 8.700221 v_goal = 17.400441, max scale = 2.000000 prev length L1 = 0.004106 next length L2 = 0.006264 K = 0.000256 d_geom = 0.002890, d_prev = 0.002890, d_next = 0.004711 R_geom = 0.012911 v_normal = 0.579177 v_plan = 0.579177 R_plan = 0.012911 v_actual = 0.579177 effective a_n = 25.980762 arc length = 0.005685, L_prev = 0.001216, L_next = 0.009639 Check: v_plan = 0.579177, v_para = 0.429010 angle = 0.440347 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.476268 prev smoothing enabled Old target = 0.004106 Target = 0.001216 setting term condition 3 on tc id 218, type 1 Adding TC id 219 of type 2 Adding TC id 219 of type 1 current term = 3, type = 2, id = 219, smoothing = 1 prev term = 3, type = 1, id = 218, smoothing = 1 prev1_tc-> fv = 0.271648, tc->fv = 0.000000, capped target = 0.271648 current term = 3, type = 1, id = 218, smoothing = 1 prev term = 3, type = 2, id = 218, smoothing = 0 prev1_tc-> fv = 0.384169, tc->fv = 0.271648, capped target = 0.384169 current term = 3, type = 2, id = 218, smoothing = 0 prev term = 3, type = 1, id = 217, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.510612, tc->fv = 0.384169, capped target = 0.510612 current term = 3, type = 1, id = 217, smoothing = 0 prev term = 3, type = 2, id = 217, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.481935, tc->fv = 0.510612, capped target = 3.389056 current term = 3, type = 2, id = 217, smoothing = 1 prev term = 3, type = 1, id = 216, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.481935, tc->fv = 0.481935, capped target = 0.481935 current term = 3, type = 1, id = 216, smoothing = 1 prev term = 3, type = 2, id = 216, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.440529, tc->fv = 0.481935, capped target = 0.481935 current term = 3, type = 2, id = 216, smoothing = 1 prev term = 3, type = 1, id = 215, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.440529, tc->fv = 0.440529, capped target = 0.440529 current term = 3, type = 1, id = 215, smoothing = 1 prev term = 3, type = 2, id = 215, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.454673, tc->fv = 0.440529, capped target = 0.454673 current term = 3, type = 2, id = 215, smoothing = 0 prev term = 3, type = 1, id = 214, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.454673, tc->fv = 0.454673, capped target = 0.454673 current term = 3, type = 1, id = 214, smoothing = 0 prev term = 3, type = 2, id = 214, smoothing = 1 prev1_tc-> fv = 0.574728, tc->fv = 0.454673, capped target = 1.612955 current term = 3, type = 2, id = 214, smoothing = 1 prev term = 3, type = 1, id = 213, smoothing = 1 prev1_tc-> fv = 0.389094, tc->fv = 0.574728, capped target = 0.574728 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.754886, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.754886, acc = 36.402854,T = 5.894835, P = 1.052780 tc id = 11, canon_type = 1, mot type = 1 time: 0.298000 primary movement = 8.736684899392e-03 time: 2.980000000000e-01 total movement = 8.736684899392e-03 vel = 8.754886326265e+00 ******************** Handle Blend Arc prev tan = 0.957826 0.000000 -0.287348 this tan = 0.377897 0.000000 0.925848 u1 = 0.957826 0.000000 -0.287348 u2 = 0.377897 0.000000 0.925848 angle between segs = 1.474729 u1 = 0.957826 0.000000 -0.287348 u2 = 0.377897 0.000000 0.925848 theta=0.833432 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.700221, vr2 = 9.000761 v_goal = 18.001521, max scale = 2.000000 prev length L1 = 0.009639 next length L2 = 0.002646 K = 0.000063 d_geom = 0.002128, d_prev = 0.008597, d_next = 0.002128 R_geom = 0.002343 v_normal = 0.246726 v_plan = 0.246726 R_plan = 0.002343 v_actual = 0.246726 effective a_n = 25.980762 arc length = 0.003455, L_prev = 0.007511, L_next = 0.003164 Check: v_plan = 0.246726, v_para = 0.283046 blend arc NOT created prev segment parabolic, flagging blend_prev Adding TC id 220 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.791289, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.791289, acc = 36.402854,T = 5.894835, P = 1.061553 tc id = 11, canon_type = 1, mot type = 1 time: 0.299000 primary movement = 8.773087753139e-03 time: 2.990000000000e-01 total movement = 8.773087753139e-03 vel = 8.791289180013e+00 ******************** Handle Blend Arc prev tan = 0.377897 0.000000 0.925848 this tan = 0.993263 0.000000 0.115881 u1 = 0.377897 0.000000 0.925848 u2 = 0.993263 0.000000 0.115881 angle between segs = 1.067131 u1 = 0.377897 0.000000 0.925848 u2 = 0.993263 0.000000 0.115881 theta=1.037231 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.000761, vr2 = 8.389821 v_goal = 18.001521, max scale = 2.000000 prev length L1 = 0.005292 next length L2 = 0.003020 K = 0.000097 d_geom = 0.002346, d_prev = 0.004372, d_next = 0.002346 R_geom = 0.003971 v_normal = 0.321206 v_plan = 0.321206 R_plan = 0.003971 v_actual = 0.321206 effective a_n = 25.980762 arc length = 0.004238, L_prev = 0.002947, L_next = 0.003695 Check: v_plan = 0.321206, v_para = 0.302035 angle = 1.067131 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.443238 prev smoothing enabled Old target = 0.005292 Target = 0.002947 setting term condition 3 on tc id 220, type 1 Adding TC id 221 of type 2 Adding TC id 221 of type 1 current term = 3, type = 2, id = 221, smoothing = 1 prev term = 3, type = 1, id = 220, smoothing = 1 prev1_tc-> fv = 0.308997, tc->fv = 0.000000, capped target = 0.308997 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.827692, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.827692, acc = 36.402854,T = 5.894835, P = 1.070362 tc id = 11, canon_type = 1, mot type = 1 time: 0.300000 primary movement = 8.809490606887e-03 time: 3.000000000000e-01 total movement = 8.809490606887e-03 vel = 8.827692033760e+00 prev segment parabolic, flagging blend_prev tpAddCircle: checking for tangent with previous prev tan = 0.993263 0.000000 0.115881 this tan = 0.911278 0.000000 -0.411791 u1 = 0.993263 0.000000 0.115881 u2 = 0.911278 0.000000 -0.411791 Adding TC id 222 of type 2 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.864095, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.864095, acc = 36.402854,T = 5.894835, P = 1.079208 tc id = 11, canon_type = 1, mot type = 1 time: 0.301000 primary movement = 8.845893460634e-03 time: 3.010000000000e-01 total movement = 8.845893460634e-03 vel = 8.864094887508e+00 ******************** Handle Blend Arc prev tan = 0.324227 0.000000 -0.945979 this tan = 1.000000 0.000000 0.000000 u1 = 0.324227 0.000000 -0.945979 u2 = 1.000000 0.000000 0.000000 Wrong motion type tc = 2, tc2 = 1 prev segment parabolic, flagging blend_prev Adding TC id 223 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.900498, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.900498, acc = 36.402854,T = 5.894835, P = 1.088090 tc id = 11, canon_type = 1, mot type = 1 time: 0.302000 primary movement = 8.882296314382e-03 time: 3.020000000000e-01 total movement = 8.882296314382e-03 vel = 8.900497741255e+00 ******************** Handle Blend Arc prev tan = 1.000000 0.000000 0.000000 this tan = 0.402401 0.000000 -0.915463 u1 = 1.000000 0.000000 0.000000 u2 = 0.402401 0.000000 -0.915463 angle between segs = 1.156658 u1 = 1.000000 0.000000 0.000000 u2 = 0.402401 0.000000 -0.915463 theta=0.992467 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.333300, vr2 = 9.102859 v_goal = 18.205717, max scale = 2.000000 prev length L1 = 0.006000 next length L2 = 0.004970 K = 0.000088 d_geom = 0.004120, d_prev = 0.005058, d_next = 0.004120 R_geom = 0.006311 v_normal = 0.404930 v_plan = 0.404930 R_plan = 0.006311 v_actual = 0.404930 effective a_n = 25.980762 arc length = 0.007300, L_prev = 0.001880, L_next = 0.005821 Check: v_plan = 0.404930, v_para = 0.369459 angle = 1.156658 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.686635 prev smoothing enabled Old target = 0.006000 Target = 0.001880 setting term condition 3 on tc id 223, type 1 Adding TC id 224 of type 2 Adding TC id 224 of type 1 current term = 3, type = 2, id = 224, smoothing = 1 prev term = 3, type = 1, id = 223, smoothing = 1 prev1_tc-> fv = 0.237499, tc->fv = 0.000000, capped target = 0.237499 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.936901, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.936901, acc = 36.402854,T = 5.894835, P = 1.097009 tc id = 11, canon_type = 1, mot type = 1 time: 0.303000 primary movement = 8.918699168129e-03 time: 3.030000000000e-01 total movement = 8.918699168129e-03 vel = 8.936900595003e+00 prev segment parabolic, flagging blend_prev tpAddCircle: checking for tangent with previous prev tan = 0.402401 0.000000 -0.915463 this tan = 0.926092 0.000000 -0.377297 u1 = 0.402401 0.000000 -0.915463 u2 = 0.926092 0.000000 -0.377297 Adding TC id 225 of type 2 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.973303, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.973303, acc = 36.402854,T = 5.894835, P = 1.105964 tc id = 11, canon_type = 1, mot type = 1 time: 0.304000 primary movement = 8.955102021877e-03 time: 3.040000000000e-01 total movement = 8.955102021877e-03 vel = 8.973303448750e+00 ******************** Handle Blend Arc prev tan = 0.588938 0.000000 -0.808178 this tan = 0.998752 0.000000 -0.049938 u1 = 0.588938 0.000000 -0.808178 u2 = 0.998752 0.000000 -0.049938 Wrong motion type tc = 2, tc2 = 1 prev segment parabolic, flagging blend_prev Adding TC id 226 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.009706, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.009706, acc = 36.402854,T = 5.894835, P = 1.114956 tc id = 11, canon_type = 1, mot type = 1 time: 0.305000 primary movement = 8.991504875624e-03 time: 3.050000000000e-01 total movement = 8.991504875624e-03 vel = 9.009706302498e+00 ******************** Handle Blend Arc prev tan = 0.998752 0.000000 -0.049938 this tan = 0.793606 0.000000 0.608432 u1 = 0.998752 0.000000 -0.049938 u2 = 0.793606 0.000000 0.608432 angle between segs = 0.704041 u1 = 0.998752 0.000000 -0.049938 u2 = 0.793606 0.000000 0.608432 theta=1.218776 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.343710, vr2 = 10.500546 v_goal = 21.001092, max scale = 2.000000 prev length L1 = 0.012015 next length L2 = 0.003780 K = 0.000156 d_geom = 0.002839, d_prev = 0.010229, d_next = 0.002839 R_geom = 0.007729 v_normal = 0.448124 v_plan = 0.448124 R_plan = 0.007729 v_actual = 0.448124 effective a_n = 25.980762 arc length = 0.005442, L_prev = 0.009176, L_next = 0.004721 Check: v_plan = 0.448124, v_para = 0.300375 angle = 0.704041 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.236301 Old target = 0.012015 Target = 0.009176 setting term condition 3 on tc id 226, type 1 Adding TC id 227 of type 2 Adding TC id 227 of type 1 current term = 3, type = 2, id = 227, smoothing = 0 prev term = 3, type = 1, id = 226, smoothing = 0 prev1_tc-> fv = 0.404047, tc->fv = 0.000000, capped target = 0.448124 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.046109, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.046109, acc = 36.402854,T = 5.894835, P = 1.123984 tc id = 11, canon_type = 1, mot type = 1 time: 0.306000 primary movement = 9.027907729372e-03 time: 3.060000000000e-01 total movement = 9.027907729372e-03 vel = 9.046109156245e+00 ******************** Handle Blend Arc prev tan = 0.793606 0.000000 0.608432 this tan = 0.986394 0.000000 -0.164399 u1 = 0.793606 0.000000 0.608432 u2 = 0.986394 0.000000 -0.164399 angle between segs = 0.819231 u1 = 0.793606 0.000000 0.608432 u2 = 0.986394 0.000000 -0.164399 theta=1.161181 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 10.500546, vr2 = 8.448247 v_goal = 21.001092, max scale = 2.000000 prev length L1 = 0.004721 next length L2 = 0.003041 K = 0.000132 d_geom = 0.002268, d_prev = 0.003729, d_next = 0.002268 R_geom = 0.005223 v_normal = 0.368379 v_plan = 0.368379 R_plan = 0.005223 v_actual = 0.368379 effective a_n = 25.980762 arc length = 0.004279, L_prev = 0.002453, L_next = 0.003815 Check: v_plan = 0.368379, v_para = 0.304138 angle = 0.819231 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.299955 Old target = 0.004721 Target = 0.002453 setting term condition 3 on tc id 227, type 1 Adding TC id 228 of type 2 Adding TC id 228 of type 1 current term = 3, type = 2, id = 228, smoothing = 0 prev term = 3, type = 1, id = 227, smoothing = 0 prev1_tc-> fv = 0.358288, tc->fv = 0.000000, capped target = 0.368379 current term = 3, type = 1, id = 227, smoothing = 0 prev term = 3, type = 2, id = 227, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.448124, tc->fv = 0.358288, capped target = 1.168327 current term = 3, type = 2, id = 227, smoothing = 0 prev term = 3, type = 1, id = 226, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.448124, tc->fv = 0.448124, capped target = 0.448124 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.082512, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.082512, acc = 36.402854,T = 5.894835, P = 1.133048 tc id = 11, canon_type = 1, mot type = 1 time: 0.307000 primary movement = 9.064310583119e-03 time: 3.070000000000e-01 total movement = 9.064310583119e-03 vel = 9.082512009993e+00 ******************** Handle Blend Arc prev tan = 0.986394 0.000000 -0.164399 this tan = 0.894427 0.000000 0.447214 u1 = 0.986394 0.000000 -0.164399 u2 = 0.894427 0.000000 0.447214 angle between segs = 0.628796 u1 = 0.986394 0.000000 -0.164399 u2 = 0.894427 0.000000 0.447214 theta=1.256398 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.448247, vr2 = 9.316913 v_goal = 18.633825, max scale = 2.000000 prev length L1 = 0.003815 next length L2 = 0.001118 K = 0.000176 d_geom = 0.000642, d_prev = 0.002818, d_next = 0.000642 R_geom = 0.001975 v_normal = 0.226534 v_plan = 0.226534 R_plan = 0.001975 v_actual = 0.226534 effective a_n = 25.980762 arc length = 0.001242, L_prev = 0.003173, L_next = 0.001594 Check: v_plan = 0.226534, v_para = 0.175594 angle = 0.628796 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.105595 Old target = 0.003815 Target = 0.003173 setting term condition 3 on tc id 228, type 1 Adding TC id 229 of type 2 Adding TC id 229 of type 1 current term = 3, type = 2, id = 229, smoothing = 0 prev term = 3, type = 1, id = 228, smoothing = 0 prev1_tc-> fv = 0.193030, tc->fv = 0.000000, capped target = 0.226534 current term = 3, type = 1, id = 228, smoothing = 0 prev term = 3, type = 2, id = 228, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.368379, tc->fv = 0.193030, capped target = 1.510793 current term = 3, type = 2, id = 228, smoothing = 0 prev term = 3, type = 1, id = 227, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.368379, tc->fv = 0.368379, capped target = 0.368379 current term = 3, type = 1, id = 227, smoothing = 0 prev term = 3, type = 2, id = 227, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.448124, tc->fv = 0.368379, capped target = 1.168327 current term = 3, type = 2, id = 227, smoothing = 0 prev term = 3, type = 1, id = 226, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.448124, tc->fv = 0.448124, capped target = 0.448124 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.118915, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.118915, acc = 36.402854,T = 5.894835, P = 1.142149 tc id = 11, canon_type = 1, mot type = 1 time: 0.308000 primary movement = 9.100713436866e-03 time: 3.080000000000e-01 total movement = 9.100713436866e-03 vel = 9.118914863740e+00 ******************** Handle Blend Arc prev tan = 0.894427 0.000000 0.447214 this tan = 0.429934 0.000000 0.902861 u1 = 0.894427 0.000000 0.447214 u2 = 0.429934 0.000000 0.902861 angle between segs = 0.662730 u1 = 0.894427 0.000000 0.447214 u2 = 0.429934 0.000000 0.902861 theta=1.239432 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.316913, vr2 = 9.229923 v_goal = 18.633825, max scale = 2.000000 prev length L1 = 0.001594 next length L2 = 0.002326 K = 0.000167 d_geom = 0.001013, d_prev = 0.001013, d_next = 0.001597 R_geom = 0.002944 v_normal = 0.276573 v_plan = 0.276573 R_plan = 0.002944 v_actual = 0.276573 effective a_n = 25.980762 arc length = 0.001951, L_prev = 0.000581, L_next = 0.003639 Check: v_plan = 0.276573, v_para = 0.278003 blend arc NOT created prev segment parabolic, flagging blend_prev Adding TC id 230 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.155318, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.155318, acc = 36.402854,T = 5.894835, P = 1.151286 tc id = 11, canon_type = 1, mot type = 1 time: 0.309000 primary movement = 9.137116290614e-03 time: 3.090000000000e-01 total movement = 9.137116290614e-03 vel = 9.155317717488e+00 ******************** Handle Blend Arc prev tan = 0.429934 0.000000 0.902861 this tan = 0.957826 0.000000 0.287348 u1 = 0.429934 0.000000 0.902861 u2 = 0.957826 0.000000 0.287348 angle between segs = 0.834920 u1 = 0.429934 0.000000 0.902861 u2 = 0.957826 0.000000 0.287348 theta=1.153336 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.229923, vr2 = 8.700221 v_goal = 18.459846, max scale = 2.000000 prev length L1 = 0.004652 next length L2 = 0.001044 K = 0.000129 d_geom = 0.000638, d_prev = 0.003677, d_next = 0.000638 R_geom = 0.001439 v_normal = 0.193326 v_plan = 0.193326 R_plan = 0.001439 v_actual = 0.193326 effective a_n = 25.980762 arc length = 0.001201, L_prev = 0.004014, L_next = 0.001450 Check: v_plan = 0.193326, v_para = 0.180831 angle = 0.834920 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.137159 Old target = 0.004652 Target = 0.004014 setting term condition 3 on tc id 230, type 1 Adding TC id 231 of type 2 Adding TC id 231 of type 1 current term = 3, type = 2, id = 231, smoothing = 0 prev term = 3, type = 1, id = 230, smoothing = 0 prev1_tc-> fv = 0.189823, tc->fv = 0.000000, capped target = 0.193326 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.191721, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.191721, acc = 36.402854,T = 5.894835, P = 1.160459 tc id = 11, canon_type = 1, mot type = 1 time: 0.310000 primary movement = 9.173519144361e-03 time: 3.100000000000e-01 total movement = 9.173519144361e-03 vel = 9.191720571235e+00 ******************** Handle Blend Arc prev tan = 0.957826 0.000000 0.287348 this tan = 0.988936 0.000000 -0.148340 u1 = 0.957826 0.000000 0.287348 u2 = 0.988936 0.000000 -0.148340 angle between segs = 0.440347 u1 = 0.957826 0.000000 0.287348 u2 = 0.988936 0.000000 -0.148340 theta=1.350623 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.700221, vr2 = 8.426528 v_goal = 17.400441, max scale = 2.000000 prev length L1 = 0.001450 next length L2 = 0.002022 K = 0.000256 d_geom = 0.000807, d_prev = 0.000807, d_next = 0.001229 R_geom = 0.003607 v_normal = 0.306112 v_plan = 0.306112 R_plan = 0.003607 v_actual = 0.306112 effective a_n = 25.980762 arc length = 0.001588, L_prev = 0.000643, L_next = 0.003238 Check: v_plan = 0.306112, v_para = 0.247689 angle = 0.440347 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.386570 prev smoothing enabled Old target = 0.001450 Target = 0.000643 setting term condition 3 on tc id 231, type 1 Adding TC id 232 of type 2 Adding TC id 232 of type 1 current term = 3, type = 2, id = 232, smoothing = 1 prev term = 3, type = 1, id = 231, smoothing = 1 prev1_tc-> fv = 0.200670, tc->fv = 0.000000, capped target = 0.200670 current term = 3, type = 1, id = 231, smoothing = 1 prev term = 3, type = 2, id = 231, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.193326, tc->fv = 0.200670, capped target = 0.200670 current term = 3, type = 2, id = 231, smoothing = 0 prev term = 3, type = 1, id = 230, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.193326, tc->fv = 0.193326, capped target = 0.193326 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.228123, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.228123, acc = 36.402854,T = 5.894835, P = 1.169669 tc id = 11, canon_type = 1, mot type = 1 time: 0.311000 primary movement = 9.209921998109e-03 time: 3.110000000000e-01 total movement = 9.209921998109e-03 vel = 9.228123424983e+00 ******************** Handle Blend Arc prev tan = 0.988936 0.000000 -0.148340 this tan = 0.567733 0.000000 -0.823213 u1 = 0.988936 0.000000 -0.148340 u2 = 0.567733 0.000000 -0.823213 angle between segs = 0.818157 u1 = 0.988936 0.000000 -0.148340 u2 = 0.567733 0.000000 -0.823213 theta=1.161718 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.426528, vr2 = 10.122939 v_goal = 20.245878, max scale = 2.000000 prev length L1 = 0.003238 next length L2 = 0.001761 K = 0.000132 d_geom = 0.001199, d_prev = 0.002435, d_next = 0.001199 R_geom = 0.002765 v_normal = 0.268007 v_plan = 0.268007 R_plan = 0.002765 v_actual = 0.268007 effective a_n = 25.980762 arc length = 0.002262, L_prev = 0.002039, L_next = 0.002324 Check: v_plan = 0.268007, v_para = 0.210900 angle = 0.818157 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.296329 Old target = 0.003238 Target = 0.002039 setting term condition 3 on tc id 232, type 1 Adding TC id 233 of type 2 Adding TC id 233 of type 1 current term = 3, type = 2, id = 233, smoothing = 0 prev term = 3, type = 1, id = 232, smoothing = 0 prev1_tc-> fv = 0.260495, tc->fv = 0.000000, capped target = 0.268007 current term = 3, type = 1, id = 232, smoothing = 0 prev term = 3, type = 2, id = 232, smoothing = 1 prev1_tc-> fv = 0.296503, tc->fv = 0.260495, capped target = 0.970949 current term = 3, type = 2, id = 232, smoothing = 1 prev term = 3, type = 1, id = 231, smoothing = 1 prev1_tc-> fv = 0.278646, tc->fv = 0.296503, capped target = 0.296503 current term = 3, type = 1, id = 231, smoothing = 1 prev term = 3, type = 2, id = 231, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.193326, tc->fv = 0.278646, capped target = 0.278646 current term = 3, type = 2, id = 231, smoothing = 0 prev term = 3, type = 1, id = 230, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.193326, tc->fv = 0.193326, capped target = 0.193326 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.264526, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.264526, acc = 36.402854,T = 5.894835, P = 1.178916 tc id = 11, canon_type = 1, mot type = 1 time: 0.312000 primary movement = 9.246324851856e-03 time: 3.120000000000e-01 total movement = 9.246324851856e-03 vel = 9.264526278730e+00 ******************** Handle Blend Arc prev tan = 0.567733 0.000000 -0.823213 this tan = 0.957826 0.000000 0.287348 u1 = 0.567733 0.000000 -0.823213 u2 = 0.957826 0.000000 0.287348 angle between segs = 1.258504 u1 = 0.567733 0.000000 -0.823213 u2 = 0.957826 0.000000 0.287348 theta=0.941544 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 10.122939, vr2 = 8.700221 v_goal = 20.245878, max scale = 2.000000 prev length L1 = 0.002324 next length L2 = 0.001044 K = 0.000079 d_geom = 0.000710, d_prev = 0.001793, d_next = 0.000710 R_geom = 0.000975 v_normal = 0.159161 v_plan = 0.159161 R_plan = 0.000975 v_actual = 0.159161 effective a_n = 25.980762 arc length = 0.001227, L_prev = 0.001614, L_next = 0.001378 Check: v_plan = 0.159161, v_para = 0.180831 blend arc NOT created prev segment parabolic, flagging blend_prev Adding TC id 234 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.300929, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.300929, acc = 36.402854,T = 5.894835, P = 1.188198 tc id = 11, canon_type = 1, mot type = 1 time: 0.313000 primary movement = 9.282727705604e-03 time: 3.130000000000e-01 total movement = 9.282727705604e-03 vel = 9.300929132477e+00 ******************** Handle Blend Arc prev tan = 0.957826 0.000000 0.287348 this tan = 0.067075 0.000000 0.997748 u1 = 0.957826 0.000000 0.287348 u2 = 0.067075 0.000000 0.997748 angle between segs = 1.212214 u1 = 0.957826 0.000000 0.287348 u2 = 0.067075 0.000000 0.997748 theta=0.964690 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.700221, vr2 = 8.352143 v_goal = 17.400441, max scale = 2.000000 prev length L1 = 0.002088 next length L2 = 0.059634 K = 0.000083 d_geom = 0.001577, d_prev = 0.001577, d_next = 0.056576 R_geom = 0.002276 v_normal = 0.243159 v_plan = 0.243159 R_plan = 0.002276 v_actual = 0.243159 effective a_n = 25.980762 arc length = 0.002759, L_prev = 0.000511, L_next = 0.117691 Check: v_plan = 0.243159, v_para = 1.339055 blend arc NOT created prev segment parabolic, flagging blend_prev Adding TC id 235 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.337332, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.337332, acc = 36.402854,T = 5.894835, P = 1.197517 tc id = 11, canon_type = 1, mot type = 1 time: 0.314000 primary movement = 9.319130559351e-03 time: 3.140000000000e-01 total movement = 9.319130559351e-03 vel = 9.337331986225e+00 ******************** Handle Blend Arc prev tan = 0.067075 0.000000 0.997748 this tan = 0.443661 0.000000 0.896195 u1 = 0.067075 0.000000 0.997748 u2 = 0.443661 0.000000 0.896195 angle between segs = 0.392553 u1 = 0.067075 0.000000 0.997748 u2 = 0.443661 0.000000 0.896195 theta=1.374520 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.352143, vr2 = 9.298573 v_goal = 18.597147, max scale = 2.000000 prev length L1 = 0.119269 next length L2 = 0.011270 K = 0.000288 d_geom = 0.008993, d_prev = 0.111262, d_next = 0.008993 R_geom = 0.045230 v_normal = 1.084027 v_plan = 1.084027 R_plan = 0.045230 v_actual = 1.084027 effective a_n = 25.980762 arc length = 0.017755, L_prev = 0.110275, L_next = 0.013546 Check: v_plan = 1.084027, v_para = 0.551697 angle = 0.392553 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.075405 Old target = 0.119269 Target = 0.110275 setting term condition 3 on tc id 235, type 1 Adding TC id 236 of type 2 Adding TC id 236 of type 1 current term = 3, type = 2, id = 236, smoothing = 0 prev term = 3, type = 1, id = 235, smoothing = 0 prev1_tc-> fv = 0.729834, tc->fv = 0.000000, capped target = 1.084027 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.373735, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.373735, acc = 36.402854,T = 5.894835, P = 1.206873 tc id = 11, canon_type = 1, mot type = 1 time: 0.315000 primary movement = 9.355533413099e-03 time: 3.150000000000e-01 total movement = 9.355533413099e-03 vel = 9.373734839972e+00 ******************** Handle Blend Arc prev tan = 0.443661 0.000000 0.896195 this tan = 0.321039 0.000000 0.947066 u1 = 0.443661 0.000000 0.896195 u2 = 0.321039 0.000000 0.947066 angle between segs = 0.132853 u1 = 0.443661 0.000000 0.896195 u2 = 0.321039 0.000000 0.947066 theta=1.504370 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.298573, vr2 = 8.799106 v_goal = 18.597147, max scale = 2.000000 prev length L1 = 0.013546 next length L2 = 0.006230 K = 0.000861 d_geom = 0.003704, d_prev = 0.009501, d_next = 0.003704 R_geom = 0.055679 v_normal = 1.202741 v_plan = 1.202741 R_plan = 0.055679 v_actual = 1.202741 effective a_n = 25.980762 arc length = 0.007397, L_prev = 0.009842, L_next = 0.008756 Check: v_plan = 1.202741, v_para = 0.444229 angle = 0.132853 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.164332 Old target = 0.013546 Target = 0.009842 setting term condition 3 on tc id 236, type 1 Adding TC id 237 of type 2 Adding TC id 237 of type 1 current term = 3, type = 2, id = 237, smoothing = 0 prev term = 3, type = 1, id = 236, smoothing = 0 prev1_tc-> fv = 0.471077, tc->fv = 0.000000, capped target = 1.202741 current term = 3, type = 1, id = 236, smoothing = 0 prev term = 3, type = 2, id = 236, smoothing = 0 prev1_tc-> fv = 0.938538, tc->fv = 0.471077, capped target = 4.686817 current term = 3, type = 2, id = 236, smoothing = 0 prev term = 3, type = 1, id = 235, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 1.084027, tc->fv = 0.938538, capped target = 1.084027 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.410138, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.410138, acc = 36.402854,T = 5.894835, P = 1.216265 tc id = 11, canon_type = 1, mot type = 1 time: 0.316000 primary movement = 9.391936266846e-03 time: 3.160000000000e-01 total movement = 9.391936266846e-03 vel = 9.410137693720e+00 ******************** Handle Blend Arc prev tan = 0.321039 0.000000 0.947066 this tan = 0.931655 0.000000 0.363345 u1 = 0.321039 0.000000 0.947066 u2 = 0.931655 0.000000 0.363345 angle between segs = 0.872114 u1 = 0.321039 0.000000 0.947066 u2 = 0.931655 0.000000 0.363345 theta=1.134740 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.799106, vr2 = 8.944624 v_goal = 17.889249, max scale = 2.000000 prev length L1 = 0.008756 next length L2 = 0.005367 K = 0.000123 d_geom = 0.004334, d_prev = 0.007406, d_next = 0.004334 R_geom = 0.009302 v_normal = 0.491600 v_plan = 0.491600 R_plan = 0.009302 v_actual = 0.491600 effective a_n = 25.980762 arc length = 0.008112, L_prev = 0.004421, L_next = 0.006399 Check: v_plan = 0.491600, v_para = 0.408946 angle = 0.872114 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.347881 prev smoothing enabled Old target = 0.008756 Target = 0.004421 setting term condition 3 on tc id 237, type 1 Adding TC id 238 of type 2 Adding TC id 238 of type 1 current term = 3, type = 2, id = 238, smoothing = 1 prev term = 3, type = 1, id = 237, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.491600, tc->fv = 0.000000, capped target = 0.491600 current term = 3, type = 1, id = 237, smoothing = 1 prev term = 3, type = 2, id = 237, smoothing = 0 prev1_tc-> fv = 0.666204, tc->fv = 0.491600, capped target = 0.666204 current term = 3, type = 2, id = 237, smoothing = 0 prev term = 3, type = 1, id = 236, smoothing = 0 prev1_tc-> fv = 0.815930, tc->fv = 0.666204, capped target = 1.202741 current term = 3, type = 1, id = 236, smoothing = 0 prev term = 3, type = 2, id = 236, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 1.084027, tc->fv = 0.815930, capped target = 4.686817 current term = 3, type = 2, id = 236, smoothing = 0 prev term = 3, type = 1, id = 235, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 1.084027, tc->fv = 1.084027, capped target = 1.084027 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.446541, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.446541, acc = 36.402854,T = 5.894835, P = 1.225693 tc id = 11, canon_type = 1, mot type = 1 time: 0.317000 primary movement = 9.428339120594e-03 time: 3.170000000000e-01 total movement = 9.428339120594e-03 vel = 9.446540547467e+00 ******************** Handle Blend Arc prev tan = 0.931655 0.000000 0.363345 this tan = 0.595228 0.000000 0.803557 u1 = 0.931655 0.000000 0.363345 u2 = 0.595228 0.000000 0.803557 angle between segs = 0.561391 u1 = 0.931655 0.000000 0.363345 u2 = 0.595228 0.000000 0.803557 theta=1.290101 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.944624, vr2 = 10.370554 v_goal = 20.741107, max scale = 2.000000 prev length L1 = 0.006399 next length L2 = 0.006720 K = 0.000199 d_geom = 0.004991, d_prev = 0.004991, d_next = 0.005273 R_geom = 0.017311 v_normal = 0.670632 v_plan = 0.670632 R_plan = 0.017311 v_actual = 0.670632 effective a_n = 25.980762 arc length = 0.009718, L_prev = 0.001408, L_next = 0.008449 Check: v_plan = 0.670632, v_para = 0.432019 angle = 0.561391 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.464973 prev smoothing enabled Old target = 0.006399 Target = 0.001408 setting term condition 3 on tc id 238, type 1 Adding TC id 239 of type 2 Adding TC id 239 of type 1 current term = 3, type = 2, id = 239, smoothing = 1 prev term = 3, type = 1, id = 238, smoothing = 1 prev1_tc-> fv = 0.301162, tc->fv = 0.000000, capped target = 0.301162 current term = 3, type = 1, id = 238, smoothing = 1 prev term = 3, type = 2, id = 238, smoothing = 1 prev1_tc-> fv = 0.425907, tc->fv = 0.301162, capped target = 0.425907 current term = 3, type = 2, id = 238, smoothing = 1 prev term = 3, type = 1, id = 237, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.491600, tc->fv = 0.425907, capped target = 0.491600 current term = 3, type = 1, id = 237, smoothing = 1 prev term = 3, type = 2, id = 237, smoothing = 0 prev1_tc-> fv = 0.722331, tc->fv = 0.491600, capped target = 0.722331 current term = 3, type = 2, id = 237, smoothing = 0 prev term = 3, type = 1, id = 236, smoothing = 0 prev1_tc-> fv = 0.862367, tc->fv = 0.722331, capped target = 1.202741 current term = 3, type = 1, id = 236, smoothing = 0 prev term = 3, type = 2, id = 236, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 1.084027, tc->fv = 0.862367, capped target = 4.686817 current term = 3, type = 2, id = 236, smoothing = 0 prev term = 3, type = 1, id = 235, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 1.084027, tc->fv = 1.084027, capped target = 1.084027 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.482943, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.482943, acc = 36.402854,T = 5.894835, P = 1.235158 tc id = 11, canon_type = 1, mot type = 1 time: 0.318000 primary movement = 9.464741974341e-03 time: 3.180000000000e-01 total movement = 9.464741974341e-03 vel = 9.482943401215e+00 ******************** Handle Blend Arc prev tan = 0.595228 0.000000 0.803557 this tan = 0.955927 0.000000 0.293606 u1 = 0.595228 0.000000 0.803557 u2 = 0.955927 0.000000 0.293606 angle between segs = 0.635251 u1 = 0.595228 0.000000 0.803557 u2 = 0.955927 0.000000 0.293606 theta=1.253171 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 10.370554, vr2 = 8.717511 v_goal = 20.741107, max scale = 2.000000 prev length L1 = 0.008449 next length L2 = 0.007323 K = 0.000174 d_geom = 0.005890, d_prev = 0.006899, d_next = 0.005890 R_geom = 0.017916 v_normal = 0.682255 v_plan = 0.682255 R_plan = 0.017916 v_actual = 0.682255 effective a_n = 25.980762 arc length = 0.011381, L_prev = 0.002559, L_next = 0.008755 Check: v_plan = 0.682255, v_para = 0.479386 angle = 0.635251 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.438236 prev smoothing enabled Old target = 0.008449 Target = 0.002559 setting term condition 3 on tc id 239, type 1 Adding TC id 240 of type 2 Adding TC id 240 of type 1 current term = 3, type = 2, id = 240, smoothing = 1 prev term = 3, type = 1, id = 239, smoothing = 1 prev1_tc-> fv = 0.437156, tc->fv = 0.000000, capped target = 0.437156 current term = 3, type = 1, id = 239, smoothing = 1 prev term = 3, type = 2, id = 239, smoothing = 1 prev1_tc-> fv = 0.618232, tc->fv = 0.437156, capped target = 0.618232 current term = 3, type = 2, id = 239, smoothing = 1 prev term = 3, type = 1, id = 238, smoothing = 1 prev1_tc-> fv = 0.521628, tc->fv = 0.618232, capped target = 0.618232 current term = 3, type = 1, id = 238, smoothing = 1 prev term = 3, type = 2, id = 238, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.491600, tc->fv = 0.521628, capped target = 0.521628 current term = 3, type = 2, id = 238, smoothing = 1 prev term = 3, type = 1, id = 237, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.491600, tc->fv = 0.491600, capped target = 0.491600 current term = 3, type = 1, id = 237, smoothing = 1 prev term = 3, type = 2, id = 237, smoothing = 0 prev1_tc-> fv = 0.722331, tc->fv = 0.491600, capped target = 0.722331 current term = 3, type = 2, id = 237, smoothing = 0 prev term = 3, type = 1, id = 236, smoothing = 0 prev1_tc-> fv = 0.862367, tc->fv = 0.722331, capped target = 1.202741 current term = 3, type = 1, id = 236, smoothing = 0 prev term = 3, type = 2, id = 236, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 1.084027, tc->fv = 0.862367, capped target = 4.686817 current term = 3, type = 2, id = 236, smoothing = 0 prev term = 3, type = 1, id = 235, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 1.084027, tc->fv = 1.084027, capped target = 1.084027 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.519346, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.519346, acc = 36.402854,T = 5.894835, P = 1.244659 tc id = 11, canon_type = 1, mot type = 1 time: 0.319000 primary movement = 9.501144828089e-03 time: 3.190000000000e-01 total movement = 9.501144828089e-03 vel = 9.519346254962e+00 prev segment parabolic, flagging blend_prev tpAddCircle: checking for tangent with previous prev tan = 0.955927 0.000000 0.293606 this tan = 0.513607 -0.000000 0.858026 u1 = 0.955927 0.000000 0.293606 u2 = 0.513607 -0.000000 0.858026 Adding TC id 241 of type 2 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.555749, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.555749, acc = 36.402854,T = 5.894835, P = 1.254197 tc id = 11, canon_type = 1, mot type = 1 time: 0.320000 primary movement = 9.537547681836e-03 time: 3.200000000000e-01 total movement = 9.537547681836e-03 vel = 9.555749108710e+00 ******************** Handle Blend Arc prev tan = 0.967231 -0.000000 0.253898 this tan = 0.953342 0.000000 0.301892 u1 = 0.967231 -0.000000 0.253898 u2 = 0.953342 0.000000 0.301892 Wrong motion type tc = 2, tc2 = 1 prev segment parabolic, flagging blend_prev Adding TC id 242 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.592152, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.592152, acc = 36.402854,T = 5.894835, P = 1.263771 tc id = 11, canon_type = 1, mot type = 1 time: 0.321000 primary movement = 9.573950535583e-03 time: 3.210000000000e-01 total movement = 9.573950535583e-03 vel = 9.592151962457e+00 ******************** Handle Blend Arc prev tan = 0.953342 0.000000 0.301892 this tan = 0.975610 0.000000 -0.219512 u1 = 0.953342 0.000000 0.301892 u2 = 0.975610 0.000000 -0.219512 angle between segs = 0.527991 u1 = 0.953342 0.000000 0.301892 u2 = 0.975610 0.000000 -0.219512 theta=1.306801 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.741142, vr2 = 8.541632 v_goal = 17.482284, max scale = 2.000000 prev length L1 = 0.006294 next length L2 = 0.002050 K = 0.000212 d_geom = 0.001306, d_prev = 0.004859, d_next = 0.001306 R_geom = 0.004832 v_normal = 0.354297 v_plan = 0.354297 R_plan = 0.004832 v_actual = 0.354297 effective a_n = 25.980762 arc length = 0.002551, L_prev = 0.004988, L_next = 0.002794 Check: v_plan = 0.354297, v_para = 0.251073 angle = 0.527991 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.207507 Old target = 0.006294 Target = 0.004988 setting term condition 3 on tc id 242, type 1 Adding TC id 243 of type 2 Adding TC id 243 of type 1 current term = 3, type = 2, id = 243, smoothing = 0 prev term = 3, type = 1, id = 242, smoothing = 0 prev1_tc-> fv = 0.276640, tc->fv = 0.000000, capped target = 0.354297 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.628555, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.628555, acc = 36.402854,T = 5.894835, P = 1.273381 tc id = 11, canon_type = 1, mot type = 1 time: 0.322000 primary movement = 9.610353389331e-03 time: 3.220000000000e-01 total movement = 9.610353389331e-03 vel = 9.628554816205e+00 ******************** Handle Blend Arc prev tan = 0.975610 0.000000 -0.219512 this tan = 0.903278 0.000000 0.429057 u1 = 0.975610 0.000000 -0.219512 u2 = 0.903278 0.000000 0.429057 angle between segs = 0.664763 u1 = 0.975610 0.000000 -0.219512 u2 = 0.903278 0.000000 0.429057 theta=1.238415 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.541632, vr2 = 9.225626 v_goal = 18.451251, max scale = 2.000000 prev length L1 = 0.002794 next length L2 = 0.002214 K = 0.000166 d_geom = 0.001507, d_prev = 0.001983, d_next = 0.001507 R_geom = 0.004366 v_normal = 0.336778 v_plan = 0.336778 R_plan = 0.004366 v_actual = 0.336778 effective a_n = 25.980762 arc length = 0.002902, L_prev = 0.001287, L_next = 0.002921 Check: v_plan = 0.336778, v_para = 0.251073 angle = 0.664763 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.367543 prev smoothing enabled Old target = 0.002794 Target = 0.001287 setting term condition 3 on tc id 243, type 1 Adding TC id 244 of type 2 Adding TC id 244 of type 1 current term = 3, type = 2, id = 244, smoothing = 1 prev term = 3, type = 1, id = 243, smoothing = 1 prev1_tc-> fv = 0.281348, tc->fv = 0.000000, capped target = 0.281348 current term = 3, type = 1, id = 243, smoothing = 1 prev term = 3, type = 2, id = 243, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.354297, tc->fv = 0.281348, capped target = 0.354297 current term = 3, type = 2, id = 243, smoothing = 0 prev term = 3, type = 1, id = 242, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.354297, tc->fv = 0.354297, capped target = 0.354297 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.664958, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.664958, acc = 36.402854,T = 5.894835, P = 1.283028 tc id = 11, canon_type = 1, mot type = 1 time: 0.323000 primary movement = 9.646756243079e-03 time: 3.230000000000e-01 total movement = 9.646756243079e-03 vel = 9.664957669952e+00 ******************** Handle Blend Arc prev tan = 0.903278 0.000000 0.429057 this tan = 1.000000 0.000000 0.000000 u1 = 0.903278 0.000000 0.429057 u2 = 1.000000 0.000000 0.000000 angle between segs = 0.443448 u1 = 0.903278 0.000000 0.429057 u2 = 1.000000 0.000000 0.000000 theta=1.349072 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.225626, vr2 = 8.333300 v_goal = 18.451251, max scale = 2.000000 prev length L1 = 0.002921 next length L2 = 0.003000 K = 0.000254 d_geom = 0.001931, d_prev = 0.001931, d_next = 0.001993 R_geom = 0.008565 v_normal = 0.471722 v_plan = 0.471722 R_plan = 0.008565 v_actual = 0.471722 effective a_n = 25.980762 arc length = 0.003798, L_prev = 0.000991, L_next = 0.004069 Check: v_plan = 0.471722, v_para = 0.300000 angle = 0.443448 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.436007 prev smoothing enabled Old target = 0.002921 Target = 0.000991 setting term condition 3 on tc id 244, type 1 Adding TC id 245 of type 2 Adding TC id 245 of type 1 current term = 3, type = 2, id = 245, smoothing = 1 prev term = 3, type = 1, id = 244, smoothing = 1 prev1_tc-> fv = 0.256518, tc->fv = 0.000000, capped target = 0.256518 current term = 3, type = 1, id = 244, smoothing = 1 prev term = 3, type = 2, id = 244, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.336778, tc->fv = 0.256518, capped target = 0.336778 current term = 3, type = 2, id = 244, smoothing = 1 prev term = 3, type = 1, id = 243, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.336778, tc->fv = 0.336778, capped target = 0.336778 current term = 3, type = 1, id = 243, smoothing = 1 prev term = 3, type = 2, id = 243, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.354297, tc->fv = 0.336778, capped target = 0.354297 current term = 3, type = 2, id = 243, smoothing = 0 prev term = 3, type = 1, id = 242, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.354297, tc->fv = 0.354297, capped target = 0.354297 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.701361, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.701361, acc = 36.402854,T = 5.894835, P = 1.292711 tc id = 11, canon_type = 1, mot type = 1 time: 0.324000 primary movement = 9.683159096826e-03 time: 3.240000000000e-01 total movement = 9.683159096826e-03 vel = 9.701360523700e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.737763, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.737763, acc = 36.402854,T = 5.894835, P = 1.302430 tc id = 11, canon_type = 1, mot type = 1 time: 0.325000 primary movement = 9.719561950573e-03 time: 3.250000000000e-01 total movement = 9.719561950573e-03 vel = 9.737763377447e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.774166, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.774166, acc = 36.402854,T = 5.894835, P = 1.312186 tc id = 11, canon_type = 1, mot type = 1 time: 0.326000 primary movement = 9.755964804321e-03 time: 3.260000000000e-01 total movement = 9.755964804321e-03 vel = 9.774166231195e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.810569, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.810569, acc = 36.402854,T = 5.894835, P = 1.321979 tc id = 11, canon_type = 1, mot type = 1 time: 0.327000 primary movement = 9.792367658068e-03 time: 3.270000000000e-01 total movement = 9.792367658068e-03 vel = 9.810569084942e+00 ******************** Handle Blend Arc prev tan = 1.000000 0.000000 0.000000 this tan = 0.987269 0.000000 -0.159060 u1 = 1.000000 0.000000 0.000000 u2 = 0.987269 0.000000 -0.159060 angle between segs = 0.159738 u1 = 1.000000 0.000000 0.000000 u2 = 0.987269 0.000000 -0.159060 theta=1.490927 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.333300, vr2 = 8.440760 v_goal = 16.881520, max scale = 2.000000 prev length L1 = 0.004069 next length L2 = 0.009116 K = 0.000716 d_geom = 0.002268, d_prev = 0.002268, d_next = 0.006149 R_geom = 0.028331 v_normal = 0.857933 v_plan = 0.857933 R_plan = 0.028331 v_actual = 0.857933 effective a_n = 25.980762 arc length = 0.004525, L_prev = 0.001802, L_next = 0.015965 Check: v_plan = 0.857933, v_para = 0.519615 angle = 0.159738 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.377927 prev smoothing enabled Old target = 0.004069 Target = 0.001802 setting term condition 3 on tc id 245, type 1 Adding TC id 246 of type 2 Adding TC id 246 of type 1 current term = 3, type = 2, id = 246, smoothing = 1 prev term = 3, type = 1, id = 245, smoothing = 1 prev1_tc-> fv = 0.328785, tc->fv = 0.000000, capped target = 0.328785 current term = 3, type = 1, id = 245, smoothing = 1 prev term = 3, type = 2, id = 245, smoothing = 1 prev1_tc-> fv = 0.423962, tc->fv = 0.328785, capped target = 0.423962 current term = 3, type = 2, id = 245, smoothing = 1 prev term = 3, type = 1, id = 244, smoothing = 1 prev1_tc-> fv = 0.423345, tc->fv = 0.423962, capped target = 0.423962 current term = 3, type = 1, id = 244, smoothing = 1 prev term = 3, type = 2, id = 244, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.336778, tc->fv = 0.423345, capped target = 0.423345 current term = 3, type = 2, id = 244, smoothing = 1 prev term = 3, type = 1, id = 243, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.336778, tc->fv = 0.336778, capped target = 0.336778 current term = 3, type = 1, id = 243, smoothing = 1 prev term = 3, type = 2, id = 243, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.354297, tc->fv = 0.336778, capped target = 0.354297 current term = 3, type = 2, id = 243, smoothing = 0 prev term = 3, type = 1, id = 242, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.354297, tc->fv = 0.354297, capped target = 0.354297 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.846972, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.846972, acc = 36.402854,T = 5.894835, P = 1.331808 tc id = 11, canon_type = 1, mot type = 1 time: 0.328000 primary movement = 9.828770511816e-03 time: 3.280000000000e-01 total movement = 9.828770511816e-03 vel = 9.846971938689e+00 prev segment parabolic, flagging blend_prev tpAddCircle: checking for tangent with previous prev tan = 0.987269 0.000000 -0.159060 this tan = 0.905459 0.000000 -0.424434 u1 = 0.987269 0.000000 -0.159060 u2 = 0.905459 0.000000 -0.424434 Adding TC id 247 of type 2 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.883375, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.883375, acc = 36.402854,T = 5.894835, P = 1.341673 tc id = 11, canon_type = 1, mot type = 1 time: 0.329000 primary movement = 9.865173365563e-03 time: 3.290000000000e-01 total movement = 9.865173365563e-03 vel = 9.883374792437e+00 prev segment parabolic, flagging blend_prev tpAddCircle: checking for tangent with previous prev tan = 0.443436 0.000000 -0.896306 this tan = 0.999201 0.000000 -0.039968 u1 = 0.443436 0.000000 -0.896306 u2 = 0.999201 0.000000 -0.039968 Adding TC id 248 of type 2 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.919778, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.919778, acc = 36.402854,T = 5.894835, P = 1.351574 tc id = 11, canon_type = 1, mot type = 1 time: 0.330000 primary movement = 9.901576219311e-03 time: 3.300000000000e-01 total movement = 9.901576219311e-03 vel = 9.919777646184e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.956180, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.956180, acc = 36.402854,T = 5.894835, P = 1.361512 tc id = 11, canon_type = 1, mot type = 1 time: 0.331000 primary movement = 9.937979073058e-03 time: 3.310000000000e-01 total movement = 9.937979073058e-03 vel = 9.956180499932e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.992583, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.992583, acc = 36.402854,T = 5.894835, P = 1.371487 tc id = 11, canon_type = 1, mot type = 1 time: 0.332000 primary movement = 9.974381926806e-03 time: 3.320000000000e-01 total movement = 9.974381926806e-03 vel = 9.992583353679e+00 ******************** Handle Blend Arc prev tan = 0.540758 0.000000 -0.841178 this tan = 0.377897 0.000000 -0.925848 u1 = 0.540758 0.000000 -0.841178 u2 = 0.377897 0.000000 -0.925848 Wrong motion type tc = 2, tc2 = 1 prev segment parabolic, flagging blend_prev Adding TC id 249 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.028986, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.028986, acc = 36.402854,T = 5.894835, P = 1.381497 tc id = 11, canon_type = 1, mot type = 1 time: 0.333000 primary movement = 1.001078478055e-02 time: 3.330000000000e-01 total movement = 1.001078478055e-02 vel = 1.002898620743e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.065389, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.065389, acc = 36.402854,T = 5.894835, P = 1.391545 tc id = 11, canon_type = 1, mot type = 1 time: 0.334000 primary movement = 1.004718763430e-02 time: 3.340000000000e-01 total movement = 1.004718763430e-02 vel = 1.006538906117e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.101792, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.101792, acc = 36.402854,T = 5.894835, P = 1.401628 tc id = 11, canon_type = 1, mot type = 1 time: 0.335000 primary movement = 1.008359048805e-02 time: 3.350000000000e-01 total movement = 1.008359048805e-02 vel = 1.010179191492e+01 prev segment parabolic, flagging blend_prev tpAddCircle: checking for tangent with previous prev tan = 0.377897 0.000000 -0.925848 this tan = 0.890312 0.000000 -0.455351 u1 = 0.377897 0.000000 -0.925848 u2 = 0.890312 0.000000 -0.455351 Adding TC id 250 of type 2 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 10.071456,T = 5.894835, P = 1.411735 tc id = 11, canon_type = 1, mot type = 1 time: 0.336000 primary movement = 1.010682764302e-02 time: 3.360000000000e-01 total movement = 1.010682764302e-02 vel = 1.011186337113e+01 ******************** Handle Blend Arc prev tan = 0.505138 0.000000 -0.863039 this tan = 0.368214 0.000000 0.929741 u1 = 0.505138 0.000000 -0.863039 u2 = 0.368214 0.000000 0.929741 Wrong motion type tc = 2, tc2 = 1 prev segment parabolic, flagging blend_prev Adding TC id 251 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.421847 tc id = 11, canon_type = 1, mot type = 1 time: 0.337000 primary movement = 1.011186337113e-02 time: 3.370000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ******************** Handle Blend Arc prev tan = 0.368214 0.000000 0.929741 this tan = 0.838444 0.000000 0.544988 u1 = 0.368214 0.000000 0.929741 u2 = 0.838444 0.000000 0.544988 angle between segs = 0.617334 u1 = 0.368214 0.000000 0.929741 u2 = 0.838444 0.000000 0.544988 theta=1.262130 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.963070, vr2 = 9.939011 v_goal = 19.878021, max scale = 2.000000 prev length L1 = 0.010863 next length L2 = 0.002385 K = 0.000180 d_geom = 0.001622, d_prev = 0.009059, d_next = 0.001622 R_geom = 0.005087 v_normal = 0.363535 v_plan = 0.363535 R_plan = 0.005087 v_actual = 0.363535 effective a_n = 25.980762 arc length = 0.003140, L_prev = 0.009241, L_next = 0.003149 Check: v_plan = 0.363535, v_para = 0.263459 angle = 0.617334 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.149306 Old target = 0.010863 Target = 0.009241 setting term condition 3 on tc id 251, type 1 Adding TC id 252 of type 2 Adding TC id 252 of type 1 current term = 3, type = 2, id = 252, smoothing = 0 prev term = 3, type = 1, id = 251, smoothing = 0 prev1_tc-> fv = 0.306931, tc->fv = 0.000000, capped target = 0.363535 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.431959 tc id = 11, canon_type = 1, mot type = 1 time: 0.338000 primary movement = 1.011186337113e-02 time: 3.380000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ******************** Handle Blend Arc prev tan = 0.838444 0.000000 0.544988 this tan = 0.507020 0.000000 0.861934 u1 = 0.838444 0.000000 0.544988 u2 = 0.507020 0.000000 0.861934 angle between segs = 0.462697 u1 = 0.838444 0.000000 0.544988 u2 = 0.507020 0.000000 0.861934 theta=1.339448 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.939011, vr2 = 9.668178 v_goal = 19.878021, max scale = 2.000000 prev length L1 = 0.003149 next length L2 = 0.005917 K = 0.000243 d_geom = 0.002131, d_prev = 0.002131, d_next = 0.004446 R_geom = 0.009045 v_normal = 0.484772 v_plan = 0.484772 R_plan = 0.009045 v_actual = 0.484772 effective a_n = 25.980762 arc length = 0.004185, L_prev = 0.001018, L_next = 0.009703 Check: v_plan = 0.484772, v_para = 0.453807 angle = 0.462697 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.446633 prev smoothing enabled Old target = 0.003149 Target = 0.001018 setting term condition 3 on tc id 252, type 1 Adding TC id 253 of type 2 Adding TC id 253 of type 1 current term = 3, type = 2, id = 253, smoothing = 1 prev term = 3, type = 1, id = 252, smoothing = 1 prev1_tc-> fv = 0.269909, tc->fv = 0.000000, capped target = 0.269909 current term = 3, type = 1, id = 252, smoothing = 1 prev term = 3, type = 2, id = 252, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.363535, tc->fv = 0.269909, capped target = 0.363535 current term = 3, type = 2, id = 252, smoothing = 0 prev term = 3, type = 1, id = 251, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.363535, tc->fv = 0.363535, capped target = 0.363535 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.442071 tc id = 11, canon_type = 1, mot type = 1 time: 0.339000 primary movement = 1.011186337113e-02 time: 3.390000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ******************** Handle Blend Arc prev tan = 0.507020 0.000000 0.861934 this tan = 0.998752 0.000000 0.049938 u1 = 0.507020 0.000000 0.861934 u2 = 0.998752 0.000000 0.049938 angle between segs = 0.989114 u1 = 0.507020 0.000000 0.861934 u2 = 0.998752 0.000000 0.049938 theta=1.076239 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.668178, vr2 = 8.343710 v_goal = 19.336355, max scale = 2.000000 prev length L1 = 0.009703 next length L2 = 0.006007 K = 0.000106 d_geom = 0.004979, d_prev = 0.008370, d_next = 0.004979 R_geom = 0.009233 v_normal = 0.489777 v_plan = 0.489777 R_plan = 0.009233 v_actual = 0.489777 effective a_n = 25.980762 arc length = 0.009133, L_prev = 0.004724, L_next = 0.007036 Check: v_plan = 0.489777, v_para = 0.424794 angle = 0.989114 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.420739 prev smoothing enabled Old target = 0.009703 Target = 0.004724 setting term condition 3 on tc id 253, type 1 Adding TC id 254 of type 2 Adding TC id 254 of type 1 current term = 3, type = 2, id = 254, smoothing = 1 prev term = 3, type = 1, id = 253, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.489777, tc->fv = 0.000000, capped target = 0.489777 current term = 3, type = 1, id = 253, smoothing = 1 prev term = 3, type = 2, id = 253, smoothing = 1 prev1_tc-> fv = 0.445430, tc->fv = 0.489777, capped target = 0.489777 current term = 3, type = 2, id = 253, smoothing = 1 prev term = 3, type = 1, id = 252, smoothing = 1 prev1_tc-> fv = 0.452778, tc->fv = 0.445430, capped target = 0.452778 current term = 3, type = 1, id = 252, smoothing = 1 prev term = 3, type = 2, id = 252, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.363535, tc->fv = 0.452778, capped target = 0.452778 current term = 3, type = 2, id = 252, smoothing = 0 prev term = 3, type = 1, id = 251, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.363535, tc->fv = 0.363535, capped target = 0.363535 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.452182 tc id = 11, canon_type = 1, mot type = 1 time: 0.340000 primary movement = 1.011186337113e-02 time: 3.400000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ******************** Handle Blend Arc prev tan = 0.998752 0.000000 0.049938 this tan = 0.656179 0.000000 0.754606 u1 = 0.998752 0.000000 0.049938 u2 = 0.656179 0.000000 0.754606 angle between segs = 0.805094 u1 = 0.998752 0.000000 0.049938 u2 = 0.656179 0.000000 0.754606 theta=1.168249 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.343710, vr2 = 11.043297 v_goal = 22.086594, max scale = 2.000000 prev length L1 = 0.007036 next length L2 = 0.004572 K = 0.000135 d_geom = 0.003589, d_prev = 0.005788, d_next = 0.003589 R_geom = 0.008429 v_normal = 0.467974 v_plan = 0.467974 R_plan = 0.008429 v_actual = 0.467974 effective a_n = 25.980762 arc length = 0.006786, L_prev = 0.003447, L_next = 0.005555 Check: v_plan = 0.467974, v_para = 0.322116 angle = 0.805094 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.298725 Old target = 0.007036 Target = 0.003447 setting term condition 3 on tc id 254, type 1 Adding TC id 255 of type 2 Adding TC id 255 of type 1 current term = 3, type = 2, id = 255, smoothing = 0 prev term = 3, type = 1, id = 254, smoothing = 0 prev1_tc-> fv = 0.451211, tc->fv = 0.000000, capped target = 0.467974 current term = 3, type = 1, id = 254, smoothing = 0 prev term = 3, type = 2, id = 254, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.489777, tc->fv = 0.451211, capped target = 1.641355 current term = 3, type = 2, id = 254, smoothing = 1 prev term = 3, type = 1, id = 253, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.489777, tc->fv = 0.489777, capped target = 0.489777 current term = 3, type = 1, id = 253, smoothing = 1 prev term = 3, type = 2, id = 253, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.484772, tc->fv = 0.489777, capped target = 0.489777 current term = 3, type = 2, id = 253, smoothing = 1 prev term = 3, type = 1, id = 252, smoothing = 1 prev1_tc-> fv = 0.452778, tc->fv = 0.484772, capped target = 0.484772 current term = 3, type = 1, id = 252, smoothing = 1 prev term = 3, type = 2, id = 252, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.363535, tc->fv = 0.452778, capped target = 0.452778 current term = 3, type = 2, id = 252, smoothing = 0 prev term = 3, type = 1, id = 251, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.363535, tc->fv = 0.363535, capped target = 0.363535 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.462294 tc id = 11, canon_type = 1, mot type = 1 time: 0.341000 primary movement = 1.011186337113e-02 time: 3.410000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ******************** Handle Blend Arc prev tan = 0.656179 0.000000 0.754606 this tan = 0.986394 0.000000 -0.164399 u1 = 0.656179 0.000000 0.754606 u2 = 0.986394 0.000000 -0.164399 angle between segs = 1.020201 u1 = 0.656179 0.000000 0.754606 u2 = 0.986394 0.000000 -0.164399 theta=1.060696 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 11.043297, vr2 = 8.448247 v_goal = 22.086594, max scale = 2.000000 prev length L1 = 0.005555 next length L2 = 0.003041 K = 0.000102 d_geom = 0.002348, d_prev = 0.004586, d_next = 0.002348 R_geom = 0.004197 v_normal = 0.330199 v_plan = 0.330199 R_plan = 0.004197 v_actual = 0.330199 effective a_n = 25.980762 arc length = 0.004281, L_prev = 0.003207, L_next = 0.003735 Check: v_plan = 0.330199, v_para = 0.304138 angle = 1.020201 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.256781 Old target = 0.005555 Target = 0.003207 setting term condition 3 on tc id 255, type 1 Adding TC id 256 of type 2 Adding TC id 256 of type 1 current term = 3, type = 2, id = 256, smoothing = 0 prev term = 3, type = 1, id = 255, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.330199, tc->fv = 0.000000, capped target = 0.330199 current term = 3, type = 1, id = 255, smoothing = 0 prev term = 3, type = 2, id = 255, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.467974, tc->fv = 0.330199, capped target = 1.527003 current term = 3, type = 2, id = 255, smoothing = 0 prev term = 3, type = 1, id = 254, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.467974, tc->fv = 0.467974, capped target = 0.467974 current term = 3, type = 1, id = 254, smoothing = 0 prev term = 3, type = 2, id = 254, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.489777, tc->fv = 0.467974, capped target = 1.641355 current term = 3, type = 2, id = 254, smoothing = 1 prev term = 3, type = 1, id = 253, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.489777, tc->fv = 0.489777, capped target = 0.489777 current term = 3, type = 1, id = 253, smoothing = 1 prev term = 3, type = 2, id = 253, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.484772, tc->fv = 0.489777, capped target = 0.489777 current term = 3, type = 2, id = 253, smoothing = 1 prev term = 3, type = 1, id = 252, smoothing = 1 prev1_tc-> fv = 0.452778, tc->fv = 0.484772, capped target = 0.484772 current term = 3, type = 1, id = 252, smoothing = 1 prev term = 3, type = 2, id = 252, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.363535, tc->fv = 0.452778, capped target = 0.452778 current term = 3, type = 2, id = 252, smoothing = 0 prev term = 3, type = 1, id = 251, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.363535, tc->fv = 0.363535, capped target = 0.363535 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.472406 tc id = 11, canon_type = 1, mot type = 1 time: 0.342000 primary movement = 1.011186337113e-02 time: 3.420000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ******************** Handle Blend Arc prev tan = 0.986394 0.000000 -0.164399 this tan = 0.724999 0.000000 -0.688749 u1 = 0.986394 0.000000 -0.164399 u2 = 0.724999 0.000000 -0.688749 angle between segs = 0.594614 u1 = 0.986394 0.000000 -0.164399 u2 = 0.724999 0.000000 -0.688749 theta=1.273489 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.448247, vr2 = 11.494216 v_goal = 22.988432, max scale = 2.000000 prev length L1 = 0.003735 next length L2 = 0.006897 K = 0.000187 d_geom = 0.002725, d_prev = 0.002725, d_next = 0.005467 R_geom = 0.008895 v_normal = 0.480724 v_plan = 0.480724 R_plan = 0.008895 v_actual = 0.480724 effective a_n = 25.980762 arc length = 0.005289, L_prev = 0.001010, L_next = 0.011068 Check: v_plan = 0.480724, v_para = 0.392641 angle = 0.594614 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.448033 prev smoothing enabled Old target = 0.003735 Target = 0.001010 setting term condition 3 on tc id 256, type 1 Adding TC id 257 of type 2 Adding TC id 257 of type 1 current term = 3, type = 2, id = 257, smoothing = 1 prev term = 3, type = 1, id = 256, smoothing = 1 prev1_tc-> fv = 0.247804, tc->fv = 0.000000, capped target = 0.247804 current term = 3, type = 1, id = 256, smoothing = 1 prev term = 3, type = 2, id = 256, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.330199, tc->fv = 0.247804, capped target = 0.330199 current term = 3, type = 2, id = 256, smoothing = 0 prev term = 3, type = 1, id = 255, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.330199, tc->fv = 0.330199, capped target = 0.330199 current term = 3, type = 1, id = 255, smoothing = 0 prev term = 3, type = 2, id = 255, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.467974, tc->fv = 0.330199, capped target = 1.527003 current term = 3, type = 2, id = 255, smoothing = 0 prev term = 3, type = 1, id = 254, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.467974, tc->fv = 0.467974, capped target = 0.467974 current term = 3, type = 1, id = 254, smoothing = 0 prev term = 3, type = 2, id = 254, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.489777, tc->fv = 0.467974, capped target = 1.641355 current term = 3, type = 2, id = 254, smoothing = 1 prev term = 3, type = 1, id = 253, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.489777, tc->fv = 0.489777, capped target = 0.489777 current term = 3, type = 1, id = 253, smoothing = 1 prev term = 3, type = 2, id = 253, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.484772, tc->fv = 0.489777, capped target = 0.489777 current term = 3, type = 2, id = 253, smoothing = 1 prev term = 3, type = 1, id = 252, smoothing = 1 prev1_tc-> fv = 0.452778, tc->fv = 0.484772, capped target = 0.484772 current term = 3, type = 1, id = 252, smoothing = 1 prev term = 3, type = 2, id = 252, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.363535, tc->fv = 0.452778, capped target = 0.452778 current term = 3, type = 2, id = 252, smoothing = 0 prev term = 3, type = 1, id = 251, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.363535, tc->fv = 0.363535, capped target = 0.363535 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.482518 tc id = 11, canon_type = 1, mot type = 1 time: 0.343000 primary movement = 1.011186337113e-02 time: 3.430000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ******************** Handle Blend Arc prev tan = 0.724999 0.000000 -0.688749 this tan = 0.456317 0.000000 -0.889817 u1 = 0.724999 0.000000 -0.688749 u2 = 0.456317 0.000000 -0.889817 angle between segs = 0.337182 u1 = 0.724999 0.000000 -0.688749 u2 = 0.456317 0.000000 -0.889817 theta=1.402205 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 11.494216, vr2 = 9.365216 v_goal = 22.988432, max scale = 2.000000 prev length L1 = 0.011068 next length L2 = 0.002191 K = 0.000337 d_geom = 0.001268, d_prev = 0.008654, d_next = 0.001268 R_geom = 0.007448 v_normal = 0.439890 v_plan = 0.439890 R_plan = 0.007448 v_actual = 0.439890 effective a_n = 25.980762 arc length = 0.002511, L_prev = 0.009800, L_next = 0.003115 Check: v_plan = 0.439890, v_para = 0.271817 angle = 0.337182 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.091908 Old target = 0.011068 Target = 0.009800 setting term condition 3 on tc id 257, type 1 Adding TC id 258 of type 2 Adding TC id 258 of type 1 current term = 3, type = 2, id = 258, smoothing = 0 prev term = 3, type = 1, id = 257, smoothing = 0 prev1_tc-> fv = 0.274480, tc->fv = 0.000000, capped target = 0.439890 current term = 3, type = 1, id = 257, smoothing = 0 prev term = 3, type = 2, id = 257, smoothing = 1 prev1_tc-> fv = 0.469124, tc->fv = 0.274480, capped target = 4.666735 current term = 3, type = 2, id = 257, smoothing = 1 prev term = 3, type = 1, id = 256, smoothing = 1 prev1_tc-> fv = 0.412841, tc->fv = 0.469124, capped target = 0.469124 current term = 3, type = 1, id = 256, smoothing = 1 prev term = 3, type = 2, id = 256, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.330199, tc->fv = 0.412841, capped target = 0.412841 current term = 3, type = 2, id = 256, smoothing = 0 prev term = 3, type = 1, id = 255, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.330199, tc->fv = 0.330199, capped target = 0.330199 current term = 3, type = 1, id = 255, smoothing = 0 prev term = 3, type = 2, id = 255, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.467974, tc->fv = 0.330199, capped target = 1.527003 current term = 3, type = 2, id = 255, smoothing = 0 prev term = 3, type = 1, id = 254, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.467974, tc->fv = 0.467974, capped target = 0.467974 current term = 3, type = 1, id = 254, smoothing = 0 prev term = 3, type = 2, id = 254, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.489777, tc->fv = 0.467974, capped target = 1.641355 current term = 3, type = 2, id = 254, smoothing = 1 prev term = 3, type = 1, id = 253, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.489777, tc->fv = 0.489777, capped target = 0.489777 current term = 3, type = 1, id = 253, smoothing = 1 prev term = 3, type = 2, id = 253, smoothing = 1 found peak due to v_limit prev1_tc-> fv = 0.484772, tc->fv = 0.489777, capped target = 0.489777 current term = 3, type = 2, id = 253, smoothing = 1 prev term = 3, type = 1, id = 252, smoothing = 1 prev1_tc-> fv = 0.452778, tc->fv = 0.484772, capped target = 0.484772 current term = 3, type = 1, id = 252, smoothing = 1 prev term = 3, type = 2, id = 252, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.363535, tc->fv = 0.452778, capped target = 0.452778 current term = 3, type = 2, id = 252, smoothing = 0 prev term = 3, type = 1, id = 251, smoothing = 0 found peak due to v_limit prev1_tc-> fv = 0.363535, tc->fv = 0.363535, capped target = 0.363535 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.492630 tc id = 11, canon_type = 1, mot type = 1 time: 0.344000 primary movement = 1.011186337113e-02 time: 3.440000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.502742 tc id = 11, canon_type = 1, mot type = 1 time: 0.345000 primary movement = 1.011186337113e-02 time: 3.450000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ******************** Handle Blend Arc prev tan = 0.456317 0.000000 -0.889817 this tan = 0.743294 0.000000 0.668965 u1 = 0.456317 0.000000 -0.889817 u2 = 0.743294 0.000000 0.668965 angle between segs = 1.829760 u1 = 0.456317 0.000000 -0.889817 u2 = 0.743294 0.000000 0.668965 theta=0.655916 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.365216, vr2 = 11.211309 v_goal = 22.422617, max scale = 2.000000 prev length L1 = 0.003115 next length L2 = 0.002691 K = 0.000044 d_geom = 0.002246, d_prev = 0.002633, d_next = 0.002246 R_geom = 0.001728 v_normal = 0.211901 v_plan = 0.211901 R_plan = 0.001728 v_actual = 0.211901 effective a_n = 25.980762 arc length = 0.003162, L_prev = 0.000869, L_next = 0.003136 Check: v_plan = 0.211901, v_para = 0.275280 blend arc NOT created prev segment parabolic, flagging blend_prev Adding TC id 259 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.512854 tc id = 11, canon_type = 1, mot type = 1 time: 0.346000 primary movement = 1.011186337113e-02 time: 3.460000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ******************** Handle Blend Arc prev tan = 0.743294 0.000000 0.668965 this tan = 0.980581 0.000000 -0.196116 u1 = 0.743294 0.000000 0.668965 u2 = 0.980581 0.000000 -0.196116 angle between segs = 0.930211 u1 = 0.743294 0.000000 0.668965 u2 = 0.980581 0.000000 -0.196116 theta=1.105691 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 11.211309, vr2 = 8.498332 v_goal = 22.422617, max scale = 2.000000 prev length L1 = 0.005381 next length L2 = 0.004079 K = 0.000114 d_geom = 0.003222, d_prev = 0.004381, d_next = 0.003222 R_geom = 0.006420 v_normal = 0.408399 v_plan = 0.408399 R_plan = 0.006420 v_actual = 0.408399 effective a_n = 25.980762 arc length = 0.005972, L_prev = 0.002160, L_next = 0.004937 Check: v_plan = 0.408399, v_para = 0.353270 angle = 0.930211 setting term condition 3 on tc id -1, type 2 prev blend ratio = 0.598645 prev smoothing enabled Old target = 0.005381 Target = 0.002160 setting term condition 3 on tc id 259, type 1 Adding TC id 260 of type 2 Adding TC id 260 of type 1 current term = 3, type = 2, id = 260, smoothing = 1 prev term = 3, type = 1, id = 259, smoothing = 1 prev1_tc-> fv = 0.295253, tc->fv = 0.000000, capped target = 0.295253 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.522966 tc id = 11, canon_type = 1, mot type = 1 time: 0.347000 primary movement = 1.011186337113e-02 time: 3.470000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ******************** Handle Blend Arc prev tan = 0.980581 0.000000 -0.196116 this tan = 0.485643 0.000000 0.874157 u1 = 0.980581 0.000000 -0.196116 u2 = 0.485643 0.000000 0.874157 angle between segs = 1.261093 u1 = 0.980581 0.000000 -0.196116 u2 = 0.485643 0.000000 0.874157 theta=0.940250 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 8.498332, vr2 = 9.532990 v_goal = 19.065981, max scale = 2.000000 prev length L1 = 0.004937 next length L2 = 0.006177 K = 0.000078 d_geom = 0.004132, d_prev = 0.004132, d_next = 0.005268 R_geom = 0.005660 v_normal = 0.383474 v_plan = 0.383474 R_plan = 0.005660 v_actual = 0.383474 effective a_n = 25.980762 arc length = 0.007138, L_prev = 0.000805, L_next = 0.008223 Check: v_plan = 0.383474, v_para = 0.410463 blend arc NOT created prev segment parabolic, flagging blend_prev Adding TC id 261 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.533077 tc id = 11, canon_type = 1, mot type = 1 time: 0.348000 primary movement = 1.011186337113e-02 time: 3.480000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ******************** Handle Blend Arc prev tan = 0.485643 0.000000 0.874157 this tan = 0.000000 0.000000 1.000000 u1 = 0.485643 0.000000 0.874157 u2 = 0.000000 0.000000 1.000000 angle between segs = 0.507099 u1 = 0.485643 0.000000 0.874157 u2 = 0.000000 0.000000 1.000000 theta=1.317247 arc blending a_max=30.000000 a_n_max = 25.980762 vr1 = 9.532990, vr2 = 8.333333 v_goal = 19.065981, max scale = 2.000000 prev length L1 = 0.012355 next length L2 = 0.036700 K = 0.000221 d_geom = 0.010228, d_prev = 0.010228, d_next = 0.032887 R_geom = 0.039472 v_normal = 1.012672 v_plan = 1.012672 R_plan = 0.039472 v_actual = 1.012672 effective a_n = 25.980762 arc length = 0.020016, L_prev = 0.002127, L_next = 0.063172 Check: v_plan = 1.012672, v_para = 1.049285 blend arc NOT created prev segment parabolic, flagging blend_prev Adding TC id 262 of type 1 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.543189 tc id = 11, canon_type = 1, mot type = 1 time: 0.349000 primary movement = 1.011186337113e-02 time: 3.490000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.553301 tc id = 11, canon_type = 1, mot type = 1 time: 0.350000 primary movement = 1.011186337113e-02 time: 3.500000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.563413 tc id = 11, canon_type = 1, mot type = 1 time: 0.351000 primary movement = 1.011186337113e-02 time: 3.510000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.573525 tc id = 11, canon_type = 1, mot type = 1 time: 0.352000 primary movement = 1.011186337113e-02 time: 3.520000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.583637 tc id = 11, canon_type = 1, mot type = 1 time: 0.353000 primary movement = 1.011186337113e-02 time: 3.530000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.593749 tc id = 11, canon_type = 1, mot type = 1 time: 0.354000 primary movement = 1.011186337113e-02 time: 3.540000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.603860 tc id = 11, canon_type = 1, mot type = 1 time: 0.355000 primary movement = 1.011186337113e-02 time: 3.550000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.613972 tc id = 11, canon_type = 1, mot type = 1 time: 0.356000 primary movement = 1.011186337113e-02 time: 3.560000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.624084 tc id = 11, canon_type = 1, mot type = 1 time: 0.357000 primary movement = 1.011186337113e-02 time: 3.570000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.634196 tc id = 11, canon_type = 1, mot type = 1 time: 0.358000 primary movement = 1.011186337113e-02 time: 3.580000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.644308 tc id = 11, canon_type = 1, mot type = 1 time: 0.359000 primary movement = 1.011186337113e-02 time: 3.590000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.654420 tc id = 11, canon_type = 1, mot type = 1 time: 0.360000 primary movement = 1.011186337113e-02 time: 3.600000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.664532 tc id = 11, canon_type = 1, mot type = 1 time: 0.361000 primary movement = 1.011186337113e-02 time: 3.610000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.674643 tc id = 11, canon_type = 1, mot type = 1 time: 0.362000 primary movement = 1.011186337113e-02 time: 3.620000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.684755 tc id = 11, canon_type = 1, mot type = 1 time: 0.363000 primary movement = 1.011186337113e-02 time: 3.630000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.694867 tc id = 11, canon_type = 1, mot type = 1 time: 0.364000 primary movement = 1.011186337113e-02 time: 3.640000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.704979 tc id = 11, canon_type = 1, mot type = 1 time: 0.365000 primary movement = 1.011186337113e-02 time: 3.650000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.715091 tc id = 11, canon_type = 1, mot type = 1 time: 0.366000 primary movement = 1.011186337113e-02 time: 3.660000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.725203 tc id = 11, canon_type = 1, mot type = 1 time: 0.367000 primary movement = 1.011186337113e-02 time: 3.670000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.735315 tc id = 11, canon_type = 1, mot type = 1 time: 0.368000 primary movement = 1.011186337113e-02 time: 3.680000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.745426 tc id = 11, canon_type = 1, mot type = 1 time: 0.369000 primary movement = 1.011186337113e-02 time: 3.690000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.755538 tc id = 11, canon_type = 1, mot type = 1 time: 0.370000 primary movement = 1.011186337113e-02 time: 3.700000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.765650 tc id = 11, canon_type = 1, mot type = 1 time: 0.371000 primary movement = 1.011186337113e-02 time: 3.710000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.775762 tc id = 11, canon_type = 1, mot type = 1 time: 0.372000 primary movement = 1.011186337113e-02 time: 3.720000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.785874 tc id = 11, canon_type = 1, mot type = 1 time: 0.373000 primary movement = 1.011186337113e-02 time: 3.730000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.795986 tc id = 11, canon_type = 1, mot type = 1 time: 0.374000 primary movement = 1.011186337113e-02 time: 3.740000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.806098 tc id = 11, canon_type = 1, mot type = 1 time: 0.375000 primary movement = 1.011186337113e-02 time: 3.750000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.816210 tc id = 11, canon_type = 1, mot type = 1 time: 0.376000 primary movement = 1.011186337113e-02 time: 3.760000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.826321 tc id = 11, canon_type = 1, mot type = 1 time: 0.377000 primary movement = 1.011186337113e-02 time: 3.770000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.836433 tc id = 11, canon_type = 1, mot type = 1 time: 0.378000 primary movement = 1.011186337113e-02 time: 3.780000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.846545 tc id = 11, canon_type = 1, mot type = 1 time: 0.379000 primary movement = 1.011186337113e-02 time: 3.790000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.856657 tc id = 11, canon_type = 1, mot type = 1 time: 0.380000 primary movement = 1.011186337113e-02 time: 3.800000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.866769 tc id = 11, canon_type = 1, mot type = 1 time: 0.381000 primary movement = 1.011186337113e-02 time: 3.810000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.876881 tc id = 11, canon_type = 1, mot type = 1 time: 0.382000 primary movement = 1.011186337113e-02 time: 3.820000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.886993 tc id = 11, canon_type = 1, mot type = 1 time: 0.383000 primary movement = 1.011186337113e-02 time: 3.830000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.897104 tc id = 11, canon_type = 1, mot type = 1 time: 0.384000 primary movement = 1.011186337113e-02 time: 3.840000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.907216 tc id = 11, canon_type = 1, mot type = 1 time: 0.385000 primary movement = 1.011186337113e-02 time: 3.850000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.917328 tc id = 11, canon_type = 1, mot type = 1 time: 0.386000 primary movement = 1.011186337113e-02 time: 3.860000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.927440 tc id = 11, canon_type = 1, mot type = 1 time: 0.387000 primary movement = 1.011186337113e-02 time: 3.870000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.937552 tc id = 11, canon_type = 1, mot type = 1 time: 0.388000 primary movement = 1.011186337113e-02 time: 3.880000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.947664 tc id = 11, canon_type = 1, mot type = 1 time: 0.389000 primary movement = 1.011186337113e-02 time: 3.890000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.957776 tc id = 11, canon_type = 1, mot type = 1 time: 0.390000 primary movement = 1.011186337113e-02 time: 3.900000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.967887 tc id = 11, canon_type = 1, mot type = 1 time: 0.391000 primary movement = 1.011186337113e-02 time: 3.910000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.977999 tc id = 11, canon_type = 1, mot type = 1 time: 0.392000 primary movement = 1.011186337113e-02 time: 3.920000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.988111 tc id = 11, canon_type = 1, mot type = 1 time: 0.393000 primary movement = 1.011186337113e-02 time: 3.930000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 1.998223 tc id = 11, canon_type = 1, mot type = 1 time: 0.394000 primary movement = 1.011186337113e-02 time: 3.940000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.008335 tc id = 11, canon_type = 1, mot type = 1 time: 0.395000 primary movement = 1.011186337113e-02 time: 3.950000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.018447 tc id = 11, canon_type = 1, mot type = 1 time: 0.396000 primary movement = 1.011186337113e-02 time: 3.960000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.028559 tc id = 11, canon_type = 1, mot type = 1 time: 0.397000 primary movement = 1.011186337112e-02 time: 3.970000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.038671 tc id = 11, canon_type = 1, mot type = 1 time: 0.398000 primary movement = 1.011186337113e-02 time: 3.980000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.048782 tc id = 11, canon_type = 1, mot type = 1 time: 0.399000 primary movement = 1.011186337112e-02 time: 3.990000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.058894 tc id = 11, canon_type = 1, mot type = 1 time: 0.400000 primary movement = 1.011186337113e-02 time: 4.000000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.069006 tc id = 11, canon_type = 1, mot type = 1 time: 0.401000 primary movement = 1.011186337112e-02 time: 4.010000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.079118 tc id = 11, canon_type = 1, mot type = 1 time: 0.402000 primary movement = 1.011186337113e-02 time: 4.020000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.089230 tc id = 11, canon_type = 1, mot type = 1 time: 0.403000 primary movement = 1.011186337112e-02 time: 4.030000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.099342 tc id = 11, canon_type = 1, mot type = 1 time: 0.404000 primary movement = 1.011186337113e-02 time: 4.040000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.109454 tc id = 11, canon_type = 1, mot type = 1 time: 0.405000 primary movement = 1.011186337112e-02 time: 4.050000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.119565 tc id = 11, canon_type = 1, mot type = 1 time: 0.406000 primary movement = 1.011186337113e-02 time: 4.060000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.129677 tc id = 11, canon_type = 1, mot type = 1 time: 0.407000 primary movement = 1.011186337112e-02 time: 4.070000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.139789 tc id = 11, canon_type = 1, mot type = 1 time: 0.408000 primary movement = 1.011186337113e-02 time: 4.080000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.149901 tc id = 11, canon_type = 1, mot type = 1 time: 0.409000 primary movement = 1.011186337113e-02 time: 4.090000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.160013 tc id = 11, canon_type = 1, mot type = 1 time: 0.410000 primary movement = 1.011186337112e-02 time: 4.100000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.170125 tc id = 11, canon_type = 1, mot type = 1 time: 0.411000 primary movement = 1.011186337113e-02 time: 4.110000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.180237 tc id = 11, canon_type = 1, mot type = 1 time: 0.412000 primary movement = 1.011186337112e-02 time: 4.120000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.190348 tc id = 11, canon_type = 1, mot type = 1 time: 0.413000 primary movement = 1.011186337113e-02 time: 4.130000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.200460 tc id = 11, canon_type = 1, mot type = 1 time: 0.414000 primary movement = 1.011186337113e-02 time: 4.140000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.210572 tc id = 11, canon_type = 1, mot type = 1 time: 0.415000 primary movement = 1.011186337113e-02 time: 4.150000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.220684 tc id = 11, canon_type = 1, mot type = 1 time: 0.416000 primary movement = 1.011186337112e-02 time: 4.160000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.230796 tc id = 11, canon_type = 1, mot type = 1 time: 0.417000 primary movement = 1.011186337113e-02 time: 4.170000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.240908 tc id = 11, canon_type = 1, mot type = 1 time: 0.418000 primary movement = 1.011186337112e-02 time: 4.180000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.251020 tc id = 11, canon_type = 1, mot type = 1 time: 0.419000 primary movement = 1.011186337113e-02 time: 4.190000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.261132 tc id = 11, canon_type = 1, mot type = 1 time: 0.420000 primary movement = 1.011186337113e-02 time: 4.200000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.271243 tc id = 11, canon_type = 1, mot type = 1 time: 0.421000 primary movement = 1.011186337112e-02 time: 4.210000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.281355 tc id = 11, canon_type = 1, mot type = 1 time: 0.422000 primary movement = 1.011186337113e-02 time: 4.220000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.291467 tc id = 11, canon_type = 1, mot type = 1 time: 0.423000 primary movement = 1.011186337112e-02 time: 4.230000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.301579 tc id = 11, canon_type = 1, mot type = 1 time: 0.424000 primary movement = 1.011186337113e-02 time: 4.240000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.311691 tc id = 11, canon_type = 1, mot type = 1 time: 0.425000 primary movement = 1.011186337112e-02 time: 4.250000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.321803 tc id = 11, canon_type = 1, mot type = 1 time: 0.426000 primary movement = 1.011186337113e-02 time: 4.260000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.331915 tc id = 11, canon_type = 1, mot type = 1 time: 0.427000 primary movement = 1.011186337112e-02 time: 4.270000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.342026 tc id = 11, canon_type = 1, mot type = 1 time: 0.428000 primary movement = 1.011186337113e-02 time: 4.280000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.352138 tc id = 11, canon_type = 1, mot type = 1 time: 0.429000 primary movement = 1.011186337112e-02 time: 4.290000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.362250 tc id = 11, canon_type = 1, mot type = 1 time: 0.430000 primary movement = 1.011186337113e-02 time: 4.300000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.372362 tc id = 11, canon_type = 1, mot type = 1 time: 0.431000 primary movement = 1.011186337113e-02 time: 4.310000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.382474 tc id = 11, canon_type = 1, mot type = 1 time: 0.432000 primary movement = 1.011186337113e-02 time: 4.320000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.392586 tc id = 11, canon_type = 1, mot type = 1 time: 0.433000 primary movement = 1.011186337113e-02 time: 4.330000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.402698 tc id = 11, canon_type = 1, mot type = 1 time: 0.434000 primary movement = 1.011186337112e-02 time: 4.340000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.412809 tc id = 11, canon_type = 1, mot type = 1 time: 0.435000 primary movement = 1.011186337113e-02 time: 4.350000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.422921 tc id = 11, canon_type = 1, mot type = 1 time: 0.436000 primary movement = 1.011186337112e-02 time: 4.360000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.433033 tc id = 11, canon_type = 1, mot type = 1 time: 0.437000 primary movement = 1.011186337112e-02 time: 4.370000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.443145 tc id = 11, canon_type = 1, mot type = 1 time: 0.438000 primary movement = 1.011186337112e-02 time: 4.380000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.453257 tc id = 11, canon_type = 1, mot type = 1 time: 0.439000 primary movement = 1.011186337113e-02 time: 4.390000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.463369 tc id = 11, canon_type = 1, mot type = 1 time: 0.440000 primary movement = 1.011186337112e-02 time: 4.400000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.473481 tc id = 11, canon_type = 1, mot type = 1 time: 0.441000 primary movement = 1.011186337113e-02 time: 4.410000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.483593 tc id = 11, canon_type = 1, mot type = 1 time: 0.442000 primary movement = 1.011186337112e-02 time: 4.420000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.493704 tc id = 11, canon_type = 1, mot type = 1 time: 0.443000 primary movement = 1.011186337113e-02 time: 4.430000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.503816 tc id = 11, canon_type = 1, mot type = 1 time: 0.444000 primary movement = 1.011186337113e-02 time: 4.440000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.513928 tc id = 11, canon_type = 1, mot type = 1 time: 0.445000 primary movement = 1.011186337112e-02 time: 4.450000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.524040 tc id = 11, canon_type = 1, mot type = 1 time: 0.446000 primary movement = 1.011186337113e-02 time: 4.460000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.534152 tc id = 11, canon_type = 1, mot type = 1 time: 0.447000 primary movement = 1.011186337112e-02 time: 4.470000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.544264 tc id = 11, canon_type = 1, mot type = 1 time: 0.448000 primary movement = 1.011186337113e-02 time: 4.480000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.554376 tc id = 11, canon_type = 1, mot type = 1 time: 0.449000 primary movement = 1.011186337112e-02 time: 4.490000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.564487 tc id = 11, canon_type = 1, mot type = 1 time: 0.450000 primary movement = 1.011186337113e-02 time: 4.500000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.574599 tc id = 11, canon_type = 1, mot type = 1 time: 0.451000 primary movement = 1.011186337112e-02 time: 4.510000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.584711 tc id = 11, canon_type = 1, mot type = 1 time: 0.452000 primary movement = 1.011186337113e-02 time: 4.520000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.594823 tc id = 11, canon_type = 1, mot type = 1 time: 0.453000 primary movement = 1.011186337112e-02 time: 4.530000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.604935 tc id = 11, canon_type = 1, mot type = 1 time: 0.454000 primary movement = 1.011186337113e-02 time: 4.540000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.615047 tc id = 11, canon_type = 1, mot type = 1 time: 0.455000 primary movement = 1.011186337113e-02 time: 4.550000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.625159 tc id = 11, canon_type = 1, mot type = 1 time: 0.456000 primary movement = 1.011186337112e-02 time: 4.560000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.635270 tc id = 11, canon_type = 1, mot type = 1 time: 0.457000 primary movement = 1.011186337113e-02 time: 4.570000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.645382 tc id = 11, canon_type = 1, mot type = 1 time: 0.458000 primary movement = 1.011186337112e-02 time: 4.580000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.655494 tc id = 11, canon_type = 1, mot type = 1 time: 0.459000 primary movement = 1.011186337113e-02 time: 4.590000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.665606 tc id = 11, canon_type = 1, mot type = 1 time: 0.460000 primary movement = 1.011186337112e-02 time: 4.600000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.675718 tc id = 11, canon_type = 1, mot type = 1 time: 0.461000 primary movement = 1.011186337113e-02 time: 4.610000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.685830 tc id = 11, canon_type = 1, mot type = 1 time: 0.462000 primary movement = 1.011186337112e-02 time: 4.620000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.695942 tc id = 11, canon_type = 1, mot type = 1 time: 0.463000 primary movement = 1.011186337113e-02 time: 4.630000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.706054 tc id = 11, canon_type = 1, mot type = 1 time: 0.464000 primary movement = 1.011186337112e-02 time: 4.640000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.716165 tc id = 11, canon_type = 1, mot type = 1 time: 0.465000 primary movement = 1.011186337113e-02 time: 4.650000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.726277 tc id = 11, canon_type = 1, mot type = 1 time: 0.466000 primary movement = 1.011186337113e-02 time: 4.660000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.736389 tc id = 11, canon_type = 1, mot type = 1 time: 0.467000 primary movement = 1.011186337112e-02 time: 4.670000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.746501 tc id = 11, canon_type = 1, mot type = 1 time: 0.468000 primary movement = 1.011186337113e-02 time: 4.680000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.756613 tc id = 11, canon_type = 1, mot type = 1 time: 0.469000 primary movement = 1.011186337112e-02 time: 4.690000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.766725 tc id = 11, canon_type = 1, mot type = 1 time: 0.470000 primary movement = 1.011186337113e-02 time: 4.700000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.776837 tc id = 11, canon_type = 1, mot type = 1 time: 0.471000 primary movement = 1.011186337112e-02 time: 4.710000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.786948 tc id = 11, canon_type = 1, mot type = 1 time: 0.472000 primary movement = 1.011186337113e-02 time: 4.720000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.797060 tc id = 11, canon_type = 1, mot type = 1 time: 0.473000 primary movement = 1.011186337112e-02 time: 4.730000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.807172 tc id = 11, canon_type = 1, mot type = 1 time: 0.474000 primary movement = 1.011186337113e-02 time: 4.740000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.817284 tc id = 11, canon_type = 1, mot type = 1 time: 0.475000 primary movement = 1.011186337112e-02 time: 4.750000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.827396 tc id = 11, canon_type = 1, mot type = 1 time: 0.476000 primary movement = 1.011186337113e-02 time: 4.760000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.837508 tc id = 11, canon_type = 1, mot type = 1 time: 0.477000 primary movement = 1.011186337113e-02 time: 4.770000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.847620 tc id = 11, canon_type = 1, mot type = 1 time: 0.478000 primary movement = 1.011186337113e-02 time: 4.780000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.857731 tc id = 11, canon_type = 1, mot type = 1 time: 0.479000 primary movement = 1.011186337113e-02 time: 4.790000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.867843 tc id = 11, canon_type = 1, mot type = 1 time: 0.480000 primary movement = 1.011186337112e-02 time: 4.800000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.877955 tc id = 11, canon_type = 1, mot type = 1 time: 0.481000 primary movement = 1.011186337113e-02 time: 4.810000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.888067 tc id = 11, canon_type = 1, mot type = 1 time: 0.482000 primary movement = 1.011186337112e-02 time: 4.820000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.898179 tc id = 11, canon_type = 1, mot type = 1 time: 0.483000 primary movement = 1.011186337113e-02 time: 4.830000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.908291 tc id = 11, canon_type = 1, mot type = 1 time: 0.484000 primary movement = 1.011186337112e-02 time: 4.840000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.918403 tc id = 11, canon_type = 1, mot type = 1 time: 0.485000 primary movement = 1.011186337113e-02 time: 4.850000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.928515 tc id = 11, canon_type = 1, mot type = 1 time: 0.486000 primary movement = 1.011186337112e-02 time: 4.860000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.938626 tc id = 11, canon_type = 1, mot type = 1 time: 0.487000 primary movement = 1.011186337113e-02 time: 4.870000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.948738 tc id = 11, canon_type = 1, mot type = 1 time: 0.488000 primary movement = 1.011186337112e-02 time: 4.880000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.958850 tc id = 11, canon_type = 1, mot type = 1 time: 0.489000 primary movement = 1.011186337113e-02 time: 4.890000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.968962 tc id = 11, canon_type = 1, mot type = 1 time: 0.490000 primary movement = 1.011186337113e-02 time: 4.900000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.979074 tc id = 11, canon_type = 1, mot type = 1 time: 0.491000 primary movement = 1.011186337112e-02 time: 4.910000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.989186 tc id = 11, canon_type = 1, mot type = 1 time: 0.492000 primary movement = 1.011186337113e-02 time: 4.920000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 2.999298 tc id = 11, canon_type = 1, mot type = 1 time: 0.493000 primary movement = 1.011186337112e-02 time: 4.930000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.009409 tc id = 11, canon_type = 1, mot type = 1 time: 0.494000 primary movement = 1.011186337113e-02 time: 4.940000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.019521 tc id = 11, canon_type = 1, mot type = 1 time: 0.495000 primary movement = 1.011186337112e-02 time: 4.950000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.029633 tc id = 11, canon_type = 1, mot type = 1 time: 0.496000 primary movement = 1.011186337113e-02 time: 4.960000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.039745 tc id = 11, canon_type = 1, mot type = 1 time: 0.497000 primary movement = 1.011186337112e-02 time: 4.970000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.049857 tc id = 11, canon_type = 1, mot type = 1 time: 0.498000 primary movement = 1.011186337113e-02 time: 4.980000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.059969 tc id = 11, canon_type = 1, mot type = 1 time: 0.499000 primary movement = 1.011186337112e-02 time: 4.990000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.070081 tc id = 11, canon_type = 1, mot type = 1 time: 0.500000 primary movement = 1.011186337113e-02 time: 5.000000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.080192 tc id = 11, canon_type = 1, mot type = 1 time: 0.501000 primary movement = 1.011186337112e-02 time: 5.010000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.090304 tc id = 11, canon_type = 1, mot type = 1 time: 0.502000 primary movement = 1.011186337113e-02 time: 5.020000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.100416 tc id = 11, canon_type = 1, mot type = 1 time: 0.503000 primary movement = 1.011186337113e-02 time: 5.030000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.110528 tc id = 11, canon_type = 1, mot type = 1 time: 0.504000 primary movement = 1.011186337112e-02 time: 5.040000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.120640 tc id = 11, canon_type = 1, mot type = 1 time: 0.505000 primary movement = 1.011186337113e-02 time: 5.050000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.130752 tc id = 11, canon_type = 1, mot type = 1 time: 0.506000 primary movement = 1.011186337112e-02 time: 5.060000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.140864 tc id = 11, canon_type = 1, mot type = 1 time: 0.507000 primary movement = 1.011186337113e-02 time: 5.070000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.150976 tc id = 11, canon_type = 1, mot type = 1 time: 0.508000 primary movement = 1.011186337112e-02 time: 5.080000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.161087 tc id = 11, canon_type = 1, mot type = 1 time: 0.509000 primary movement = 1.011186337113e-02 time: 5.090000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.171199 tc id = 11, canon_type = 1, mot type = 1 time: 0.510000 primary movement = 1.011186337112e-02 time: 5.100000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.181311 tc id = 11, canon_type = 1, mot type = 1 time: 0.511000 primary movement = 1.011186337113e-02 time: 5.110000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.191423 tc id = 11, canon_type = 1, mot type = 1 time: 0.512000 primary movement = 1.011186337112e-02 time: 5.120000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.201535 tc id = 11, canon_type = 1, mot type = 1 time: 0.513000 primary movement = 1.011186337113e-02 time: 5.130000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.211647 tc id = 11, canon_type = 1, mot type = 1 time: 0.514000 primary movement = 1.011186337113e-02 time: 5.140000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.221759 tc id = 11, canon_type = 1, mot type = 1 time: 0.515000 primary movement = 1.011186337112e-02 time: 5.150000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.231870 tc id = 11, canon_type = 1, mot type = 1 time: 0.516000 primary movement = 1.011186337113e-02 time: 5.160000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.241982 tc id = 11, canon_type = 1, mot type = 1 time: 0.517000 primary movement = 1.011186337112e-02 time: 5.170000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.252094 tc id = 11, canon_type = 1, mot type = 1 time: 0.518000 primary movement = 1.011186337113e-02 time: 5.180000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.262206 tc id = 11, canon_type = 1, mot type = 1 time: 0.519000 primary movement = 1.011186337112e-02 time: 5.190000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.272318 tc id = 11, canon_type = 1, mot type = 1 time: 0.520000 primary movement = 1.011186337113e-02 time: 5.200000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.282430 tc id = 11, canon_type = 1, mot type = 1 time: 0.521000 primary movement = 1.011186337112e-02 time: 5.210000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.292542 tc id = 11, canon_type = 1, mot type = 1 time: 0.522000 primary movement = 1.011186337113e-02 time: 5.220000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.302653 tc id = 11, canon_type = 1, mot type = 1 time: 0.523000 primary movement = 1.011186337112e-02 time: 5.230000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.312765 tc id = 11, canon_type = 1, mot type = 1 time: 0.524000 primary movement = 1.011186337113e-02 time: 5.240000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.322877 tc id = 11, canon_type = 1, mot type = 1 time: 0.525000 primary movement = 1.011186337113e-02 time: 5.250000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.332989 tc id = 11, canon_type = 1, mot type = 1 time: 0.526000 primary movement = 1.011186337112e-02 time: 5.260000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.343101 tc id = 11, canon_type = 1, mot type = 1 time: 0.527000 primary movement = 1.011186337113e-02 time: 5.270000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.353213 tc id = 11, canon_type = 1, mot type = 1 time: 0.528000 primary movement = 1.011186337112e-02 time: 5.280000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.363325 tc id = 11, canon_type = 1, mot type = 1 time: 0.529000 primary movement = 1.011186337113e-02 time: 5.290000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.373437 tc id = 11, canon_type = 1, mot type = 1 time: 0.530000 primary movement = 1.011186337112e-02 time: 5.300000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.383548 tc id = 11, canon_type = 1, mot type = 1 time: 0.531000 primary movement = 1.011186337113e-02 time: 5.310000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.393660 tc id = 11, canon_type = 1, mot type = 1 time: 0.532000 primary movement = 1.011186337112e-02 time: 5.320000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.403772 tc id = 11, canon_type = 1, mot type = 1 time: 0.533000 primary movement = 1.011186337113e-02 time: 5.330000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.413884 tc id = 11, canon_type = 1, mot type = 1 time: 0.534000 primary movement = 1.011186337112e-02 time: 5.340000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.423996 tc id = 11, canon_type = 1, mot type = 1 time: 0.535000 primary movement = 1.011186337113e-02 time: 5.350000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.434108 tc id = 11, canon_type = 1, mot type = 1 time: 0.536000 primary movement = 1.011186337112e-02 time: 5.360000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.444220 tc id = 11, canon_type = 1, mot type = 1 time: 0.537000 primary movement = 1.011186337113e-02 time: 5.370000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.454331 tc id = 11, canon_type = 1, mot type = 1 time: 0.538000 primary movement = 1.011186337113e-02 time: 5.380000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.464443 tc id = 11, canon_type = 1, mot type = 1 time: 0.539000 primary movement = 1.011186337112e-02 time: 5.390000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.474555 tc id = 11, canon_type = 1, mot type = 1 time: 0.540000 primary movement = 1.011186337113e-02 time: 5.400000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.484667 tc id = 11, canon_type = 1, mot type = 1 time: 0.541000 primary movement = 1.011186337112e-02 time: 5.410000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.494779 tc id = 11, canon_type = 1, mot type = 1 time: 0.542000 primary movement = 1.011186337113e-02 time: 5.420000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.504891 tc id = 11, canon_type = 1, mot type = 1 time: 0.543000 primary movement = 1.011186337112e-02 time: 5.430000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.515003 tc id = 11, canon_type = 1, mot type = 1 time: 0.544000 primary movement = 1.011186337113e-02 time: 5.440000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.525114 tc id = 11, canon_type = 1, mot type = 1 time: 0.545000 primary movement = 1.011186337112e-02 time: 5.450000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.535226 tc id = 11, canon_type = 1, mot type = 1 time: 0.546000 primary movement = 1.011186337113e-02 time: 5.460000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.545338 tc id = 11, canon_type = 1, mot type = 1 time: 0.547000 primary movement = 1.011186337113e-02 time: 5.470000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.555450 tc id = 11, canon_type = 1, mot type = 1 time: 0.548000 primary movement = 1.011186337113e-02 time: 5.480000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.565562 tc id = 11, canon_type = 1, mot type = 1 time: 0.549000 primary movement = 1.011186337113e-02 time: 5.490000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.575674 tc id = 11, canon_type = 1, mot type = 1 time: 0.550000 primary movement = 1.011186337113e-02 time: 5.500000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.585786 tc id = 11, canon_type = 1, mot type = 1 time: 0.551000 primary movement = 1.011186337113e-02 time: 5.510000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.595897 tc id = 11, canon_type = 1, mot type = 1 time: 0.552000 primary movement = 1.011186337113e-02 time: 5.520000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.606009 tc id = 11, canon_type = 1, mot type = 1 time: 0.553000 primary movement = 1.011186337112e-02 time: 5.530000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.616121 tc id = 11, canon_type = 1, mot type = 1 time: 0.554000 primary movement = 1.011186337113e-02 time: 5.540000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.626233 tc id = 11, canon_type = 1, mot type = 1 time: 0.555000 primary movement = 1.011186337113e-02 time: 5.550000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.636345 tc id = 11, canon_type = 1, mot type = 1 time: 0.556000 primary movement = 1.011186337113e-02 time: 5.560000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.646457 tc id = 11, canon_type = 1, mot type = 1 time: 0.557000 primary movement = 1.011186337112e-02 time: 5.570000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.656569 tc id = 11, canon_type = 1, mot type = 1 time: 0.558000 primary movement = 1.011186337113e-02 time: 5.580000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.666681 tc id = 11, canon_type = 1, mot type = 1 time: 0.559000 primary movement = 1.011186337113e-02 time: 5.590000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.676792 tc id = 11, canon_type = 1, mot type = 1 time: 0.560000 primary movement = 1.011186337113e-02 time: 5.600000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.686904 tc id = 11, canon_type = 1, mot type = 1 time: 0.561000 primary movement = 1.011186337113e-02 time: 5.610000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.697016 tc id = 11, canon_type = 1, mot type = 1 time: 0.562000 primary movement = 1.011186337112e-02 time: 5.620000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.707128 tc id = 11, canon_type = 1, mot type = 1 time: 0.563000 primary movement = 1.011186337113e-02 time: 5.630000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.717240 tc id = 11, canon_type = 1, mot type = 1 time: 0.564000 primary movement = 1.011186337113e-02 time: 5.640000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.727352 tc id = 11, canon_type = 1, mot type = 1 time: 0.565000 primary movement = 1.011186337113e-02 time: 5.650000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.737464 tc id = 11, canon_type = 1, mot type = 1 time: 0.566000 primary movement = 1.011186337112e-02 time: 5.660000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.747575 tc id = 11, canon_type = 1, mot type = 1 time: 0.567000 primary movement = 1.011186337113e-02 time: 5.670000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.757687 tc id = 11, canon_type = 1, mot type = 1 time: 0.568000 primary movement = 1.011186337113e-02 time: 5.680000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.767799 tc id = 11, canon_type = 1, mot type = 1 time: 0.569000 primary movement = 1.011186337113e-02 time: 5.690000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.777911 tc id = 11, canon_type = 1, mot type = 1 time: 0.570000 primary movement = 1.011186337112e-02 time: 5.700000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.788023 tc id = 11, canon_type = 1, mot type = 1 time: 0.571000 primary movement = 1.011186337113e-02 time: 5.710000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.798135 tc id = 11, canon_type = 1, mot type = 1 time: 0.572000 primary movement = 1.011186337113e-02 time: 5.720000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.808247 tc id = 11, canon_type = 1, mot type = 1 time: 0.573000 primary movement = 1.011186337113e-02 time: 5.730000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.818358 tc id = 11, canon_type = 1, mot type = 1 time: 0.574000 primary movement = 1.011186337113e-02 time: 5.740000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.828470 tc id = 11, canon_type = 1, mot type = 1 time: 0.575000 primary movement = 1.011186337112e-02 time: 5.750000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.838582 tc id = 11, canon_type = 1, mot type = 1 time: 0.576000 primary movement = 1.011186337113e-02 time: 5.760000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.848694 tc id = 11, canon_type = 1, mot type = 1 time: 0.577000 primary movement = 1.011186337113e-02 time: 5.770000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.858806 tc id = 11, canon_type = 1, mot type = 1 time: 0.578000 primary movement = 1.011186337113e-02 time: 5.780000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.868918 tc id = 11, canon_type = 1, mot type = 1 time: 0.579000 primary movement = 1.011186337112e-02 time: 5.790000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.879030 tc id = 11, canon_type = 1, mot type = 1 time: 0.580000 primary movement = 1.011186337113e-02 time: 5.800000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.889142 tc id = 11, canon_type = 1, mot type = 1 time: 0.581000 primary movement = 1.011186337113e-02 time: 5.810000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.899253 tc id = 11, canon_type = 1, mot type = 1 time: 0.582000 primary movement = 1.011186337113e-02 time: 5.820000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.909365 tc id = 11, canon_type = 1, mot type = 1 time: 0.583000 primary movement = 1.011186337113e-02 time: 5.830000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.919477 tc id = 11, canon_type = 1, mot type = 1 time: 0.584000 primary movement = 1.011186337112e-02 time: 5.840000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.929589 tc id = 11, canon_type = 1, mot type = 1 time: 0.585000 primary movement = 1.011186337113e-02 time: 5.850000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.939701 tc id = 11, canon_type = 1, mot type = 1 time: 0.586000 primary movement = 1.011186337113e-02 time: 5.860000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.949813 tc id = 11, canon_type = 1, mot type = 1 time: 0.587000 primary movement = 1.011186337113e-02 time: 5.870000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.959925 tc id = 11, canon_type = 1, mot type = 1 time: 0.588000 primary movement = 1.011186337112e-02 time: 5.880000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.970036 tc id = 11, canon_type = 1, mot type = 1 time: 0.589000 primary movement = 1.011186337113e-02 time: 5.890000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.980148 tc id = 11, canon_type = 1, mot type = 1 time: 0.590000 primary movement = 1.011186337113e-02 time: 5.900000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 3.990260 tc id = 11, canon_type = 1, mot type = 1 time: 0.591000 primary movement = 1.011186337113e-02 time: 5.910000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 4.000372 tc id = 11, canon_type = 1, mot type = 1 time: 0.592000 primary movement = 1.011186337113e-02 time: 5.920000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 4.010484 tc id = 11, canon_type = 1, mot type = 1 time: 0.593000 primary movement = 1.011186337113e-02 time: 5.930000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 4.020596 tc id = 11, canon_type = 1, mot type = 1 time: 0.594000 primary movement = 1.011186337113e-02 time: 5.940000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 4.030708 tc id = 11, canon_type = 1, mot type = 1 time: 0.595000 primary movement = 1.011186337112e-02 time: 5.950000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 4.040819 tc id = 11, canon_type = 1, mot type = 1 time: 0.596000 primary movement = 1.011186337113e-02 time: 5.960000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 4.050931 tc id = 11, canon_type = 1, mot type = 1 time: 0.597000 primary movement = 1.011186337113e-02 time: 5.970000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 4.061043 tc id = 11, canon_type = 1, mot type = 1 time: 0.598000 primary movement = 1.011186337113e-02 time: 5.980000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 4.071155 tc id = 11, canon_type = 1, mot type = 1 time: 0.599000 primary movement = 1.011186337112e-02 time: 5.990000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 4.081267 tc id = 11, canon_type = 1, mot type = 1 time: 0.600000 primary movement = 1.011186337113e-02 time: 6.000000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 4.091379 tc id = 11, canon_type = 1, mot type = 1 time: 0.601000 primary movement = 1.011186337113e-02 time: 6.010000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 4.101491 tc id = 11, canon_type = 1, mot type = 1 time: 0.602000 primary movement = 1.011186337113e-02 time: 6.020000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 4.111603 tc id = 11, canon_type = 1, mot type = 1 time: 0.603000 primary movement = 1.011186337112e-02 time: 6.030000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 4.121714 tc id = 11, canon_type = 1, mot type = 1 time: 0.604000 primary movement = 1.011186337113e-02 time: 6.040000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 4.131826 tc id = 11, canon_type = 1, mot type = 1 time: 0.605000 primary movement = 1.011186337113e-02 time: 6.050000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 4.141938 tc id = 11, canon_type = 1, mot type = 1 time: 0.606000 primary movement = 1.011186337113e-02 time: 6.060000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 4.152050 tc id = 11, canon_type = 1, mot type = 1 time: 0.607000 primary movement = 1.011186337113e-02 time: 6.070000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 4.162162 tc id = 11, canon_type = 1, mot type = 1 time: 0.608000 primary movement = 1.011186337112e-02 time: 6.080000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 4.172274 tc id = 11, canon_type = 1, mot type = 1 time: 0.609000 primary movement = 1.011186337113e-02 time: 6.090000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 4.182386 tc id = 11, canon_type = 1, mot type = 1 time: 0.610000 primary movement = 1.011186337113e-02 time: 6.100000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 4.192497 tc id = 11, canon_type = 1, mot type = 1 time: 0.611000 primary movement = 1.011186337113e-02 time: 6.110000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 4.202609 tc id = 11, canon_type = 1, mot type = 1 time: 0.612000 primary movement = 1.011186337112e-02 time: 6.120000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 4.212721 tc id = 11, canon_type = 1, mot type = 1 time: 0.613000 primary movement = 1.011186337113e-02 time: 6.130000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 4.222833 tc id = 11, canon_type = 1, mot type = 1 time: 0.614000 primary movement = 1.011186337113e-02 time: 6.140000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 4.232945 tc id = 11, canon_type = 1, mot type = 1 time: 0.615000 primary movement = 1.011186337113e-02 time: 6.150000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 4.243057 tc id = 11, canon_type = 1, mot type = 1 time: 0.616000 primary movement = 1.011186337113e-02 time: 6.160000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 4.253169 tc id = 11, canon_type = 1, mot type = 1 time: 0.617000 primary movement = 1.011186337112e-02 time: 6.170000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 4.263280 tc id = 11, canon_type = 1, mot type = 1 time: 0.618000 primary movement = 1.011186337113e-02 time: 6.180000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 4.273392 tc id = 11, canon_type = 1, mot type = 1 time: 0.619000 primary movement = 1.011186337113e-02 time: 6.190000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 4.283504 tc id = 11, canon_type = 1, mot type = 1 time: 0.620000 primary movement = 1.011186337113e-02 time: 6.200000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 4.293616 tc id = 11, canon_type = 1, mot type = 1 time: 0.621000 primary movement = 1.011186337112e-02 time: 6.210000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 4.303728 tc id = 11, canon_type = 1, mot type = 1 time: 0.622000 primary movement = 1.011186337113e-02 time: 6.220000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 4.313840 tc id = 11, canon_type = 1, mot type = 1 time: 0.623000 primary movement = 1.011186337113e-02 time: 6.230000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 4.323952 tc id = 11, canon_type = 1, mot type = 1 time: 0.624000 primary movement = 1.011186337113e-02 time: 6.240000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 4.334064 tc id = 11, canon_type = 1, mot type = 1 time: 0.625000 primary movement = 1.011186337112e-02 time: 6.250000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 4.344175 tc id = 11, canon_type = 1, mot type = 1 time: 0.626000 primary movement = 1.011186337113e-02 time: 6.260000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 4.354287 tc id = 11, canon_type = 1, mot type = 1 time: 0.627000 primary movement = 1.011186337113e-02 time: 6.270000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 4.364399 tc id = 11, canon_type = 1, mot type = 1 time: 0.628000 primary movement = 1.011186337113e-02 time: 6.280000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 4.374511 tc id = 11, canon_type = 1, mot type = 1 time: 0.629000 primary movement = 1.011186337113e-02 time: 6.290000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 4.384623 tc id = 11, canon_type = 1, mot type = 1 time: 0.630000 primary movement = 1.011186337112e-02 time: 6.300000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 4.394735 tc id = 11, canon_type = 1, mot type = 1 time: 0.631000 primary movement = 1.011186337113e-02 time: 6.310000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 4.404847 tc id = 11, canon_type = 1, mot type = 1 time: 0.632000 primary movement = 1.011186337113e-02 time: 6.320000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 4.414958 tc id = 11, canon_type = 1, mot type = 1 time: 0.633000 primary movement = 1.011186337113e-02 time: 6.330000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 4.425070 tc id = 11, canon_type = 1, mot type = 1 time: 0.634000 primary movement = 1.011186337112e-02 time: 6.340000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 4.435182 tc id = 11, canon_type = 1, mot type = 1 time: 0.635000 primary movement = 1.011186337113e-02 time: 6.350000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 4.445294 tc id = 11, canon_type = 1, mot type = 1 time: 0.636000 primary movement = 1.011186337113e-02 time: 6.360000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 4.455406 tc id = 11, canon_type = 1, mot type = 1 time: 0.637000 primary movement = 1.011186337113e-02 time: 6.370000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 4.465518 tc id = 11, canon_type = 1, mot type = 1 time: 0.638000 primary movement = 1.011186337112e-02 time: 6.380000000000e-01 total movement = 1.011186337112e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 4.475630 tc id = 11, canon_type = 1, mot type = 1 time: 0.639000 primary movement = 1.011186337113e-02 time: 6.390000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.111863, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.111863, acc = 0.000000,T = 5.894835, P = 4.485741 tc id = 11, canon_type = 1, mot type = 1 time: 0.640000 primary movement = 1.011186337113e-02 time: 6.400000000000e-01 total movement = 1.011186337113e-02 vel = 1.011186337113e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.092304, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.092304, acc = -19.559634,T = 5.894835, P = 4.495844 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.641000 primary movement = 1.010208355433e-02 time: 6.410000000000e-01 total movement = 1.010208355433e-02 vel = 1.009230373754e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.055901, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.055901, acc = -36.402854,T = 5.894835, P = 4.505918 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.642000 primary movement = 1.007410231067e-02 time: 6.420000000000e-01 total movement = 1.007410231067e-02 vel = 1.005590088379e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 10.019498, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 10.019498, acc = -36.402854,T = 5.894835, P = 4.515955 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.643000 primary movement = 1.003769945692e-02 time: 6.430000000000e-01 total movement = 1.003769945692e-02 vel = 1.001949803005e+01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.983095, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.983095, acc = -36.402854,T = 5.894835, P = 4.525957 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.644000 primary movement = 1.000129660317e-02 time: 6.440000000000e-01 total movement = 1.000129660317e-02 vel = 9.983095176300e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.946692, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.946692, acc = -36.402854,T = 5.894835, P = 4.535922 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.645000 primary movement = 9.964893749426e-03 time: 6.450000000000e-01 total movement = 9.964893749426e-03 vel = 9.946692322552e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.910289, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.910289, acc = -36.402854,T = 5.894835, P = 4.545850 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.646000 primary movement = 9.928490895678e-03 time: 6.460000000000e-01 total movement = 9.928490895678e-03 vel = 9.910289468805e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.873887, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.873887, acc = -36.402854,T = 5.894835, P = 4.555742 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.647000 primary movement = 9.892088041931e-03 time: 6.470000000000e-01 total movement = 9.892088041931e-03 vel = 9.873886615057e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.837484, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.837484, acc = -36.402854,T = 5.894835, P = 4.565598 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.648000 primary movement = 9.855685188183e-03 time: 6.480000000000e-01 total movement = 9.855685188183e-03 vel = 9.837483761310e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.801081, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.801081, acc = -36.402854,T = 5.894835, P = 4.575417 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.649000 primary movement = 9.819282334436e-03 time: 6.490000000000e-01 total movement = 9.819282334436e-03 vel = 9.801080907562e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.764678, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.764678, acc = -36.402854,T = 5.894835, P = 4.585200 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.650000 primary movement = 9.782879480689e-03 time: 6.500000000000e-01 total movement = 9.782879480689e-03 vel = 9.764678053815e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.728275, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.728275, acc = -36.402854,T = 5.894835, P = 4.594946 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.651000 primary movement = 9.746476626941e-03 time: 6.510000000000e-01 total movement = 9.746476626941e-03 vel = 9.728275200067e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.691872, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.691872, acc = -36.402854,T = 5.894835, P = 4.604657 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.652000 primary movement = 9.710073773194e-03 time: 6.520000000000e-01 total movement = 9.710073773194e-03 vel = 9.691872346320e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.655469, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.655469, acc = -36.402854,T = 5.894835, P = 4.614330 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.653000 primary movement = 9.673670919446e-03 time: 6.530000000000e-01 total movement = 9.673670919446e-03 vel = 9.655469492572e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.619067, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.619067, acc = -36.402854,T = 5.894835, P = 4.623967 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.654000 primary movement = 9.637268065699e-03 time: 6.540000000000e-01 total movement = 9.637268065699e-03 vel = 9.619066638825e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.582664, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.582664, acc = -36.402854,T = 5.894835, P = 4.633568 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.655000 primary movement = 9.600865211951e-03 time: 6.550000000000e-01 total movement = 9.600865211951e-03 vel = 9.582663785078e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.546261, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.546261, acc = -36.402854,T = 5.894835, P = 4.643133 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.656000 primary movement = 9.564462358204e-03 time: 6.560000000000e-01 total movement = 9.564462358204e-03 vel = 9.546260931330e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.509858, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.509858, acc = -36.402854,T = 5.894835, P = 4.652661 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.657000 primary movement = 9.528059504456e-03 time: 6.570000000000e-01 total movement = 9.528059504456e-03 vel = 9.509858077583e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.473455, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.473455, acc = -36.402854,T = 5.894835, P = 4.662153 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.658000 primary movement = 9.491656650708e-03 time: 6.580000000000e-01 total movement = 9.491656650708e-03 vel = 9.473455223835e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.437052, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.437052, acc = -36.402854,T = 5.894835, P = 4.671608 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.659000 primary movement = 9.455253796961e-03 time: 6.590000000000e-01 total movement = 9.455253796961e-03 vel = 9.437052370088e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.400650, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.400650, acc = -36.402854,T = 5.894835, P = 4.681027 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.660000 primary movement = 9.418850943214e-03 time: 6.600000000000e-01 total movement = 9.418850943214e-03 vel = 9.400649516340e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.364247, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.364247, acc = -36.402854,T = 5.894835, P = 4.690409 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.661000 primary movement = 9.382448089467e-03 time: 6.610000000000e-01 total movement = 9.382448089467e-03 vel = 9.364246662593e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.327844, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.327844, acc = -36.402854,T = 5.894835, P = 4.699755 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.662000 primary movement = 9.346045235719e-03 time: 6.620000000000e-01 total movement = 9.346045235719e-03 vel = 9.327843808845e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.291441, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.291441, acc = -36.402854,T = 5.894835, P = 4.709065 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.663000 primary movement = 9.309642381972e-03 time: 6.630000000000e-01 total movement = 9.309642381972e-03 vel = 9.291440955098e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.255038, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.255038, acc = -36.402854,T = 5.894835, P = 4.718338 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.664000 primary movement = 9.273239528224e-03 time: 6.640000000000e-01 total movement = 9.273239528224e-03 vel = 9.255038101350e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.218635, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.218635, acc = -36.402854,T = 5.894835, P = 4.727575 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.665000 primary movement = 9.236836674477e-03 time: 6.650000000000e-01 total movement = 9.236836674477e-03 vel = 9.218635247603e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.182232, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.182232, acc = -36.402854,T = 5.894835, P = 4.736775 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.666000 primary movement = 9.200433820729e-03 time: 6.660000000000e-01 total movement = 9.200433820729e-03 vel = 9.182232393855e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.145830, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.145830, acc = -36.402854,T = 5.894835, P = 4.745939 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.667000 primary movement = 9.164030966982e-03 time: 6.670000000000e-01 total movement = 9.164030966982e-03 vel = 9.145829540108e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.109427, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.109427, acc = -36.402854,T = 5.894835, P = 4.755067 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.668000 primary movement = 9.127628113234e-03 time: 6.680000000000e-01 total movement = 9.127628113234e-03 vel = 9.109426686360e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.073024, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.073024, acc = -36.402854,T = 5.894835, P = 4.764158 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.669000 primary movement = 9.091225259486e-03 time: 6.690000000000e-01 total movement = 9.091225259486e-03 vel = 9.073023832613e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.036621, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.036621, acc = -36.402854,T = 5.894835, P = 4.773213 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.670000 primary movement = 9.054822405739e-03 time: 6.700000000000e-01 total movement = 9.054822405739e-03 vel = 9.036620978866e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 9.000218, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 9.000218, acc = -36.402854,T = 5.894835, P = 4.782231 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.671000 primary movement = 9.018419551992e-03 time: 6.710000000000e-01 total movement = 9.018419551992e-03 vel = 9.000218125118e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.963815, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.963815, acc = -36.402854,T = 5.894835, P = 4.791213 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.672000 primary movement = 8.982016698244e-03 time: 6.720000000000e-01 total movement = 8.982016698244e-03 vel = 8.963815271371e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.927412, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.927412, acc = -36.402854,T = 5.894835, P = 4.800159 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.673000 primary movement = 8.945613844497e-03 time: 6.730000000000e-01 total movement = 8.945613844497e-03 vel = 8.927412417623e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.891010, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.891010, acc = -36.402854,T = 5.894835, P = 4.809068 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.674000 primary movement = 8.909210990749e-03 time: 6.740000000000e-01 total movement = 8.909210990749e-03 vel = 8.891009563876e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.854607, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.854607, acc = -36.402854,T = 5.894835, P = 4.817941 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.675000 primary movement = 8.872808137002e-03 time: 6.750000000000e-01 total movement = 8.872808137002e-03 vel = 8.854606710128e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.818204, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.818204, acc = -36.402854,T = 5.894835, P = 4.826777 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.676000 primary movement = 8.836405283255e-03 time: 6.760000000000e-01 total movement = 8.836405283255e-03 vel = 8.818203856381e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.781801, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.781801, acc = -36.402854,T = 5.894835, P = 4.835577 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.677000 primary movement = 8.800002429507e-03 time: 6.770000000000e-01 total movement = 8.800002429507e-03 vel = 8.781801002633e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.745398, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.745398, acc = -36.402854,T = 5.894835, P = 4.844341 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.678000 primary movement = 8.763599575760e-03 time: 6.780000000000e-01 total movement = 8.763599575760e-03 vel = 8.745398148886e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.708995, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.708995, acc = -36.402854,T = 5.894835, P = 4.853068 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.679000 primary movement = 8.727196722012e-03 time: 6.790000000000e-01 total movement = 8.727196722012e-03 vel = 8.708995295138e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.672592, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.672592, acc = -36.402854,T = 5.894835, P = 4.861759 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.680000 primary movement = 8.690793868265e-03 time: 6.800000000000e-01 total movement = 8.690793868265e-03 vel = 8.672592441391e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.636190, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.636190, acc = -36.402854,T = 5.894835, P = 4.870413 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.681000 primary movement = 8.654391014517e-03 time: 6.810000000000e-01 total movement = 8.654391014517e-03 vel = 8.636189587643e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.599787, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.599787, acc = -36.402854,T = 5.894835, P = 4.879031 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.682000 primary movement = 8.617988160769e-03 time: 6.820000000000e-01 total movement = 8.617988160769e-03 vel = 8.599786733896e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.563384, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.563384, acc = -36.402854,T = 5.894835, P = 4.887613 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.683000 primary movement = 8.581585307022e-03 time: 6.830000000000e-01 total movement = 8.581585307022e-03 vel = 8.563383880148e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.526981, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.526981, acc = -36.402854,T = 5.894835, P = 4.896158 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.684000 primary movement = 8.545182453275e-03 time: 6.840000000000e-01 total movement = 8.545182453275e-03 vel = 8.526981026401e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.490578, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.490578, acc = -36.402854,T = 5.894835, P = 4.904667 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.685000 primary movement = 8.508779599527e-03 time: 6.850000000000e-01 total movement = 8.508779599527e-03 vel = 8.490578172654e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.454175, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.454175, acc = -36.402854,T = 5.894835, P = 4.913139 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.686000 primary movement = 8.472376745780e-03 time: 6.860000000000e-01 total movement = 8.472376745780e-03 vel = 8.454175318906e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.417772, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.417772, acc = -36.402854,T = 5.894835, P = 4.921575 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.687000 primary movement = 8.435973892032e-03 time: 6.870000000000e-01 total movement = 8.435973892032e-03 vel = 8.417772465159e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.381370, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.381370, acc = -36.402854,T = 5.894835, P = 4.929975 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.688000 primary movement = 8.399571038285e-03 time: 6.880000000000e-01 total movement = 8.399571038285e-03 vel = 8.381369611411e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.344967, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.344967, acc = -36.402854,T = 5.894835, P = 4.938338 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.689000 primary movement = 8.363168184537e-03 time: 6.890000000000e-01 total movement = 8.363168184537e-03 vel = 8.344966757664e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.308564, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.308564, acc = -36.402854,T = 5.894835, P = 4.946665 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.690000 primary movement = 8.326765330790e-03 time: 6.900000000000e-01 total movement = 8.326765330790e-03 vel = 8.308563903916e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.272161, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.272161, acc = -36.402854,T = 5.894835, P = 4.954955 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.691000 primary movement = 8.290362477042e-03 time: 6.910000000000e-01 total movement = 8.290362477042e-03 vel = 8.272161050169e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.235758, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.235758, acc = -36.402854,T = 5.894835, P = 4.963209 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.692000 primary movement = 8.253959623295e-03 time: 6.920000000000e-01 total movement = 8.253959623295e-03 vel = 8.235758196421e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.199355, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.199355, acc = -36.402854,T = 5.894835, P = 4.971427 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.693000 primary movement = 8.217556769548e-03 time: 6.930000000000e-01 total movement = 8.217556769548e-03 vel = 8.199355342674e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.162952, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.162952, acc = -36.402854,T = 5.894835, P = 4.979608 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.694000 primary movement = 8.181153915800e-03 time: 6.940000000000e-01 total movement = 8.181153915800e-03 vel = 8.162952488926e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.126550, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.126550, acc = -36.402854,T = 5.894835, P = 4.987753 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.695000 primary movement = 8.144751062052e-03 time: 6.950000000000e-01 total movement = 8.144751062052e-03 vel = 8.126549635179e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.090147, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.090147, acc = -36.402854,T = 5.894835, P = 4.995861 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.696000 primary movement = 8.108348208304e-03 time: 6.960000000000e-01 total movement = 8.108348208304e-03 vel = 8.090146781431e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.053744, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.053744, acc = -36.402854,T = 5.894835, P = 5.003933 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.697000 primary movement = 8.071945354557e-03 time: 6.970000000000e-01 total movement = 8.071945354557e-03 vel = 8.053743927684e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 8.017341, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 8.017341, acc = -36.402854,T = 5.894835, P = 5.011968 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.698000 primary movement = 8.035542500810e-03 time: 6.980000000000e-01 total movement = 8.035542500810e-03 vel = 8.017341073937e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.980938, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.980938, acc = -36.402854,T = 5.894835, P = 5.019968 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.699000 primary movement = 7.999139647063e-03 time: 6.990000000000e-01 total movement = 7.999139647063e-03 vel = 7.980938220189e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.944535, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.944535, acc = -36.402854,T = 5.894835, P = 5.027930 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.700000 primary movement = 7.962736793315e-03 time: 7.000000000000e-01 total movement = 7.962736793315e-03 vel = 7.944535366442e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.908133, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.908133, acc = -36.402854,T = 5.894835, P = 5.035857 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.701000 primary movement = 7.926333939568e-03 time: 7.010000000000e-01 total movement = 7.926333939568e-03 vel = 7.908132512694e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.871730, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.871730, acc = -36.402854,T = 5.894835, P = 5.043747 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.702000 primary movement = 7.889931085820e-03 time: 7.020000000000e-01 total movement = 7.889931085820e-03 vel = 7.871729658947e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.835327, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.835327, acc = -36.402854,T = 5.894835, P = 5.051600 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.703000 primary movement = 7.853528232073e-03 time: 7.030000000000e-01 total movement = 7.853528232073e-03 vel = 7.835326805199e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.798924, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.798924, acc = -36.402854,T = 5.894835, P = 5.059417 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.704000 primary movement = 7.817125378325e-03 time: 7.040000000000e-01 total movement = 7.817125378325e-03 vel = 7.798923951452e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.762521, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.762521, acc = -36.402854,T = 5.894835, P = 5.067198 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.705000 primary movement = 7.780722524578e-03 time: 7.050000000000e-01 total movement = 7.780722524578e-03 vel = 7.762521097704e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.726118, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.726118, acc = -36.402854,T = 5.894835, P = 5.074942 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.706000 primary movement = 7.744319670831e-03 time: 7.060000000000e-01 total movement = 7.744319670831e-03 vel = 7.726118243957e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.689715, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.689715, acc = -36.402854,T = 5.894835, P = 5.082650 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.707000 primary movement = 7.707916817083e-03 time: 7.070000000000e-01 total movement = 7.707916817083e-03 vel = 7.689715390209e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.653313, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.653313, acc = -36.402854,T = 5.894835, P = 5.090322 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.708000 primary movement = 7.671513963335e-03 time: 7.080000000000e-01 total movement = 7.671513963335e-03 vel = 7.653312536462e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.616910, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.616910, acc = -36.402854,T = 5.894835, P = 5.097957 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.709000 primary movement = 7.635111109588e-03 time: 7.090000000000e-01 total movement = 7.635111109588e-03 vel = 7.616909682714e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.580507, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.580507, acc = -36.402854,T = 5.894835, P = 5.105556 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.710000 primary movement = 7.598708255840e-03 time: 7.100000000000e-01 total movement = 7.598708255840e-03 vel = 7.580506828967e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.544104, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.544104, acc = -36.402854,T = 5.894835, P = 5.113118 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.711000 primary movement = 7.562305402093e-03 time: 7.110000000000e-01 total movement = 7.562305402093e-03 vel = 7.544103975219e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.507701, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.507701, acc = -36.402854,T = 5.894835, P = 5.120644 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.712000 primary movement = 7.525902548345e-03 time: 7.120000000000e-01 total movement = 7.525902548345e-03 vel = 7.507701121472e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.471298, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.471298, acc = -36.402854,T = 5.894835, P = 5.128133 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.713000 primary movement = 7.489499694598e-03 time: 7.130000000000e-01 total movement = 7.489499694598e-03 vel = 7.471298267725e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.434895, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.434895, acc = -36.402854,T = 5.894835, P = 5.135586 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.714000 primary movement = 7.453096840851e-03 time: 7.140000000000e-01 total movement = 7.453096840851e-03 vel = 7.434895413977e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.398493, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.398493, acc = -36.402854,T = 5.894835, P = 5.143003 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.715000 primary movement = 7.416693987103e-03 time: 7.150000000000e-01 total movement = 7.416693987103e-03 vel = 7.398492560230e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.362090, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.362090, acc = -36.402854,T = 5.894835, P = 5.150383 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.716000 primary movement = 7.380291133356e-03 time: 7.160000000000e-01 total movement = 7.380291133356e-03 vel = 7.362089706482e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.325687, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.325687, acc = -36.402854,T = 5.894835, P = 5.157727 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.717000 primary movement = 7.343888279608e-03 time: 7.170000000000e-01 total movement = 7.343888279608e-03 vel = 7.325686852735e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.289284, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.289284, acc = -36.402854,T = 5.894835, P = 5.165035 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.718000 primary movement = 7.307485425861e-03 time: 7.180000000000e-01 total movement = 7.307485425861e-03 vel = 7.289283998987e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.252881, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.252881, acc = -36.402854,T = 5.894835, P = 5.172306 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.719000 primary movement = 7.271082572114e-03 time: 7.190000000000e-01 total movement = 7.271082572114e-03 vel = 7.252881145240e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.216478, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.216478, acc = -36.402854,T = 5.894835, P = 5.179540 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.720000 primary movement = 7.234679718365e-03 time: 7.200000000000e-01 total movement = 7.234679718365e-03 vel = 7.216478291492e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.180075, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.180075, acc = -36.402854,T = 5.894835, P = 5.186739 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.721000 primary movement = 7.198276864619e-03 time: 7.210000000000e-01 total movement = 7.198276864619e-03 vel = 7.180075437745e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.143673, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.143673, acc = -36.402854,T = 5.894835, P = 5.193901 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.722000 primary movement = 7.161874010870e-03 time: 7.220000000000e-01 total movement = 7.161874010870e-03 vel = 7.143672583997e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.107270, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.107270, acc = -36.402854,T = 5.894835, P = 5.201026 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.723000 primary movement = 7.125471157123e-03 time: 7.230000000000e-01 total movement = 7.125471157123e-03 vel = 7.107269730250e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.070867, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.070867, acc = -36.402854,T = 5.894835, P = 5.208115 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.724000 primary movement = 7.089068303376e-03 time: 7.240000000000e-01 total movement = 7.089068303376e-03 vel = 7.070866876502e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 7.034464, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 7.034464, acc = -36.402854,T = 5.894835, P = 5.215168 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.725000 primary movement = 7.052665449628e-03 time: 7.250000000000e-01 total movement = 7.052665449628e-03 vel = 7.034464022755e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.998061, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.998061, acc = -36.402854,T = 5.894835, P = 5.222184 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.726000 primary movement = 7.016262595881e-03 time: 7.260000000000e-01 total movement = 7.016262595881e-03 vel = 6.998061169007e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.961658, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.961658, acc = -36.402854,T = 5.894835, P = 5.229164 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.727000 primary movement = 6.979859742134e-03 time: 7.270000000000e-01 total movement = 6.979859742134e-03 vel = 6.961658315260e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.925255, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.925255, acc = -36.402854,T = 5.894835, P = 5.236107 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.728000 primary movement = 6.943456888386e-03 time: 7.280000000000e-01 total movement = 6.943456888386e-03 vel = 6.925255461513e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.888853, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.888853, acc = -36.402854,T = 5.894835, P = 5.243014 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.729000 primary movement = 6.907054034639e-03 time: 7.290000000000e-01 total movement = 6.907054034639e-03 vel = 6.888852607765e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.852450, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.852450, acc = -36.402854,T = 5.894835, P = 5.249885 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.730000 primary movement = 6.870651180891e-03 time: 7.300000000000e-01 total movement = 6.870651180891e-03 vel = 6.852449754018e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.816047, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.816047, acc = -36.402854,T = 5.894835, P = 5.256719 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.731000 primary movement = 6.834248327145e-03 time: 7.310000000000e-01 total movement = 6.834248327145e-03 vel = 6.816046900270e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.779644, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.779644, acc = -36.402854,T = 5.894835, P = 5.263517 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.732000 primary movement = 6.797845473397e-03 time: 7.320000000000e-01 total movement = 6.797845473397e-03 vel = 6.779644046523e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.743241, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.743241, acc = -36.402854,T = 5.894835, P = 5.270279 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.733000 primary movement = 6.761442619648e-03 time: 7.330000000000e-01 total movement = 6.761442619648e-03 vel = 6.743241192775e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.706838, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.706838, acc = -36.402854,T = 5.894835, P = 5.277004 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.734000 primary movement = 6.725039765901e-03 time: 7.340000000000e-01 total movement = 6.725039765901e-03 vel = 6.706838339028e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.670435, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.670435, acc = -36.402854,T = 5.894835, P = 5.283692 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.735000 primary movement = 6.688636912154e-03 time: 7.350000000000e-01 total movement = 6.688636912154e-03 vel = 6.670435485280e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.634033, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.634033, acc = -36.402854,T = 5.894835, P = 5.290345 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.736000 primary movement = 6.652234058406e-03 time: 7.360000000000e-01 total movement = 6.652234058406e-03 vel = 6.634032631533e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.597630, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.597630, acc = -36.402854,T = 5.894835, P = 5.296960 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.737000 primary movement = 6.615831204659e-03 time: 7.370000000000e-01 total movement = 6.615831204659e-03 vel = 6.597629777785e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.561227, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.561227, acc = -36.402854,T = 5.894835, P = 5.303540 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.738000 primary movement = 6.579428350912e-03 time: 7.380000000000e-01 total movement = 6.579428350912e-03 vel = 6.561226924038e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.524824, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.524824, acc = -36.402854,T = 5.894835, P = 5.310083 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.739000 primary movement = 6.543025497164e-03 time: 7.390000000000e-01 total movement = 6.543025497164e-03 vel = 6.524824070290e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.488421, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.488421, acc = -36.402854,T = 5.894835, P = 5.316589 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.740000 primary movement = 6.506622643416e-03 time: 7.400000000000e-01 total movement = 6.506622643416e-03 vel = 6.488421216543e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.452018, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.452018, acc = -36.402854,T = 5.894835, P = 5.323060 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.741000 primary movement = 6.470219789669e-03 time: 7.410000000000e-01 total movement = 6.470219789669e-03 vel = 6.452018362795e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.415616, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.415616, acc = -36.402854,T = 5.894835, P = 5.329493 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.742000 primary movement = 6.433816935922e-03 time: 7.420000000000e-01 total movement = 6.433816935922e-03 vel = 6.415615509048e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.379213, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.379213, acc = -36.402854,T = 5.894835, P = 5.335891 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.743000 primary movement = 6.397414082174e-03 time: 7.430000000000e-01 total movement = 6.397414082174e-03 vel = 6.379212655301e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.342810, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.342810, acc = -36.402854,T = 5.894835, P = 5.342252 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.744000 primary movement = 6.361011228427e-03 time: 7.440000000000e-01 total movement = 6.361011228427e-03 vel = 6.342809801553e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.306407, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.306407, acc = -36.402854,T = 5.894835, P = 5.348577 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.745000 primary movement = 6.324608374679e-03 time: 7.450000000000e-01 total movement = 6.324608374679e-03 vel = 6.306406947806e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.270004, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.270004, acc = -36.402854,T = 5.894835, P = 5.354865 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.746000 primary movement = 6.288205520932e-03 time: 7.460000000000e-01 total movement = 6.288205520932e-03 vel = 6.270004094058e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.233601, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.233601, acc = -36.402854,T = 5.894835, P = 5.361117 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.747000 primary movement = 6.251802667184e-03 time: 7.470000000000e-01 total movement = 6.251802667184e-03 vel = 6.233601240311e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.197198, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.197198, acc = -36.402854,T = 5.894835, P = 5.367332 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.748000 primary movement = 6.215399813437e-03 time: 7.480000000000e-01 total movement = 6.215399813437e-03 vel = 6.197198386563e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.160796, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.160796, acc = -36.402854,T = 5.894835, P = 5.373511 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.749000 primary movement = 6.178996959689e-03 time: 7.490000000000e-01 total movement = 6.178996959689e-03 vel = 6.160795532816e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.124393, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.124393, acc = -36.402854,T = 5.894835, P = 5.379654 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.750000 primary movement = 6.142594105942e-03 time: 7.500000000000e-01 total movement = 6.142594105942e-03 vel = 6.124392679068e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.087990, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.087990, acc = -36.402854,T = 5.894835, P = 5.385760 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.751000 primary movement = 6.106191252194e-03 time: 7.510000000000e-01 total movement = 6.106191252194e-03 vel = 6.087989825321e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.051587, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.051587, acc = -36.402854,T = 5.894835, P = 5.391829 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.752000 primary movement = 6.069788398447e-03 time: 7.520000000000e-01 total movement = 6.069788398447e-03 vel = 6.051586971573e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 6.015184, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 6.015184, acc = -36.402854,T = 5.894835, P = 5.397863 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.753000 primary movement = 6.033385544700e-03 time: 7.530000000000e-01 total movement = 6.033385544700e-03 vel = 6.015184117826e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.978781, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.978781, acc = -36.402854,T = 5.894835, P = 5.403860 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.754000 primary movement = 5.996982690952e-03 time: 7.540000000000e-01 total movement = 5.996982690952e-03 vel = 5.978781264078e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.942378, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.942378, acc = -36.402854,T = 5.894835, P = 5.409820 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.755000 primary movement = 5.960579837205e-03 time: 7.550000000000e-01 total movement = 5.960579837205e-03 vel = 5.942378410331e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.905976, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.905976, acc = -36.402854,T = 5.894835, P = 5.415745 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.756000 primary movement = 5.924176983457e-03 time: 7.560000000000e-01 total movement = 5.924176983457e-03 vel = 5.905975556584e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.869573, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.869573, acc = -36.402854,T = 5.894835, P = 5.421632 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.757000 primary movement = 5.887774129710e-03 time: 7.570000000000e-01 total movement = 5.887774129710e-03 vel = 5.869572702836e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.833170, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.833170, acc = -36.402854,T = 5.894835, P = 5.427484 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.758000 primary movement = 5.851371275963e-03 time: 7.580000000000e-01 total movement = 5.851371275963e-03 vel = 5.833169849089e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.796767, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.796767, acc = -36.402854,T = 5.894835, P = 5.433299 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.759000 primary movement = 5.814968422214e-03 time: 7.590000000000e-01 total movement = 5.814968422214e-03 vel = 5.796766995341e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.760364, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.760364, acc = -36.402854,T = 5.894835, P = 5.439077 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.760000 primary movement = 5.778565568467e-03 time: 7.600000000000e-01 total movement = 5.778565568467e-03 vel = 5.760364141594e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.723961, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.723961, acc = -36.402854,T = 5.894835, P = 5.444819 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.761000 primary movement = 5.742162714719e-03 time: 7.610000000000e-01 total movement = 5.742162714719e-03 vel = 5.723961287846e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.687558, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.687558, acc = -36.402854,T = 5.894835, P = 5.450525 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.762000 primary movement = 5.705759860972e-03 time: 7.620000000000e-01 total movement = 5.705759860972e-03 vel = 5.687558434099e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.651156, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.651156, acc = -36.402854,T = 5.894835, P = 5.456195 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.763000 primary movement = 5.669357007225e-03 time: 7.630000000000e-01 total movement = 5.669357007225e-03 vel = 5.651155580351e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.614753, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.614753, acc = -36.402854,T = 5.894835, P = 5.461828 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.764000 primary movement = 5.632954153478e-03 time: 7.640000000000e-01 total movement = 5.632954153478e-03 vel = 5.614752726604e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.578350, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.578350, acc = -36.402854,T = 5.894835, P = 5.467424 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.765000 primary movement = 5.596551299730e-03 time: 7.650000000000e-01 total movement = 5.596551299730e-03 vel = 5.578349872856e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.541947, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.541947, acc = -36.402854,T = 5.894835, P = 5.472984 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.766000 primary movement = 5.560148445983e-03 time: 7.660000000000e-01 total movement = 5.560148445983e-03 vel = 5.541947019109e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.505544, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.505544, acc = -36.402854,T = 5.894835, P = 5.478508 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.767000 primary movement = 5.523745592235e-03 time: 7.670000000000e-01 total movement = 5.523745592235e-03 vel = 5.505544165361e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.469141, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.469141, acc = -36.402854,T = 5.894835, P = 5.483995 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.768000 primary movement = 5.487342738487e-03 time: 7.680000000000e-01 total movement = 5.487342738487e-03 vel = 5.469141311614e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.432738, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.432738, acc = -36.402854,T = 5.894835, P = 5.489446 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.769000 primary movement = 5.450939884741e-03 time: 7.690000000000e-01 total movement = 5.450939884741e-03 vel = 5.432738457866e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.396336, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.396336, acc = -36.402854,T = 5.894835, P = 5.494861 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.770000 primary movement = 5.414537030993e-03 time: 7.700000000000e-01 total movement = 5.414537030993e-03 vel = 5.396335604119e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.359933, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.359933, acc = -36.402854,T = 5.894835, P = 5.500239 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.771000 primary movement = 5.378134177245e-03 time: 7.710000000000e-01 total movement = 5.378134177245e-03 vel = 5.359932750372e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.323530, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.323530, acc = -36.402854,T = 5.894835, P = 5.505581 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.772000 primary movement = 5.341731323498e-03 time: 7.720000000000e-01 total movement = 5.341731323498e-03 vel = 5.323529896624e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.287127, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.287127, acc = -36.402854,T = 5.894835, P = 5.510886 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.773000 primary movement = 5.305328469749e-03 time: 7.730000000000e-01 total movement = 5.305328469749e-03 vel = 5.287127042877e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.250724, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.250724, acc = -36.402854,T = 5.894835, P = 5.516155 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.774000 primary movement = 5.268925616003e-03 time: 7.740000000000e-01 total movement = 5.268925616003e-03 vel = 5.250724189129e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.214321, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.214321, acc = -36.402854,T = 5.894835, P = 5.521387 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.775000 primary movement = 5.232522762256e-03 time: 7.750000000000e-01 total movement = 5.232522762256e-03 vel = 5.214321335382e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.177918, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.177918, acc = -36.402854,T = 5.894835, P = 5.526584 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.776000 primary movement = 5.196119908507e-03 time: 7.760000000000e-01 total movement = 5.196119908507e-03 vel = 5.177918481634e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.141516, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.141516, acc = -36.402854,T = 5.894835, P = 5.531743 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.777000 primary movement = 5.159717054760e-03 time: 7.770000000000e-01 total movement = 5.159717054760e-03 vel = 5.141515627887e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.105113, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.105113, acc = -36.402854,T = 5.894835, P = 5.536867 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.778000 primary movement = 5.123314201013e-03 time: 7.780000000000e-01 total movement = 5.123314201013e-03 vel = 5.105112774139e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.068710, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.068710, acc = -36.402854,T = 5.894835, P = 5.541953 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.779000 primary movement = 5.086911347265e-03 time: 7.790000000000e-01 total movement = 5.086911347265e-03 vel = 5.068709920392e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 5.032307, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 5.032307, acc = -36.402854,T = 5.894835, P = 5.547004 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.780000 primary movement = 5.050508493519e-03 time: 7.800000000000e-01 total movement = 5.050508493519e-03 vel = 5.032307066644e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.995904, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.995904, acc = -36.402854,T = 5.894835, P = 5.552018 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.781000 primary movement = 5.014105639771e-03 time: 7.810000000000e-01 total movement = 5.014105639771e-03 vel = 4.995904212897e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.959501, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.959501, acc = -36.402854,T = 5.894835, P = 5.556996 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.782000 primary movement = 4.977702786023e-03 time: 7.820000000000e-01 total movement = 4.977702786023e-03 vel = 4.959501359149e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.923099, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.923099, acc = -36.402854,T = 5.894835, P = 5.561937 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.783000 primary movement = 4.941299932275e-03 time: 7.830000000000e-01 total movement = 4.941299932275e-03 vel = 4.923098505402e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.886696, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.886696, acc = -36.402854,T = 5.894835, P = 5.566842 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.784000 primary movement = 4.904897078529e-03 time: 7.840000000000e-01 total movement = 4.904897078529e-03 vel = 4.886695651654e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.850293, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.850293, acc = -36.402854,T = 5.894835, P = 5.571711 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.785000 primary movement = 4.868494224780e-03 time: 7.850000000000e-01 total movement = 4.868494224780e-03 vel = 4.850292797907e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.813890, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.813890, acc = -36.402854,T = 5.894835, P = 5.576543 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.786000 primary movement = 4.832091371033e-03 time: 7.860000000000e-01 total movement = 4.832091371033e-03 vel = 4.813889944160e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.777487, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.777487, acc = -36.402854,T = 5.894835, P = 5.581338 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.787000 primary movement = 4.795688517285e-03 time: 7.870000000000e-01 total movement = 4.795688517285e-03 vel = 4.777487090412e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.741084, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.741084, acc = -36.402854,T = 5.894835, P = 5.586098 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.788000 primary movement = 4.759285663537e-03 time: 7.880000000000e-01 total movement = 4.759285663537e-03 vel = 4.741084236665e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.704681, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.704681, acc = -36.402854,T = 5.894835, P = 5.590820 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.789000 primary movement = 4.722882809791e-03 time: 7.890000000000e-01 total movement = 4.722882809791e-03 vel = 4.704681382917e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.668279, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.668279, acc = -36.402854,T = 5.894835, P = 5.595507 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.790000 primary movement = 4.686479956043e-03 time: 7.900000000000e-01 total movement = 4.686479956043e-03 vel = 4.668278529170e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.631876, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.631876, acc = -36.402854,T = 5.894835, P = 5.600157 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.791000 primary movement = 4.650077102296e-03 time: 7.910000000000e-01 total movement = 4.650077102296e-03 vel = 4.631875675422e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.595473, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.595473, acc = -36.402854,T = 5.894835, P = 5.604771 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.792000 primary movement = 4.613674248549e-03 time: 7.920000000000e-01 total movement = 4.613674248549e-03 vel = 4.595472821675e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.559070, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.559070, acc = -36.402854,T = 5.894835, P = 5.609348 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.793000 primary movement = 4.577271394800e-03 time: 7.930000000000e-01 total movement = 4.577271394800e-03 vel = 4.559069967927e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.522667, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.522667, acc = -36.402854,T = 5.894835, P = 5.613889 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.794000 primary movement = 4.540868541054e-03 time: 7.940000000000e-01 total movement = 4.540868541054e-03 vel = 4.522667114180e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.486264, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.486264, acc = -36.402854,T = 5.894835, P = 5.618393 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.795000 primary movement = 4.504465687306e-03 time: 7.950000000000e-01 total movement = 4.504465687306e-03 vel = 4.486264260432e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.449861, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.449861, acc = -36.402854,T = 5.894835, P = 5.622861 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.796000 primary movement = 4.468062833559e-03 time: 7.960000000000e-01 total movement = 4.468062833559e-03 vel = 4.449861406685e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.413459, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.413459, acc = -36.402854,T = 5.894835, P = 5.627293 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.797000 primary movement = 4.431659979812e-03 time: 7.970000000000e-01 total movement = 4.431659979812e-03 vel = 4.413458552937e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.377056, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.377056, acc = -36.402854,T = 5.894835, P = 5.631688 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.798000 primary movement = 4.395257126063e-03 time: 7.980000000000e-01 total movement = 4.395257126063e-03 vel = 4.377055699190e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.340653, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.340653, acc = -36.402854,T = 5.894835, P = 5.636047 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.799000 primary movement = 4.358854272316e-03 time: 7.990000000000e-01 total movement = 4.358854272316e-03 vel = 4.340652845443e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.304250, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.304250, acc = -36.402854,T = 5.894835, P = 5.640370 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.800000 primary movement = 4.322451418568e-03 time: 8.000000000000e-01 total movement = 4.322451418568e-03 vel = 4.304249991695e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.267847, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.267847, acc = -36.402854,T = 5.894835, P = 5.644656 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.801000 primary movement = 4.286048564821e-03 time: 8.010000000000e-01 total movement = 4.286048564821e-03 vel = 4.267847137948e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.231444, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.231444, acc = -36.402854,T = 5.894835, P = 5.648905 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.802000 primary movement = 4.249645711074e-03 time: 8.020000000000e-01 total movement = 4.249645711074e-03 vel = 4.231444284200e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.195041, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.195041, acc = -36.402854,T = 5.894835, P = 5.653119 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.803000 primary movement = 4.213242857326e-03 time: 8.030000000000e-01 total movement = 4.213242857326e-03 vel = 4.195041430453e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.158639, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.158639, acc = -36.402854,T = 5.894835, P = 5.657295 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.804000 primary movement = 4.176840003579e-03 time: 8.040000000000e-01 total movement = 4.176840003579e-03 vel = 4.158638576705e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.122236, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.122236, acc = -36.402854,T = 5.894835, P = 5.661436 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.805000 primary movement = 4.140437149831e-03 time: 8.050000000000e-01 total movement = 4.140437149831e-03 vel = 4.122235722958e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.085833, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.085833, acc = -36.402854,T = 5.894835, P = 5.665540 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.806000 primary movement = 4.104034296084e-03 time: 8.060000000000e-01 total movement = 4.104034296084e-03 vel = 4.085832869210e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.049430, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.049430, acc = -36.402854,T = 5.894835, P = 5.669607 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.807000 primary movement = 4.067631442337e-03 time: 8.070000000000e-01 total movement = 4.067631442337e-03 vel = 4.049430015463e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 4.013027, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 4.013027, acc = -36.402854,T = 5.894835, P = 5.673639 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.808000 primary movement = 4.031228588589e-03 time: 8.080000000000e-01 total movement = 4.031228588589e-03 vel = 4.013027161715e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.976624, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.976624, acc = -36.402854,T = 5.894835, P = 5.677634 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.809000 primary movement = 3.994825734841e-03 time: 8.090000000000e-01 total movement = 3.994825734841e-03 vel = 3.976624307968e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.940221, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.940221, acc = -36.402854,T = 5.894835, P = 5.681592 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.810000 primary movement = 3.958422881095e-03 time: 8.100000000000e-01 total movement = 3.958422881095e-03 vel = 3.940221454220e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.903819, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.903819, acc = -36.402854,T = 5.894835, P = 5.685514 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.811000 primary movement = 3.922020027346e-03 time: 8.110000000000e-01 total movement = 3.922020027346e-03 vel = 3.903818600473e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.867416, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.867416, acc = -36.402854,T = 5.894835, P = 5.689400 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.812000 primary movement = 3.885617173599e-03 time: 8.120000000000e-01 total movement = 3.885617173599e-03 vel = 3.867415746725e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.831013, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.831013, acc = -36.402854,T = 5.894835, P = 5.693249 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.813000 primary movement = 3.849214319851e-03 time: 8.130000000000e-01 total movement = 3.849214319851e-03 vel = 3.831012892978e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.794610, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.794610, acc = -36.402854,T = 5.894835, P = 5.697062 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.814000 primary movement = 3.812811466104e-03 time: 8.140000000000e-01 total movement = 3.812811466104e-03 vel = 3.794610039231e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.758207, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.758207, acc = -36.402854,T = 5.894835, P = 5.700838 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.815000 primary movement = 3.776408612357e-03 time: 8.150000000000e-01 total movement = 3.776408612357e-03 vel = 3.758207185483e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.721804, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.721804, acc = -36.402854,T = 5.894835, P = 5.704578 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.816000 primary movement = 3.740005758609e-03 time: 8.160000000000e-01 total movement = 3.740005758609e-03 vel = 3.721804331736e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.685401, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.685401, acc = -36.402854,T = 5.894835, P = 5.708282 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.817000 primary movement = 3.703602904862e-03 time: 8.170000000000e-01 total movement = 3.703602904862e-03 vel = 3.685401477988e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.648999, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.648999, acc = -36.402854,T = 5.894835, P = 5.711949 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.818000 primary movement = 3.667200051114e-03 time: 8.180000000000e-01 total movement = 3.667200051114e-03 vel = 3.648998624241e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.612596, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.612596, acc = -36.402854,T = 5.894835, P = 5.715580 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.819000 primary movement = 3.630797197367e-03 time: 8.190000000000e-01 total movement = 3.630797197367e-03 vel = 3.612595770493e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.576193, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.576193, acc = -36.402854,T = 5.894835, P = 5.719174 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.820000 primary movement = 3.594394343619e-03 time: 8.200000000000e-01 total movement = 3.594394343619e-03 vel = 3.576192916746e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.539790, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.539790, acc = -36.402854,T = 5.894835, P = 5.722732 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.821000 primary movement = 3.557991489872e-03 time: 8.210000000000e-01 total movement = 3.557991489872e-03 vel = 3.539790062998e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.503387, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.503387, acc = -36.402854,T = 5.894835, P = 5.726254 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.822000 primary movement = 3.521588636125e-03 time: 8.220000000000e-01 total movement = 3.521588636125e-03 vel = 3.503387209251e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.466984, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.466984, acc = -36.402854,T = 5.894835, P = 5.729739 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.823000 primary movement = 3.485185782378e-03 time: 8.230000000000e-01 total movement = 3.485185782378e-03 vel = 3.466984355503e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.430582, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.430582, acc = -36.402854,T = 5.894835, P = 5.733188 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.824000 primary movement = 3.448782928630e-03 time: 8.240000000000e-01 total movement = 3.448782928630e-03 vel = 3.430581501756e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.394179, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.394179, acc = -36.402854,T = 5.894835, P = 5.736600 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.825000 primary movement = 3.412380074882e-03 time: 8.250000000000e-01 total movement = 3.412380074882e-03 vel = 3.394178648008e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.357776, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.357776, acc = -36.402854,T = 5.894835, P = 5.739976 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.826000 primary movement = 3.375977221134e-03 time: 8.260000000000e-01 total movement = 3.375977221134e-03 vel = 3.357775794261e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.321373, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.321373, acc = -36.402854,T = 5.894835, P = 5.743315 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.827000 primary movement = 3.339574367387e-03 time: 8.270000000000e-01 total movement = 3.339574367387e-03 vel = 3.321372940513e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.284970, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.284970, acc = -36.402854,T = 5.894835, P = 5.746619 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.828000 primary movement = 3.303171513640e-03 time: 8.280000000000e-01 total movement = 3.303171513640e-03 vel = 3.284970086766e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.248567, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.248567, acc = -36.402854,T = 5.894835, P = 5.749885 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.829000 primary movement = 3.266768659892e-03 time: 8.290000000000e-01 total movement = 3.266768659892e-03 vel = 3.248567233019e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.212164, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.212164, acc = -36.402854,T = 5.894835, P = 5.753116 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.830000 primary movement = 3.230365806144e-03 time: 8.300000000000e-01 total movement = 3.230365806144e-03 vel = 3.212164379271e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.175762, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.175762, acc = -36.402854,T = 5.894835, P = 5.756310 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.831000 primary movement = 3.193962952397e-03 time: 8.310000000000e-01 total movement = 3.193962952397e-03 vel = 3.175761525524e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.139359, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.139359, acc = -36.402854,T = 5.894835, P = 5.759467 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.832000 primary movement = 3.157560098650e-03 time: 8.320000000000e-01 total movement = 3.157560098650e-03 vel = 3.139358671776e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.102956, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.102956, acc = -36.402854,T = 5.894835, P = 5.762588 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.833000 primary movement = 3.121157244903e-03 time: 8.330000000000e-01 total movement = 3.121157244903e-03 vel = 3.102955818029e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.066553, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.066553, acc = -36.402854,T = 5.894835, P = 5.765673 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.834000 primary movement = 3.084754391156e-03 time: 8.340000000000e-01 total movement = 3.084754391156e-03 vel = 3.066552964281e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 3.030150, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 3.030150, acc = -36.402854,T = 5.894835, P = 5.768722 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.835000 primary movement = 3.048351537407e-03 time: 8.350000000000e-01 total movement = 3.048351537407e-03 vel = 3.030150110534e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.993747, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.993747, acc = -36.402854,T = 5.894835, P = 5.771734 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.836000 primary movement = 3.011948683660e-03 time: 8.360000000000e-01 total movement = 3.011948683660e-03 vel = 2.993747256786e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.957344, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.957344, acc = -36.402854,T = 5.894835, P = 5.774709 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.837000 primary movement = 2.975545829912e-03 time: 8.370000000000e-01 total movement = 2.975545829912e-03 vel = 2.957344403039e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.920942, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.920942, acc = -36.402854,T = 5.894835, P = 5.777648 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.838000 primary movement = 2.939142976165e-03 time: 8.380000000000e-01 total movement = 2.939142976165e-03 vel = 2.920941549291e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.884539, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.884539, acc = -36.402854,T = 5.894835, P = 5.780551 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.839000 primary movement = 2.902740122417e-03 time: 8.390000000000e-01 total movement = 2.902740122417e-03 vel = 2.884538695544e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.848136, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.848136, acc = -36.402854,T = 5.894835, P = 5.783417 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.840000 primary movement = 2.866337268670e-03 time: 8.400000000000e-01 total movement = 2.866337268670e-03 vel = 2.848135841796e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.811733, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.811733, acc = -36.402854,T = 5.894835, P = 5.786247 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.841000 primary movement = 2.829934414923e-03 time: 8.410000000000e-01 total movement = 2.829934414923e-03 vel = 2.811732988049e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.775330, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.775330, acc = -36.402854,T = 5.894835, P = 5.789041 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.842000 primary movement = 2.793531561175e-03 time: 8.420000000000e-01 total movement = 2.793531561175e-03 vel = 2.775330134301e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.738927, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.738927, acc = -36.402854,T = 5.894835, P = 5.791798 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.843000 primary movement = 2.757128707428e-03 time: 8.430000000000e-01 total movement = 2.757128707428e-03 vel = 2.738927280554e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.702524, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.702524, acc = -36.402854,T = 5.894835, P = 5.794519 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.844000 primary movement = 2.720725853681e-03 time: 8.440000000000e-01 total movement = 2.720725853681e-03 vel = 2.702524426807e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.666122, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.666122, acc = -36.402854,T = 5.894835, P = 5.797203 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.845000 primary movement = 2.684322999933e-03 time: 8.450000000000e-01 total movement = 2.684322999933e-03 vel = 2.666121573059e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.629719, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.629719, acc = -36.402854,T = 5.894835, P = 5.799851 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.846000 primary movement = 2.647920146185e-03 time: 8.460000000000e-01 total movement = 2.647920146185e-03 vel = 2.629718719312e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.593316, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.593316, acc = -36.402854,T = 5.894835, P = 5.802462 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.847000 primary movement = 2.611517292438e-03 time: 8.470000000000e-01 total movement = 2.611517292438e-03 vel = 2.593315865564e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.556913, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.556913, acc = -36.402854,T = 5.894835, P = 5.805037 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.848000 primary movement = 2.575114438690e-03 time: 8.480000000000e-01 total movement = 2.575114438690e-03 vel = 2.556913011817e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.520510, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.520510, acc = -36.402854,T = 5.894835, P = 5.807576 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.849000 primary movement = 2.538711584944e-03 time: 8.490000000000e-01 total movement = 2.538711584944e-03 vel = 2.520510158069e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.484107, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.484107, acc = -36.402854,T = 5.894835, P = 5.810079 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.850000 primary movement = 2.502308731195e-03 time: 8.500000000000e-01 total movement = 2.502308731195e-03 vel = 2.484107304322e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.447704, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.447704, acc = -36.402854,T = 5.894835, P = 5.812544 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.851000 primary movement = 2.465905877448e-03 time: 8.510000000000e-01 total movement = 2.465905877448e-03 vel = 2.447704450574e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.411302, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.411302, acc = -36.402854,T = 5.894835, P = 5.814974 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.852000 primary movement = 2.429503023700e-03 time: 8.520000000000e-01 total movement = 2.429503023700e-03 vel = 2.411301596827e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.374899, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.374899, acc = -36.402854,T = 5.894835, P = 5.817367 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.853000 primary movement = 2.393100169953e-03 time: 8.530000000000e-01 total movement = 2.393100169953e-03 vel = 2.374898743079e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.338496, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.338496, acc = -36.402854,T = 5.894835, P = 5.819724 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.854000 primary movement = 2.356697316206e-03 time: 8.540000000000e-01 total movement = 2.356697316206e-03 vel = 2.338495889332e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.302093, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.302093, acc = -36.402854,T = 5.894835, P = 5.822044 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.855000 primary movement = 2.320294462458e-03 time: 8.550000000000e-01 total movement = 2.320294462458e-03 vel = 2.302093035584e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.265690, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.265690, acc = -36.402854,T = 5.894835, P = 5.824328 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.856000 primary movement = 2.283891608711e-03 time: 8.560000000000e-01 total movement = 2.283891608711e-03 vel = 2.265690181837e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.229287, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.229287, acc = -36.402854,T = 5.894835, P = 5.826575 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.857000 primary movement = 2.247488754963e-03 time: 8.570000000000e-01 total movement = 2.247488754963e-03 vel = 2.229287328090e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.192884, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.192884, acc = -36.402854,T = 5.894835, P = 5.828786 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.858000 primary movement = 2.211085901215e-03 time: 8.580000000000e-01 total movement = 2.211085901215e-03 vel = 2.192884474342e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.156482, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.156482, acc = -36.402854,T = 5.894835, P = 5.830961 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.859000 primary movement = 2.174683047469e-03 time: 8.590000000000e-01 total movement = 2.174683047469e-03 vel = 2.156481620595e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.120079, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.120079, acc = -36.402854,T = 5.894835, P = 5.833099 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.860000 primary movement = 2.138280193721e-03 time: 8.600000000000e-01 total movement = 2.138280193721e-03 vel = 2.120078766847e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.083676, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.083676, acc = -36.402854,T = 5.894835, P = 5.835201 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.861000 primary movement = 2.101877339974e-03 time: 8.610000000000e-01 total movement = 2.101877339974e-03 vel = 2.083675913100e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.047273, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.047273, acc = -36.402854,T = 5.894835, P = 5.837267 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.862000 primary movement = 2.065474486226e-03 time: 8.620000000000e-01 total movement = 2.065474486226e-03 vel = 2.047273059352e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 2.010870, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 2.010870, acc = -36.402854,T = 5.894835, P = 5.839296 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.863000 primary movement = 2.029071632478e-03 time: 8.630000000000e-01 total movement = 2.029071632478e-03 vel = 2.010870205605e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.974467, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.974467, acc = -36.402854,T = 5.894835, P = 5.841289 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.864000 primary movement = 1.992668778731e-03 time: 8.640000000000e-01 total movement = 1.992668778731e-03 vel = 1.974467351857e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.938064, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.938064, acc = -36.402854,T = 5.894835, P = 5.843245 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.865000 primary movement = 1.956265924983e-03 time: 8.650000000000e-01 total movement = 1.956265924983e-03 vel = 1.938064498110e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.901662, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.901662, acc = -36.402854,T = 5.894835, P = 5.845165 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.866000 primary movement = 1.919863071236e-03 time: 8.660000000000e-01 total movement = 1.919863071236e-03 vel = 1.901661644362e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.865259, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.865259, acc = -36.402854,T = 5.894835, P = 5.847048 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.867000 primary movement = 1.883460217488e-03 time: 8.670000000000e-01 total movement = 1.883460217488e-03 vel = 1.865258790615e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.828856, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.828856, acc = -36.402854,T = 5.894835, P = 5.848895 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.868000 primary movement = 1.847057363741e-03 time: 8.680000000000e-01 total movement = 1.847057363741e-03 vel = 1.828855936867e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.792453, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.792453, acc = -36.402854,T = 5.894835, P = 5.850706 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.869000 primary movement = 1.810654509993e-03 time: 8.690000000000e-01 total movement = 1.810654509993e-03 vel = 1.792453083120e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.756050, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.756050, acc = -36.402854,T = 5.894835, P = 5.852480 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.870000 primary movement = 1.774251656247e-03 time: 8.700000000000e-01 total movement = 1.774251656247e-03 vel = 1.756050229372e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.719647, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.719647, acc = -36.402854,T = 5.894835, P = 5.854218 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.871000 primary movement = 1.737848802499e-03 time: 8.710000000000e-01 total movement = 1.737848802499e-03 vel = 1.719647375625e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.683245, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.683245, acc = -36.402854,T = 5.894835, P = 5.855919 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.872000 primary movement = 1.701445948751e-03 time: 8.720000000000e-01 total movement = 1.701445948751e-03 vel = 1.683244521878e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.646842, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.646842, acc = -36.402854,T = 5.894835, P = 5.857584 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.873000 primary movement = 1.665043095004e-03 time: 8.730000000000e-01 total movement = 1.665043095004e-03 vel = 1.646841668130e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.610439, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.610439, acc = -36.402854,T = 5.894835, P = 5.859213 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.874000 primary movement = 1.628640241256e-03 time: 8.740000000000e-01 total movement = 1.628640241256e-03 vel = 1.610438814383e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.574036, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.574036, acc = -36.402854,T = 5.894835, P = 5.860805 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.875000 primary movement = 1.592237387510e-03 time: 8.750000000000e-01 total movement = 1.592237387510e-03 vel = 1.574035960635e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.537633, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.537633, acc = -36.402854,T = 5.894835, P = 5.862361 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.876000 primary movement = 1.555834533761e-03 time: 8.760000000000e-01 total movement = 1.555834533761e-03 vel = 1.537633106888e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.501230, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.501230, acc = -36.402854,T = 5.894835, P = 5.863881 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.877000 primary movement = 1.519431680014e-03 time: 8.770000000000e-01 total movement = 1.519431680014e-03 vel = 1.501230253140e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.464827, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.464827, acc = -36.402854,T = 5.894835, P = 5.865364 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.878000 primary movement = 1.483028826266e-03 time: 8.780000000000e-01 total movement = 1.483028826266e-03 vel = 1.464827399393e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.428425, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.428425, acc = -36.402854,T = 5.894835, P = 5.866810 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.879000 primary movement = 1.446625972519e-03 time: 8.790000000000e-01 total movement = 1.446625972519e-03 vel = 1.428424545645e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.392022, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.392022, acc = -36.402854,T = 5.894835, P = 5.868220 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.880000 primary movement = 1.410223118771e-03 time: 8.800000000000e-01 total movement = 1.410223118771e-03 vel = 1.392021691898e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.355619, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.355619, acc = -36.402854,T = 5.894835, P = 5.869594 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.881000 primary movement = 1.373820265024e-03 time: 8.810000000000e-01 total movement = 1.373820265024e-03 vel = 1.355618838150e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.319216, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.319216, acc = -36.402854,T = 5.894835, P = 5.870932 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.882000 primary movement = 1.337417411277e-03 time: 8.820000000000e-01 total movement = 1.337417411277e-03 vel = 1.319215984403e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.282813, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.282813, acc = -36.402854,T = 5.894835, P = 5.872233 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.883000 primary movement = 1.301014557529e-03 time: 8.830000000000e-01 total movement = 1.301014557529e-03 vel = 1.282813130655e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.246410, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.246410, acc = -36.402854,T = 5.894835, P = 5.873497 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.884000 primary movement = 1.264611703781e-03 time: 8.840000000000e-01 total movement = 1.264611703781e-03 vel = 1.246410276908e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.210007, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.210007, acc = -36.402854,T = 5.894835, P = 5.874726 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.885000 primary movement = 1.228208850034e-03 time: 8.850000000000e-01 total movement = 1.228208850034e-03 vel = 1.210007423160e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.173605, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.173605, acc = -36.402854,T = 5.894835, P = 5.875917 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.886000 primary movement = 1.191805996287e-03 time: 8.860000000000e-01 total movement = 1.191805996287e-03 vel = 1.173604569413e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.137202, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.137202, acc = -36.402854,T = 5.894835, P = 5.877073 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.887000 primary movement = 1.155403142540e-03 time: 8.870000000000e-01 total movement = 1.155403142540e-03 vel = 1.137201715666e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.100799, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.100799, acc = -36.402854,T = 5.894835, P = 5.878192 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.888000 primary movement = 1.119000288792e-03 time: 8.880000000000e-01 total movement = 1.119000288792e-03 vel = 1.100798861918e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.064396, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.064396, acc = -36.402854,T = 5.894835, P = 5.879274 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.889000 primary movement = 1.082597435044e-03 time: 8.890000000000e-01 total movement = 1.082597435044e-03 vel = 1.064396008171e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 1.027993, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 1.027993, acc = -36.402854,T = 5.894835, P = 5.880321 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.890000 primary movement = 1.046194581296e-03 time: 8.900000000000e-01 total movement = 1.046194581296e-03 vel = 1.027993154423e+00 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.991590, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.991590, acc = -36.402854,T = 5.894835, P = 5.881330 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.891000 primary movement = 1.009791727549e-03 time: 8.910000000000e-01 total movement = 1.009791727549e-03 vel = 9.915903006757e-01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.955187, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.955187, acc = -36.402854,T = 5.894835, P = 5.882304 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.892000 primary movement = 9.733888738017e-04 time: 8.920000000000e-01 total movement = 9.733888738017e-04 vel = 9.551874469282e-01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.918785, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.918785, acc = -36.402854,T = 5.894835, P = 5.883241 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.893000 primary movement = 9.369860200547e-04 time: 8.930000000000e-01 total movement = 9.369860200547e-04 vel = 9.187845931808e-01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.882382, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.882382, acc = -36.402854,T = 5.894835, P = 5.884141 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.894000 primary movement = 9.005831663067e-04 time: 8.940000000000e-01 total movement = 9.005831663067e-04 vel = 8.823817394333e-01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.845979, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.845979, acc = -36.402854,T = 5.894835, P = 5.885005 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.895000 primary movement = 8.641803125594e-04 time: 8.950000000000e-01 total movement = 8.641803125594e-04 vel = 8.459788856858e-01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.809576, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.809576, acc = -36.402854,T = 5.894835, P = 5.885833 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.896000 primary movement = 8.277774588122e-04 time: 8.960000000000e-01 total movement = 8.277774588122e-04 vel = 8.095760319384e-01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.773173, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.773173, acc = -36.402854,T = 5.894835, P = 5.886625 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.897000 primary movement = 7.913746050649e-04 time: 8.970000000000e-01 total movement = 7.913746050649e-04 vel = 7.731731781909e-01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.736770, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.736770, acc = -36.402854,T = 5.894835, P = 5.887380 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.898000 primary movement = 7.549717513176e-04 time: 8.980000000000e-01 total movement = 7.549717513176e-04 vel = 7.367703244434e-01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.700367, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.700367, acc = -36.402854,T = 5.894835, P = 5.888098 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.899000 primary movement = 7.185688975697e-04 time: 8.990000000000e-01 total movement = 7.185688975697e-04 vel = 7.003674706960e-01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.663965, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.663965, acc = -36.402854,T = 5.894835, P = 5.888780 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.900000 primary movement = 6.821660438224e-04 time: 9.000000000000e-01 total movement = 6.821660438224e-04 vel = 6.639646169485e-01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.627562, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.627562, acc = -36.402854,T = 5.894835, P = 5.889426 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.901000 primary movement = 6.457631900751e-04 time: 9.010000000000e-01 total movement = 6.457631900751e-04 vel = 6.275617632010e-01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.591159, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.591159, acc = -36.402854,T = 5.894835, P = 5.890035 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.902000 primary movement = 6.093603363279e-04 time: 9.020000000000e-01 total movement = 6.093603363279e-04 vel = 5.911589094536e-01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.554756, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.554756, acc = -36.402854,T = 5.894835, P = 5.890608 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.903000 primary movement = 5.729574825799e-04 time: 9.030000000000e-01 total movement = 5.729574825799e-04 vel = 5.547560557061e-01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.518353, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.518353, acc = -36.402854,T = 5.894835, P = 5.891145 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.904000 primary movement = 5.365546288317e-04 time: 9.040000000000e-01 total movement = 5.365546288317e-04 vel = 5.183532019586e-01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.481950, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.481950, acc = -36.402854,T = 5.894835, P = 5.891645 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.905000 primary movement = 5.001517750844e-04 time: 9.050000000000e-01 total movement = 5.001517750844e-04 vel = 4.819503482112e-01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.445547, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.445547, acc = -36.402854,T = 5.894835, P = 5.892109 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.906000 primary movement = 4.637489213374e-04 time: 9.060000000000e-01 total movement = 4.637489213374e-04 vel = 4.455474944637e-01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.409145, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.409145, acc = -36.402854,T = 5.894835, P = 5.892536 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.907000 primary movement = 4.273460675899e-04 time: 9.070000000000e-01 total movement = 4.273460675899e-04 vel = 4.091446407163e-01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.372742, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.372742, acc = -36.402854,T = 5.894835, P = 5.892927 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.908000 primary movement = 3.909432138429e-04 time: 9.080000000000e-01 total movement = 3.909432138429e-04 vel = 3.727417869688e-01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.336339, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.336339, acc = -36.402854,T = 5.894835, P = 5.893282 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.909000 primary movement = 3.545403600947e-04 time: 9.090000000000e-01 total movement = 3.545403600947e-04 vel = 3.363389332213e-01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.299936, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.299936, acc = -36.402854,T = 5.894835, P = 5.893600 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.910000 primary movement = 3.181375063477e-04 time: 9.100000000000e-01 total movement = 3.181375063477e-04 vel = 2.999360794739e-01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.263533, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.263533, acc = -36.402854,T = 5.894835, P = 5.893882 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.911000 primary movement = 2.817346526001e-04 time: 9.110000000000e-01 total movement = 2.817346526001e-04 vel = 2.635332257264e-01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.227130, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.227130, acc = -36.402854,T = 5.894835, P = 5.894127 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.912000 primary movement = 2.453317988531e-04 time: 9.120000000000e-01 total movement = 2.453317988531e-04 vel = 2.271303719789e-01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.190728, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.190728, acc = -36.402854,T = 5.894835, P = 5.894336 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.913000 primary movement = 2.089289451052e-04 time: 9.130000000000e-01 total movement = 2.089289451052e-04 vel = 1.907275182315e-01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.154325, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.154325, acc = -36.402854,T = 5.894835, P = 5.894508 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.914000 primary movement = 1.725260913586e-04 time: 9.140000000000e-01 total movement = 1.725260913586e-04 vel = 1.543246644840e-01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.117922, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.117922, acc = -36.402854,T = 5.894835, P = 5.894644 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.915000 primary movement = 1.361232376106e-04 time: 9.150000000000e-01 total movement = 1.361232376106e-04 vel = 1.179218107365e-01 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.081519, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.081519, acc = -36.402854,T = 5.894835, P = 5.894744 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.916000 primary movement = 9.972038386241e-05 time: 9.160000000000e-01 total movement = 9.972038386241e-05 vel = 8.151895698906e-02 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.045116, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.045116, acc = -36.402854,T = 5.894835, P = 5.894807 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.917000 primary movement = 6.331753011515e-05 time: 9.170000000000e-01 total movement = 6.331753011515e-05 vel = 4.511610324160e-02 ------------------- setting term condition 1 on tc id 11, type 1 tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.008713, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.008713, acc = -36.402854,T = 5.894835, P = 5.894834 on final decel tc id = 11, canon_type = 1, mot type = 1 time: 0.918000 primary movement = 2.691467636716e-05 time: 9.180000000000e-01 total movement = 2.691467636716e-05 vel = 8.713249494130e-03 ------------------- setting term condition 1 on tc id 11, type 1 Found newvel = -0.008713, assuming segment is done segment 11 at target in runcycle tc state : vr = 10.111863, vf = 0.000000, maxvel = 10.111863, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 1 tc result: v = 0.000000, acc = 0.000000,T = 5.894835, P = 5.894835 tc id = 11, canon_type = 1, mot type = 1 time: 0.919000 primary movement = 1.042785233252e-06 time: 9.190000000000e-01 total movement = 1.042785233252e-06 vel = 0.000000000000e+00 Finished tc id 11 ------------------- Activate tc id = 12 target_vel = 8.333333 final_vel = 0.000000 length = 0.043900 Activate nexttc id 13 tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.015000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.015000, acc = 15.000000,T = 0.043900, P = 0.000008 tc id = 12, canon_type = 2, mot type = 1 time: 0.920000 primary movement = 7.500000000001e-06 time: 9.200000000000e-01 total movement = 7.500000000001e-06 vel = 1.500000000000e-02 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.030000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.030000, acc = 15.000000,T = 0.043900, P = 0.000030 tc id = 12, canon_type = 2, mot type = 1 time: 0.921000 primary movement = 2.250000000000e-05 time: 9.210000000000e-01 total movement = 2.250000000000e-05 vel = 3.000000000000e-02 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.045000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.045000, acc = 15.000000,T = 0.043900, P = 0.000068 tc id = 12, canon_type = 2, mot type = 1 time: 0.922000 primary movement = 3.750000000000e-05 time: 9.220000000000e-01 total movement = 3.750000000000e-05 vel = 4.500000000000e-02 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.060000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.060000, acc = 15.000000,T = 0.043900, P = 0.000120 tc id = 12, canon_type = 2, mot type = 1 time: 0.923000 primary movement = 5.250000000000e-05 time: 9.230000000000e-01 total movement = 5.250000000000e-05 vel = 6.000000000000e-02 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.075000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.075000, acc = 15.000000,T = 0.043900, P = 0.000188 tc id = 12, canon_type = 2, mot type = 1 time: 0.924000 primary movement = 6.750000000000e-05 time: 9.240000000000e-01 total movement = 6.750000000000e-05 vel = 7.500000000000e-02 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.090000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.090000, acc = 15.000000,T = 0.043900, P = 0.000270 tc id = 12, canon_type = 2, mot type = 1 time: 0.925000 primary movement = 8.250000000000e-05 time: 9.250000000000e-01 total movement = 8.250000000000e-05 vel = 9.000000000000e-02 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.105000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.105000, acc = 15.000000,T = 0.043900, P = 0.000367 tc id = 12, canon_type = 2, mot type = 1 time: 0.926000 primary movement = 9.750000000000e-05 time: 9.260000000000e-01 total movement = 9.750000000000e-05 vel = 1.050000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.120000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.120000, acc = 15.000000,T = 0.043900, P = 0.000480 tc id = 12, canon_type = 2, mot type = 1 time: 0.927000 primary movement = 1.125000000000e-04 time: 9.270000000000e-01 total movement = 1.125000000000e-04 vel = 1.200000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.135000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.135000, acc = 15.000000,T = 0.043900, P = 0.000607 tc id = 12, canon_type = 2, mot type = 1 time: 0.928000 primary movement = 1.275000000000e-04 time: 9.280000000000e-01 total movement = 1.275000000000e-04 vel = 1.350000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.150000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.150000, acc = 15.000000,T = 0.043900, P = 0.000750 tc id = 12, canon_type = 2, mot type = 1 time: 0.929000 primary movement = 1.425000000000e-04 time: 9.290000000000e-01 total movement = 1.425000000000e-04 vel = 1.500000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.165000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.165000, acc = 15.000000,T = 0.043900, P = 0.000907 tc id = 12, canon_type = 2, mot type = 1 time: 0.930000 primary movement = 1.575000000000e-04 time: 9.300000000000e-01 total movement = 1.575000000000e-04 vel = 1.650000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.180000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.180000, acc = 15.000000,T = 0.043900, P = 0.001080 tc id = 12, canon_type = 2, mot type = 1 time: 0.931000 primary movement = 1.725000000000e-04 time: 9.310000000000e-01 total movement = 1.725000000000e-04 vel = 1.800000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.195000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.195000, acc = 15.000000,T = 0.043900, P = 0.001267 tc id = 12, canon_type = 2, mot type = 1 time: 0.932000 primary movement = 1.875000000000e-04 time: 9.320000000000e-01 total movement = 1.875000000000e-04 vel = 1.950000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.210000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.210000, acc = 15.000000,T = 0.043900, P = 0.001470 tc id = 12, canon_type = 2, mot type = 1 time: 0.933000 primary movement = 2.025000000000e-04 time: 9.330000000000e-01 total movement = 2.025000000000e-04 vel = 2.100000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.225000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.225000, acc = 15.000000,T = 0.043900, P = 0.001687 tc id = 12, canon_type = 2, mot type = 1 time: 0.934000 primary movement = 2.175000000000e-04 time: 9.340000000000e-01 total movement = 2.175000000000e-04 vel = 2.250000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.240000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.240000, acc = 15.000000,T = 0.043900, P = 0.001920 tc id = 12, canon_type = 2, mot type = 1 time: 0.935000 primary movement = 2.325000000000e-04 time: 9.350000000000e-01 total movement = 2.325000000000e-04 vel = 2.400000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.255000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.255000, acc = 15.000000,T = 0.043900, P = 0.002168 tc id = 12, canon_type = 2, mot type = 1 time: 0.936000 primary movement = 2.475000000000e-04 time: 9.360000000000e-01 total movement = 2.475000000000e-04 vel = 2.550000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.270000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.270000, acc = 15.000000,T = 0.043900, P = 0.002430 tc id = 12, canon_type = 2, mot type = 1 time: 0.937000 primary movement = 2.625000000000e-04 time: 9.370000000000e-01 total movement = 2.625000000000e-04 vel = 2.700000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.285000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.285000, acc = 15.000000,T = 0.043900, P = 0.002708 tc id = 12, canon_type = 2, mot type = 1 time: 0.938000 primary movement = 2.775000000000e-04 time: 9.380000000000e-01 total movement = 2.775000000000e-04 vel = 2.850000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.300000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.300000, acc = 15.000000,T = 0.043900, P = 0.003000 tc id = 12, canon_type = 2, mot type = 1 time: 0.939000 primary movement = 2.925000000000e-04 time: 9.390000000000e-01 total movement = 2.925000000000e-04 vel = 3.000000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.315000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.315000, acc = 15.000000,T = 0.043900, P = 0.003308 tc id = 12, canon_type = 2, mot type = 1 time: 0.940000 primary movement = 3.075000000000e-04 time: 9.400000000000e-01 total movement = 3.075000000000e-04 vel = 3.150000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.330000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.330000, acc = 15.000000,T = 0.043900, P = 0.003630 tc id = 12, canon_type = 2, mot type = 1 time: 0.941000 primary movement = 3.225000000000e-04 time: 9.410000000000e-01 total movement = 3.225000000000e-04 vel = 3.300000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.345000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.345000, acc = 15.000000,T = 0.043900, P = 0.003968 tc id = 12, canon_type = 2, mot type = 1 time: 0.942000 primary movement = 3.375000000000e-04 time: 9.420000000000e-01 total movement = 3.375000000000e-04 vel = 3.450000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.360000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.360000, acc = 15.000000,T = 0.043900, P = 0.004320 tc id = 12, canon_type = 2, mot type = 1 time: 0.943000 primary movement = 3.525000000000e-04 time: 9.430000000000e-01 total movement = 3.525000000000e-04 vel = 3.600000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.375000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.375000, acc = 15.000000,T = 0.043900, P = 0.004688 tc id = 12, canon_type = 2, mot type = 1 time: 0.944000 primary movement = 3.675000000000e-04 time: 9.440000000000e-01 total movement = 3.675000000000e-04 vel = 3.750000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.390000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.390000, acc = 15.000000,T = 0.043900, P = 0.005070 tc id = 12, canon_type = 2, mot type = 1 time: 0.945000 primary movement = 3.825000000000e-04 time: 9.450000000000e-01 total movement = 3.825000000000e-04 vel = 3.900000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.405000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.405000, acc = 15.000000,T = 0.043900, P = 0.005468 tc id = 12, canon_type = 2, mot type = 1 time: 0.946000 primary movement = 3.975000000000e-04 time: 9.460000000000e-01 total movement = 3.975000000000e-04 vel = 4.050000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.420000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.420000, acc = 15.000000,T = 0.043900, P = 0.005880 tc id = 12, canon_type = 2, mot type = 1 time: 0.947000 primary movement = 4.125000000000e-04 time: 9.470000000000e-01 total movement = 4.125000000000e-04 vel = 4.200000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.435000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.435000, acc = 15.000000,T = 0.043900, P = 0.006308 tc id = 12, canon_type = 2, mot type = 1 time: 0.948000 primary movement = 4.275000000000e-04 time: 9.480000000000e-01 total movement = 4.275000000000e-04 vel = 4.350000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.450000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.450000, acc = 15.000000,T = 0.043900, P = 0.006750 tc id = 12, canon_type = 2, mot type = 1 time: 0.949000 primary movement = 4.425000000000e-04 time: 9.490000000000e-01 total movement = 4.425000000000e-04 vel = 4.500000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.465000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.465000, acc = 15.000000,T = 0.043900, P = 0.007208 tc id = 12, canon_type = 2, mot type = 1 time: 0.950000 primary movement = 4.575000000000e-04 time: 9.500000000000e-01 total movement = 4.575000000000e-04 vel = 4.650000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.480000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.480000, acc = 15.000000,T = 0.043900, P = 0.007680 tc id = 12, canon_type = 2, mot type = 1 time: 0.951000 primary movement = 4.725000000000e-04 time: 9.510000000000e-01 total movement = 4.725000000000e-04 vel = 4.800000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.495000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.495000, acc = 15.000000,T = 0.043900, P = 0.008168 tc id = 12, canon_type = 2, mot type = 1 time: 0.952000 primary movement = 4.875000000000e-04 time: 9.520000000000e-01 total movement = 4.875000000000e-04 vel = 4.950000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.510000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.510000, acc = 15.000000,T = 0.043900, P = 0.008670 tc id = 12, canon_type = 2, mot type = 1 time: 0.953000 primary movement = 5.025000000000e-04 time: 9.530000000000e-01 total movement = 5.025000000000e-04 vel = 5.100000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.525000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.525000, acc = 15.000000,T = 0.043900, P = 0.009188 tc id = 12, canon_type = 2, mot type = 1 time: 0.954000 primary movement = 5.175000000000e-04 time: 9.540000000000e-01 total movement = 5.175000000000e-04 vel = 5.250000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.540000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.540000, acc = 15.000000,T = 0.043900, P = 0.009720 tc id = 12, canon_type = 2, mot type = 1 time: 0.955000 primary movement = 5.325000000000e-04 time: 9.550000000000e-01 total movement = 5.325000000000e-04 vel = 5.400000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.555000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.555000, acc = 15.000000,T = 0.043900, P = 0.010268 tc id = 12, canon_type = 2, mot type = 1 time: 0.956000 primary movement = 5.475000000000e-04 time: 9.560000000000e-01 total movement = 5.475000000000e-04 vel = 5.550000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.570000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.570000, acc = 15.000000,T = 0.043900, P = 0.010830 tc id = 12, canon_type = 2, mot type = 1 time: 0.957000 primary movement = 5.625000000000e-04 time: 9.570000000000e-01 total movement = 5.625000000000e-04 vel = 5.700000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.585000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.585000, acc = 15.000000,T = 0.043900, P = 0.011408 tc id = 12, canon_type = 2, mot type = 1 time: 0.958000 primary movement = 5.775000000000e-04 time: 9.580000000000e-01 total movement = 5.775000000000e-04 vel = 5.850000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.600000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.600000, acc = 15.000000,T = 0.043900, P = 0.012000 tc id = 12, canon_type = 2, mot type = 1 time: 0.959000 primary movement = 5.925000000000e-04 time: 9.590000000000e-01 total movement = 5.925000000000e-04 vel = 6.000000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.615000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.615000, acc = 15.000000,T = 0.043900, P = 0.012608 tc id = 12, canon_type = 2, mot type = 1 time: 0.960000 primary movement = 6.075000000000e-04 time: 9.600000000000e-01 total movement = 6.075000000000e-04 vel = 6.150000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.630000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.630000, acc = 15.000000,T = 0.043900, P = 0.013230 tc id = 12, canon_type = 2, mot type = 1 time: 0.961000 primary movement = 6.225000000000e-04 time: 9.610000000000e-01 total movement = 6.225000000000e-04 vel = 6.300000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.645000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.645000, acc = 15.000000,T = 0.043900, P = 0.013868 tc id = 12, canon_type = 2, mot type = 1 time: 0.962000 primary movement = 6.375000000000e-04 time: 9.620000000000e-01 total movement = 6.375000000000e-04 vel = 6.450000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.660000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.660000, acc = 15.000000,T = 0.043900, P = 0.014520 tc id = 12, canon_type = 2, mot type = 1 time: 0.963000 primary movement = 6.525000000000e-04 time: 9.630000000000e-01 total movement = 6.525000000000e-04 vel = 6.600000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.675000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.675000, acc = 15.000000,T = 0.043900, P = 0.015188 tc id = 12, canon_type = 2, mot type = 1 time: 0.964000 primary movement = 6.675000000000e-04 time: 9.640000000000e-01 total movement = 6.675000000000e-04 vel = 6.750000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.690000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.690000, acc = 15.000000,T = 0.043900, P = 0.015870 tc id = 12, canon_type = 2, mot type = 1 time: 0.965000 primary movement = 6.825000000000e-04 time: 9.650000000000e-01 total movement = 6.825000000000e-04 vel = 6.900000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.705000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.705000, acc = 15.000000,T = 0.043900, P = 0.016568 tc id = 12, canon_type = 2, mot type = 1 time: 0.966000 primary movement = 6.975000000000e-04 time: 9.660000000000e-01 total movement = 6.975000000000e-04 vel = 7.050000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.720000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.720000, acc = 15.000000,T = 0.043900, P = 0.017280 tc id = 12, canon_type = 2, mot type = 1 time: 0.967000 primary movement = 7.125000000000e-04 time: 9.670000000000e-01 total movement = 7.125000000000e-04 vel = 7.200000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.735000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.735000, acc = 15.000000,T = 0.043900, P = 0.018008 tc id = 12, canon_type = 2, mot type = 1 time: 0.968000 primary movement = 7.275000000000e-04 time: 9.680000000000e-01 total movement = 7.275000000000e-04 vel = 7.350000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.750000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.750000, acc = 15.000000,T = 0.043900, P = 0.018750 tc id = 12, canon_type = 2, mot type = 1 time: 0.969000 primary movement = 7.425000000000e-04 time: 9.690000000000e-01 total movement = 7.425000000000e-04 vel = 7.500000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.765000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.765000, acc = 15.000000,T = 0.043900, P = 0.019508 tc id = 12, canon_type = 2, mot type = 1 time: 0.970000 primary movement = 7.575000000000e-04 time: 9.700000000000e-01 total movement = 7.575000000000e-04 vel = 7.650000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.780000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.780000, acc = 15.000000,T = 0.043900, P = 0.020280 tc id = 12, canon_type = 2, mot type = 1 time: 0.971000 primary movement = 7.725000000000e-04 time: 9.710000000000e-01 total movement = 7.725000000000e-04 vel = 7.800000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.795000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.795000, acc = 15.000000,T = 0.043900, P = 0.021068 tc id = 12, canon_type = 2, mot type = 1 time: 0.972000 primary movement = 7.875000000000e-04 time: 9.720000000000e-01 total movement = 7.875000000000e-04 vel = 7.950000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.810000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.810000, acc = 15.000000,T = 0.043900, P = 0.021870 tc id = 12, canon_type = 2, mot type = 1 time: 0.973000 primary movement = 8.025000000000e-04 time: 9.730000000000e-01 total movement = 8.025000000000e-04 vel = 8.100000000000e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.797985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.797985, acc = -12.014898,T = 0.043900, P = 0.022674 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.012015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.007500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.007500, acc = 7.500000,T = 0.196342, P = 0.000004 tc id = 12, canon_type = 2, mot type = 1 secondary movement = 0.000004 time: 0.974000 primary movement = 8.039925511415e-04 time: 9.740000000000e-01 total movement = 8.077425511414e-04 vel = 8.054851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.782985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.782985, acc = -15.000000,T = 0.043900, P = 0.023464 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.027015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.015000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.015000, acc = 7.500000,T = 0.196342, P = 0.000015 tc id = 12, canon_type = 2, mot type = 1 secondary movement = 0.000011 time: 0.975000 primary movement = 7.904851022831e-04 time: 9.750000000000e-01 total movement = 8.017351022793e-04 vel = 7.979851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.767985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.767985, acc = -15.000000,T = 0.043900, P = 0.024240 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.042015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.022500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.022500, acc = 7.500000,T = 0.196342, P = 0.000034 tc id = 12, canon_type = 2, mot type = 1 secondary movement = 0.000019 time: 0.976000 primary movement = 7.754851022831e-04 time: 9.760000000000e-01 total movement = 7.942351022655e-04 vel = 7.904851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.752985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.752985, acc = -15.000000,T = 0.043900, P = 0.025000 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.057015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.030000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.030000, acc = 7.500000,T = 0.196342, P = 0.000060 tc id = 12, canon_type = 2, mot type = 1 secondary movement = 0.000026 time: 0.977000 primary movement = 7.604851022831e-04 time: 9.770000000000e-01 total movement = 7.867351022349e-04 vel = 7.829851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.737985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.737985, acc = -15.000000,T = 0.043900, P = 0.025746 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.072015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.037500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.037500, acc = 7.500000,T = 0.196342, P = 0.000094 tc id = 12, canon_type = 2, mot type = 1 secondary movement = 0.000034 time: 0.978000 primary movement = 7.454851022831e-04 time: 9.780000000000e-01 total movement = 7.792351021806e-04 vel = 7.754851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.722985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.722985, acc = -15.000000,T = 0.043900, P = 0.026476 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.087015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.045000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.045000, acc = 7.500000,T = 0.196342, P = 0.000135 tc id = 12, canon_type = 2, mot type = 1 secondary movement = 0.000041 time: 0.979000 primary movement = 7.304851022831e-04 time: 9.790000000000e-01 total movement = 7.717351020959e-04 vel = 7.679851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.707985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.707985, acc = -15.000000,T = 0.043900, P = 0.027192 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.102015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.052500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.052500, acc = 7.500000,T = 0.196342, P = 0.000184 tc id = 12, canon_type = 2, mot type = 1 secondary movement = 0.000049 time: 0.980000 primary movement = 7.154851022831e-04 time: 9.800000000000e-01 total movement = 7.642351019741e-04 vel = 7.604851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.692985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.692985, acc = -15.000000,T = 0.043900, P = 0.027892 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.117015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.060000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.060000, acc = 7.500000,T = 0.196342, P = 0.000240 tc id = 12, canon_type = 2, mot type = 1 secondary movement = 0.000056 time: 0.981000 primary movement = 7.004851022831e-04 time: 9.810000000000e-01 total movement = 7.567351018085e-04 vel = 7.529851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.677985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.677985, acc = -15.000000,T = 0.043900, P = 0.028578 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.132015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.067500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.067500, acc = 7.500000,T = 0.196342, P = 0.000304 tc id = 12, canon_type = 2, mot type = 1 secondary movement = 0.000064 time: 0.982000 primary movement = 6.854851022831e-04 time: 9.820000000000e-01 total movement = 7.492351015922e-04 vel = 7.454851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.662985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.662985, acc = -15.000000,T = 0.043900, P = 0.029248 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.147015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.075000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.075000, acc = 7.500000,T = 0.196342, P = 0.000375 tc id = 12, canon_type = 2, mot type = 1 secondary movement = 0.000071 time: 0.983000 primary movement = 6.704851022831e-04 time: 9.830000000000e-01 total movement = 7.417351013185e-04 vel = 7.379851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.647985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.647985, acc = -15.000000,T = 0.043900, P = 0.029904 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.162015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.082500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.082500, acc = 7.500000,T = 0.196342, P = 0.000454 tc id = 12, canon_type = 2, mot type = 1 secondary movement = 0.000079 time: 0.984000 primary movement = 6.554851022831e-04 time: 9.840000000000e-01 total movement = 7.342351009808e-04 vel = 7.304851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.632985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.632985, acc = -15.000000,T = 0.043900, P = 0.030544 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.177015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.090000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.090000, acc = 7.500000,T = 0.196342, P = 0.000540 tc id = 12, canon_type = 2, mot type = 1 secondary movement = 0.000086 time: 0.985000 primary movement = 6.404851022831e-04 time: 9.850000000000e-01 total movement = 7.267351005721e-04 vel = 7.229851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.617985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.617985, acc = -15.000000,T = 0.043900, P = 0.031170 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.192015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.097500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.097500, acc = 7.500000,T = 0.196342, P = 0.000634 tc id = 12, canon_type = 2, mot type = 1 secondary movement = 0.000094 time: 0.986000 primary movement = 6.254851022831e-04 time: 9.860000000000e-01 total movement = 7.192351000858e-04 vel = 7.154851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.602985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.602985, acc = -15.000000,T = 0.043900, P = 0.031780 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.207015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.105000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.105000, acc = 7.500000,T = 0.196342, P = 0.000735 tc id = 12, canon_type = 2, mot type = 1 secondary movement = 0.000101 time: 0.987000 primary movement = 6.104851022831e-04 time: 9.870000000000e-01 total movement = 7.117350995152e-04 vel = 7.079851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.587985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.587985, acc = -15.000000,T = 0.043900, P = 0.032376 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.222015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.112500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.112500, acc = 7.500000,T = 0.196342, P = 0.000844 tc id = 12, canon_type = 2, mot type = 1 secondary movement = 0.000109 time: 0.988000 primary movement = 5.954851022831e-04 time: 9.880000000000e-01 total movement = 7.042350988534e-04 vel = 7.004851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.572985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.572985, acc = -15.000000,T = 0.043900, P = 0.032956 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.237015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.120000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.120000, acc = 7.500000,T = 0.196342, P = 0.000960 tc id = 12, canon_type = 2, mot type = 1 secondary movement = 0.000116 time: 0.989000 primary movement = 5.804851022831e-04 time: 9.890000000000e-01 total movement = 6.967350980937e-04 vel = 6.929851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.557985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.557985, acc = -15.000000,T = 0.043900, P = 0.033522 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.252015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.127500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.127500, acc = 7.500000,T = 0.196342, P = 0.001084 tc id = 12, canon_type = 2, mot type = 1 secondary movement = 0.000124 time: 0.990000 primary movement = 5.654851022831e-04 time: 9.900000000000e-01 total movement = 6.892350972294e-04 vel = 6.854851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.542985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.542985, acc = -15.000000,T = 0.043900, P = 0.034072 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.267015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.135000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.135000, acc = 7.500000,T = 0.196342, P = 0.001215 tc id = 12, canon_type = 2, mot type = 1 secondary movement = 0.000131 time: 0.991000 primary movement = 5.504851022831e-04 time: 9.910000000000e-01 total movement = 6.817350962538e-04 vel = 6.779851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.527985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.527985, acc = -15.000000,T = 0.043900, P = 0.034608 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.282015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.142500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.142500, acc = 7.500000,T = 0.196342, P = 0.001354 tc id = 12, canon_type = 2, mot type = 1 secondary movement = 0.000139 time: 0.992000 primary movement = 5.354851022831e-04 time: 9.920000000000e-01 total movement = 6.742350951600e-04 vel = 6.704851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.512985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.512985, acc = -15.000000,T = 0.043900, P = 0.035128 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.297015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.150000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.150000, acc = 7.500000,T = 0.196342, P = 0.001500 tc id = 12, canon_type = 2, mot type = 1 secondary movement = 0.000146 time: 0.993000 primary movement = 5.204851022831e-04 time: 9.930000000000e-01 total movement = 6.667350939414e-04 vel = 6.629851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.497985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.497985, acc = -15.000000,T = 0.043900, P = 0.035634 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.312015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.157500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.157500, acc = 7.500000,T = 0.196342, P = 0.001654 tc id = 12, canon_type = 2, mot type = 1 secondary movement = 0.000154 time: 0.994000 primary movement = 5.054851022831e-04 time: 9.940000000000e-01 total movement = 6.592350925911e-04 vel = 6.554851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.482985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.482985, acc = -15.000000,T = 0.043900, P = 0.036124 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.327015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.165000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.165000, acc = 7.500000,T = 0.196342, P = 0.001815 tc id = 12, canon_type = 2, mot type = 1 secondary movement = 0.000161 time: 0.995000 primary movement = 4.904851022831e-04 time: 9.950000000000e-01 total movement = 6.517350911024e-04 vel = 6.479851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.467985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.467985, acc = -15.000000,T = 0.043900, P = 0.036600 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.342015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.172500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.172500, acc = 7.500000,T = 0.196342, P = 0.001984 tc id = 12, canon_type = 2, mot type = 1 secondary movement = 0.000169 time: 0.996000 primary movement = 4.754851022831e-04 time: 9.960000000000e-01 total movement = 6.442350894686e-04 vel = 6.404851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.452985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.452985, acc = -15.000000,T = 0.043900, P = 0.037060 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.357015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.180000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.180000, acc = 7.500000,T = 0.196342, P = 0.002160 tc id = 12, canon_type = 2, mot type = 1 secondary movement = 0.000176 time: 0.997000 primary movement = 4.604851022831e-04 time: 9.970000000000e-01 total movement = 6.367350876830e-04 vel = 6.329851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.437985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.437985, acc = -15.000000,T = 0.043900, P = 0.037506 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.372015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.187500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.187500, acc = 7.500000,T = 0.196342, P = 0.002344 tc id = 12, canon_type = 2, mot type = 1 secondary movement = 0.000184 time: 0.998000 primary movement = 4.454851022831e-04 time: 9.980000000000e-01 total movement = 6.292350857387e-04 vel = 6.254851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.422985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.422985, acc = -15.000000,T = 0.043900, P = 0.037936 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.387015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.195000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.195000, acc = 7.500000,T = 0.196342, P = 0.002535 tc id = 12, canon_type = 2, mot type = 1 secondary movement = 0.000191 time: 0.999000 primary movement = 4.304851022831e-04 time: 9.990000000000e-01 total movement = 6.217350836290e-04 vel = 6.179851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.407985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.407985, acc = -15.000000,T = 0.043900, P = 0.038352 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.402015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.202500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.202500, acc = 7.500000,T = 0.196342, P = 0.002734 tc id = 12, canon_type = 2, mot type = 1 secondary movement = 0.000199 time: 1.000000 primary movement = 4.154851022831e-04 time: 1.000000000000e+00 total movement = 6.142350813473e-04 vel = 6.104851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.392985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.392985, acc = -15.000000,T = 0.043900, P = 0.038752 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.417015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.210000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.210000, acc = 7.500000,T = 0.196342, P = 0.002940 tc id = 12, canon_type = 2, mot type = 1 secondary movement = 0.000206 time: 1.001000 primary movement = 4.004851022831e-04 time: 1.001000000000e+00 total movement = 6.067350788866e-04 vel = 6.029851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.377985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.377985, acc = -15.000000,T = 0.043900, P = 0.039138 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.432015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.217500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.217500, acc = 7.500000,T = 0.196342, P = 0.003154 tc id = 12, canon_type = 2, mot type = 1 secondary movement = 0.000214 time: 1.002000 primary movement = 3.854851022831e-04 time: 1.002000000000e+00 total movement = 5.992350762403e-04 vel = 5.954851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.362985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.362985, acc = -15.000000,T = 0.043900, P = 0.039508 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.447015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.225000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.225000, acc = 7.500000,T = 0.196342, P = 0.003375 tc id = 12, canon_type = 2, mot type = 1 secondary movement = 0.000221 time: 1.003000 primary movement = 3.704851022831e-04 time: 1.003000000000e+00 total movement = 5.917350734017e-04 vel = 5.879851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.347985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.347985, acc = -15.000000,T = 0.043900, P = 0.039864 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.462015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.232500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.232500, acc = 7.500000,T = 0.196342, P = 0.003604 tc id = 12, canon_type = 2, mot type = 1 secondary movement = 0.000229 time: 1.004000 primary movement = 3.554851022831e-04 time: 1.004000000000e+00 total movement = 5.842350703639e-04 vel = 5.804851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.332985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.332985, acc = -15.000000,T = 0.043900, P = 0.040204 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.477015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.240000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.240000, acc = 7.500000,T = 0.196342, P = 0.003840 tc id = 12, canon_type = 2, mot type = 1 secondary movement = 0.000236 time: 1.005000 primary movement = 3.404851022831e-04 time: 1.005000000000e+00 total movement = 5.767350671202e-04 vel = 5.729851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.317985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.317985, acc = -15.000000,T = 0.043900, P = 0.040530 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.492015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.247500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.247500, acc = 7.500000,T = 0.196342, P = 0.004084 tc id = 12, canon_type = 2, mot type = 1 secondary movement = 0.000244 time: 1.006000 primary movement = 3.254851022831e-04 time: 1.006000000000e+00 total movement = 5.692350636639e-04 vel = 5.654851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.302985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.302985, acc = -15.000000,T = 0.043900, P = 0.040840 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.507015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.255000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.255000, acc = 7.500000,T = 0.196342, P = 0.004335 tc id = 12, canon_type = 2, mot type = 1 secondary movement = 0.000251 time: 1.007000 primary movement = 3.104851022831e-04 time: 1.007000000000e+00 total movement = 5.617350599883e-04 vel = 5.579851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.287985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.287985, acc = -15.000000,T = 0.043900, P = 0.041135 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.522015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.262500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.262500, acc = 7.500000,T = 0.196342, P = 0.004594 tc id = 12, canon_type = 2, mot type = 1 secondary movement = 0.000259 time: 1.008000 primary movement = 2.954851022831e-04 time: 1.008000000000e+00 total movement = 5.542350560865e-04 vel = 5.504851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.272985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.272985, acc = -15.000000,T = 0.043900, P = 0.041416 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.537015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.270000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.270000, acc = 7.500000,T = 0.196342, P = 0.004860 tc id = 12, canon_type = 2, mot type = 1 secondary movement = 0.000266 time: 1.009000 primary movement = 2.804851022831e-04 time: 1.009000000000e+00 total movement = 5.467350519518e-04 vel = 5.429851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.257985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.257985, acc = -15.000000,T = 0.043900, P = 0.041681 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.552015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.277500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.277500, acc = 7.500000,T = 0.196342, P = 0.005134 tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000274 time: 1.010000 primary movement = 2.654851022831e-04 time: 1.010000000000e+00 total movement = 5.392350475776e-04 vel = 5.354851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.242985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.242985, acc = -15.000000,T = 0.043900, P = 0.041932 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.567015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.285000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.285000, acc = 7.500000,T = 0.196342, P = 0.005415 tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000281 time: 1.011000 primary movement = 2.504851022831e-04 time: 1.011000000000e+00 total movement = 5.317350429569e-04 vel = 5.279851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.227985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.227985, acc = -15.000000,T = 0.043900, P = 0.042167 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.582015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.292500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.292500, acc = 7.500000,T = 0.196342, P = 0.005704 tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000289 time: 1.012000 primary movement = 2.354851022831e-04 time: 1.012000000000e+00 total movement = 5.242350380831e-04 vel = 5.204851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.212985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.212985, acc = -15.000000,T = 0.043900, P = 0.042388 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.597015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.300000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.300000, acc = 7.500000,T = 0.196342, P = 0.006000 tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000296 time: 1.013000 primary movement = 2.204851022831e-04 time: 1.013000000000e+00 total movement = 5.167350329495e-04 vel = 5.129851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.197985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.197985, acc = -15.000000,T = 0.043900, P = 0.042593 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.612015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.307500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.307500, acc = 7.500000,T = 0.196342, P = 0.006304 tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000304 time: 1.014000 primary movement = 2.054851022831e-04 time: 1.014000000000e+00 total movement = 5.092350275492e-04 vel = 5.054851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.182985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.182985, acc = -15.000000,T = 0.043900, P = 0.042784 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.627015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.315000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.315000, acc = 7.500000,T = 0.196342, P = 0.006615 tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000311 time: 1.015000 primary movement = 1.904851022831e-04 time: 1.015000000000e+00 total movement = 5.017350218756e-04 vel = 4.979851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.167985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.167985, acc = -15.000000,T = 0.043900, P = 0.042959 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.642015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.322500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.322500, acc = 7.500000,T = 0.196342, P = 0.006934 tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000319 time: 1.016000 primary movement = 1.754851022831e-04 time: 1.016000000000e+00 total movement = 4.942350159218e-04 vel = 4.904851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.152985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.152985, acc = -15.000000,T = 0.043900, P = 0.043120 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.657015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.330000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.330000, acc = 7.500000,T = 0.196342, P = 0.007260 tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000326 time: 1.017000 primary movement = 1.604851022831e-04 time: 1.017000000000e+00 total movement = 4.867350096811e-04 vel = 4.829851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.137985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.137985, acc = -15.000000,T = 0.043900, P = 0.043265 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.672015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.337500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.337500, acc = 7.500000,T = 0.196342, P = 0.007594 tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000334 time: 1.018000 primary movement = 1.454851022831e-04 time: 1.018000000000e+00 total movement = 4.792350031469e-04 vel = 4.754851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.122985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.122985, acc = -15.000000,T = 0.043900, P = 0.043396 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.687015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.345000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.345000, acc = 7.500000,T = 0.196342, P = 0.007935 tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000341 time: 1.019000 primary movement = 1.304851022831e-04 time: 1.019000000000e+00 total movement = 4.717349963122e-04 vel = 4.679851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.107985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.107985, acc = -15.000000,T = 0.043900, P = 0.043511 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.702015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.352500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.352500, acc = 7.500000,T = 0.196342, P = 0.008284 tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000349 time: 1.020000 primary movement = 1.154851022831e-04 time: 1.020000000000e+00 total movement = 4.642349891704e-04 vel = 4.604851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.092985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.092985, acc = -15.000000,T = 0.043900, P = 0.043612 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.717015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.360000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.360000, acc = 7.500000,T = 0.196342, P = 0.008640 tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000356 time: 1.021000 primary movement = 1.004851022831e-04 time: 1.021000000000e+00 total movement = 4.567349817147e-04 vel = 4.529851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.077985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.077985, acc = -15.000000,T = 0.043900, P = 0.043697 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.732015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.367500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.367500, acc = 7.500000,T = 0.196342, P = 0.009004 tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000364 time: 1.022000 primary movement = 8.548510228309e-05 time: 1.022000000000e+00 total movement = 4.492349739385e-04 vel = 4.454851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.062985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.062985, acc = -15.000000,T = 0.043900, P = 0.043768 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.747015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.375000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.375000, acc = 7.500000,T = 0.196342, P = 0.009375 tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000371 time: 1.023000 primary movement = 7.048510228308e-05 time: 1.023000000000e+00 total movement = 4.417349658348e-04 vel = 4.379851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.047985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.047985, acc = -15.000000,T = 0.043900, P = 0.043823 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.762015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.382500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.382500, acc = 7.500000,T = 0.196342, P = 0.009754 tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000379 time: 1.024000 primary movement = 5.548510228309e-05 time: 1.024000000000e+00 total movement = 4.342349573970e-04 vel = 4.304851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.032985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.032985, acc = -15.000000,T = 0.043900, P = 0.043864 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.777015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.390000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.390000, acc = 7.500000,T = 0.196342, P = 0.010140 tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000386 time: 1.025000 primary movement = 4.048510228309e-05 time: 1.025000000000e+00 total movement = 4.267349486184e-04 vel = 4.229851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.017985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.017985, acc = -15.000000,T = 0.043900, P = 0.043889 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.792015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.397500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.397500, acc = 7.500000,T = 0.196342, P = 0.010534 tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000394 time: 1.026000 primary movement = 2.548510228309e-05 time: 1.026000000000e+00 total movement = 4.192349394921e-04 vel = 4.154851022831e-01 ------------------- tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.002985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.002985, acc = -15.000000,T = 0.043900, P = 0.043900 on final decel tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.807015, vf = 0.000000, maxvel = 1.274283, current_vel = 0.405000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.405000, acc = 7.500000,T = 0.196342, P = 0.010935 tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000401 time: 1.027000 primary movement = 1.048510228309e-05 time: 1.027000000000e+00 total movement = 4.117349300115e-04 vel = 4.079851022831e-01 ------------------- Found newvel = -0.002985, assuming segment is done segment 12 at target in runcycle tc state : vr = 8.333333, vf = 0.000000, maxvel = 8.333333, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.043900, P = 0.043900 tc id = 12, canon_type = 2, mot type = 1 tc state : vr = 0.810000, vf = 0.000000, maxvel = 1.274283, current_vel = 0.412500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.412500, acc = 7.500000,T = 0.196342, P = 0.011344 tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000409 time: 1.028000 primary movement = 2.970278546871e-07 time: 1.028000000000e+00 total movement = 4.090468457413e-04 vel = 4.125000000000e-01 Finished tc id 12 ------------------- Activate nexttc id 15 tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.420000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.420000, acc = 7.500000,T = 0.196342, P = 0.011760 tc id = 13, canon_type = 3, mot type = 2 time: 1.029000 primary movement = 4.162498076769e-04 time: 1.029000000000e+00 total movement = 4.162498076769e-04 vel = 4.200000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.427500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.427500, acc = 7.500000,T = 0.196342, P = 0.012184 tc id = 13, canon_type = 3, mot type = 2 time: 1.030000 primary movement = 4.237497970926e-04 time: 1.030000000000e+00 total movement = 4.237497970926e-04 vel = 4.275000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.435000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.435000, acc = 7.500000,T = 0.196342, P = 0.012615 tc id = 13, canon_type = 3, mot type = 2 time: 1.031000 primary movement = 4.312497861270e-04 time: 1.031000000000e+00 total movement = 4.312497861270e-04 vel = 4.350000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.442500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.442500, acc = 7.500000,T = 0.196342, P = 0.013054 tc id = 13, canon_type = 3, mot type = 2 time: 1.032000 primary movement = 4.387497747732e-04 time: 1.032000000000e+00 total movement = 4.387497747732e-04 vel = 4.425000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.450000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.450000, acc = 7.500000,T = 0.196342, P = 0.013500 tc id = 13, canon_type = 3, mot type = 2 time: 1.033000 primary movement = 4.462497630246e-04 time: 1.033000000000e+00 total movement = 4.462497630246e-04 vel = 4.500000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.457500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.457500, acc = 7.500000,T = 0.196342, P = 0.013954 tc id = 13, canon_type = 3, mot type = 2 time: 1.034000 primary movement = 4.537497508743e-04 time: 1.034000000000e+00 total movement = 4.537497508743e-04 vel = 4.575000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.465000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.465000, acc = 7.500000,T = 0.196342, P = 0.014415 tc id = 13, canon_type = 3, mot type = 2 time: 1.035000 primary movement = 4.612497383156e-04 time: 1.035000000000e+00 total movement = 4.612497383156e-04 vel = 4.650000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.472500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.472500, acc = 7.500000,T = 0.196342, P = 0.014884 tc id = 13, canon_type = 3, mot type = 2 time: 1.036000 primary movement = 4.687497253419e-04 time: 1.036000000000e+00 total movement = 4.687497253419e-04 vel = 4.725000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.480000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.480000, acc = 7.500000,T = 0.196342, P = 0.015360 tc id = 13, canon_type = 3, mot type = 2 time: 1.037000 primary movement = 4.762497119462e-04 time: 1.037000000000e+00 total movement = 4.762497119462e-04 vel = 4.800000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.487500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.487500, acc = 7.500000,T = 0.196342, P = 0.015844 tc id = 13, canon_type = 3, mot type = 2 time: 1.038000 primary movement = 4.837496981219e-04 time: 1.038000000000e+00 total movement = 4.837496981219e-04 vel = 4.875000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.495000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.495000, acc = 7.500000,T = 0.196342, P = 0.016335 tc id = 13, canon_type = 3, mot type = 2 time: 1.039000 primary movement = 4.912496838623e-04 time: 1.039000000000e+00 total movement = 4.912496838623e-04 vel = 4.950000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.502500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.502500, acc = 7.500000,T = 0.196342, P = 0.016834 tc id = 13, canon_type = 3, mot type = 2 time: 1.040000 primary movement = 4.987496691605e-04 time: 1.040000000000e+00 total movement = 4.987496691605e-04 vel = 5.025000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.510000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.510000, acc = 7.500000,T = 0.196342, P = 0.017340 tc id = 13, canon_type = 3, mot type = 2 time: 1.041000 primary movement = 5.062496540098e-04 time: 1.041000000000e+00 total movement = 5.062496540098e-04 vel = 5.100000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.517500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.517500, acc = 7.500000,T = 0.196342, P = 0.017854 tc id = 13, canon_type = 3, mot type = 2 time: 1.042000 primary movement = 5.137496384036e-04 time: 1.042000000000e+00 total movement = 5.137496384036e-04 vel = 5.175000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.525000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.525000, acc = 7.500000,T = 0.196342, P = 0.018375 tc id = 13, canon_type = 3, mot type = 2 time: 1.043000 primary movement = 5.212496223349e-04 time: 1.043000000000e+00 total movement = 5.212496223349e-04 vel = 5.250000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.532500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.532500, acc = 7.500000,T = 0.196342, P = 0.018904 tc id = 13, canon_type = 3, mot type = 2 time: 1.044000 primary movement = 5.287496057972e-04 time: 1.044000000000e+00 total movement = 5.287496057972e-04 vel = 5.325000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.540000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.540000, acc = 7.500000,T = 0.196342, P = 0.019440 tc id = 13, canon_type = 3, mot type = 2 time: 1.045000 primary movement = 5.362495887835e-04 time: 1.045000000000e+00 total movement = 5.362495887835e-04 vel = 5.400000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.547500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.547500, acc = 7.500000,T = 0.196342, P = 0.019984 tc id = 13, canon_type = 3, mot type = 2 time: 1.046000 primary movement = 5.437495712872e-04 time: 1.046000000000e+00 total movement = 5.437495712872e-04 vel = 5.475000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.555000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.555000, acc = 7.500000,T = 0.196342, P = 0.020535 tc id = 13, canon_type = 3, mot type = 2 time: 1.047000 primary movement = 5.512495533016e-04 time: 1.047000000000e+00 total movement = 5.512495533016e-04 vel = 5.550000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.562500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.562500, acc = 7.500000,T = 0.196342, P = 0.021094 tc id = 13, canon_type = 3, mot type = 2 time: 1.048000 primary movement = 5.587495348197e-04 time: 1.048000000000e+00 total movement = 5.587495348197e-04 vel = 5.625000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.570000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.570000, acc = 7.500000,T = 0.196342, P = 0.021660 tc id = 13, canon_type = 3, mot type = 2 time: 1.049000 primary movement = 5.662495158352e-04 time: 1.049000000000e+00 total movement = 5.662495158352e-04 vel = 5.700000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.577500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.577500, acc = 7.500000,T = 0.196342, P = 0.022234 tc id = 13, canon_type = 3, mot type = 2 time: 1.050000 primary movement = 5.737494963409e-04 time: 1.050000000000e+00 total movement = 5.737494963409e-04 vel = 5.775000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.585000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.585000, acc = 7.500000,T = 0.196342, P = 0.022815 tc id = 13, canon_type = 3, mot type = 2 time: 1.051000 primary movement = 5.812494763302e-04 time: 1.051000000000e+00 total movement = 5.812494763302e-04 vel = 5.850000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.592500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.592500, acc = 7.500000,T = 0.196342, P = 0.023404 tc id = 13, canon_type = 3, mot type = 2 time: 1.052000 primary movement = 5.887494557965e-04 time: 1.052000000000e+00 total movement = 5.887494557965e-04 vel = 5.925000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.600000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.600000, acc = 7.500000,T = 0.196342, P = 0.024000 tc id = 13, canon_type = 3, mot type = 2 time: 1.053000 primary movement = 5.962494347328e-04 time: 1.053000000000e+00 total movement = 5.962494347328e-04 vel = 6.000000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.607500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.607500, acc = 7.500000,T = 0.196342, P = 0.024604 tc id = 13, canon_type = 3, mot type = 2 time: 1.054000 primary movement = 6.037494131326e-04 time: 1.054000000000e+00 total movement = 6.037494131326e-04 vel = 6.075000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.615000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.615000, acc = 7.500000,T = 0.196342, P = 0.025215 tc id = 13, canon_type = 3, mot type = 2 time: 1.055000 primary movement = 6.112493909889e-04 time: 1.055000000000e+00 total movement = 6.112493909889e-04 vel = 6.150000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.622500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.622500, acc = 7.500000,T = 0.196342, P = 0.025834 tc id = 13, canon_type = 3, mot type = 2 time: 1.056000 primary movement = 6.187493682951e-04 time: 1.056000000000e+00 total movement = 6.187493682951e-04 vel = 6.225000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.630000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.630000, acc = 7.500000,T = 0.196342, P = 0.026460 tc id = 13, canon_type = 3, mot type = 2 time: 1.057000 primary movement = 6.262493450444e-04 time: 1.057000000000e+00 total movement = 6.262493450444e-04 vel = 6.300000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.637500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.637500, acc = 7.500000,T = 0.196342, P = 0.027094 tc id = 13, canon_type = 3, mot type = 2 time: 1.058000 primary movement = 6.337493212302e-04 time: 1.058000000000e+00 total movement = 6.337493212302e-04 vel = 6.375000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.645000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.645000, acc = 7.500000,T = 0.196342, P = 0.027735 tc id = 13, canon_type = 3, mot type = 2 time: 1.059000 primary movement = 6.412492968456e-04 time: 1.059000000000e+00 total movement = 6.412492968456e-04 vel = 6.450000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.652500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.652500, acc = 7.500000,T = 0.196342, P = 0.028384 tc id = 13, canon_type = 3, mot type = 2 time: 1.060000 primary movement = 6.487492718838e-04 time: 1.060000000000e+00 total movement = 6.487492718838e-04 vel = 6.525000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.660000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.660000, acc = 7.500000,T = 0.196342, P = 0.029040 tc id = 13, canon_type = 3, mot type = 2 time: 1.061000 primary movement = 6.562492463382e-04 time: 1.061000000000e+00 total movement = 6.562492463382e-04 vel = 6.600000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.667500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.667500, acc = 7.500000,T = 0.196342, P = 0.029704 tc id = 13, canon_type = 3, mot type = 2 time: 1.062000 primary movement = 6.637492202018e-04 time: 1.062000000000e+00 total movement = 6.637492202018e-04 vel = 6.675000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.675000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.675000, acc = 7.500000,T = 0.196342, P = 0.030375 tc id = 13, canon_type = 3, mot type = 2 time: 1.063000 primary movement = 6.712491934683e-04 time: 1.063000000000e+00 total movement = 6.712491934683e-04 vel = 6.750000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.682500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.682500, acc = 7.500000,T = 0.196342, P = 0.031054 tc id = 13, canon_type = 3, mot type = 2 time: 1.064000 primary movement = 6.787491661305e-04 time: 1.064000000000e+00 total movement = 6.787491661305e-04 vel = 6.825000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.690000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.690000, acc = 7.500000,T = 0.196342, P = 0.031740 tc id = 13, canon_type = 3, mot type = 2 time: 1.065000 primary movement = 6.862491381819e-04 time: 1.065000000000e+00 total movement = 6.862491381819e-04 vel = 6.900000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.697500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.697500, acc = 7.500000,T = 0.196342, P = 0.032434 tc id = 13, canon_type = 3, mot type = 2 time: 1.066000 primary movement = 6.937491096155e-04 time: 1.066000000000e+00 total movement = 6.937491096155e-04 vel = 6.975000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.705000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.705000, acc = 7.500000,T = 0.196342, P = 0.033135 tc id = 13, canon_type = 3, mot type = 2 time: 1.067000 primary movement = 7.012490804250e-04 time: 1.067000000000e+00 total movement = 7.012490804250e-04 vel = 7.050000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.712500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.712500, acc = 7.500000,T = 0.196342, P = 0.033844 tc id = 13, canon_type = 3, mot type = 2 time: 1.068000 primary movement = 7.087490506032e-04 time: 1.068000000000e+00 total movement = 7.087490506032e-04 vel = 7.125000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.720000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.720000, acc = 7.500000,T = 0.196342, P = 0.034560 tc id = 13, canon_type = 3, mot type = 2 time: 1.069000 primary movement = 7.162490201436e-04 time: 1.069000000000e+00 total movement = 7.162490201436e-04 vel = 7.200000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.727500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.727500, acc = 7.500000,T = 0.196342, P = 0.035284 tc id = 13, canon_type = 3, mot type = 2 time: 1.070000 primary movement = 7.237489890393e-04 time: 1.070000000000e+00 total movement = 7.237489890393e-04 vel = 7.275000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.735000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.735000, acc = 7.500000,T = 0.196342, P = 0.036015 tc id = 13, canon_type = 3, mot type = 2 time: 1.071000 primary movement = 7.312489572835e-04 time: 1.071000000000e+00 total movement = 7.312489572835e-04 vel = 7.350000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.742500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.742500, acc = 7.500000,T = 0.196342, P = 0.036754 tc id = 13, canon_type = 3, mot type = 2 time: 1.072000 primary movement = 7.387489248700e-04 time: 1.072000000000e+00 total movement = 7.387489248700e-04 vel = 7.425000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.750000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.750000, acc = 7.500000,T = 0.196342, P = 0.037500 tc id = 13, canon_type = 3, mot type = 2 time: 1.073000 primary movement = 7.462488917913e-04 time: 1.073000000000e+00 total movement = 7.462488917913e-04 vel = 7.500000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.757500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.757500, acc = 7.500000,T = 0.196342, P = 0.038254 tc id = 13, canon_type = 3, mot type = 2 time: 1.074000 primary movement = 7.537488580410e-04 time: 1.074000000000e+00 total movement = 7.537488580410e-04 vel = 7.575000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.765000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.765000, acc = 7.500000,T = 0.196342, P = 0.039015 tc id = 13, canon_type = 3, mot type = 2 time: 1.075000 primary movement = 7.612488236123e-04 time: 1.075000000000e+00 total movement = 7.612488236123e-04 vel = 7.650000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.772500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.772500, acc = 7.500000,T = 0.196342, P = 0.039784 tc id = 13, canon_type = 3, mot type = 2 time: 1.076000 primary movement = 7.687487884986e-04 time: 1.076000000000e+00 total movement = 7.687487884986e-04 vel = 7.725000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.780000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.780000, acc = 7.500000,T = 0.196342, P = 0.040560 tc id = 13, canon_type = 3, mot type = 2 time: 1.077000 primary movement = 7.762487526931e-04 time: 1.077000000000e+00 total movement = 7.762487526931e-04 vel = 7.800000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.787500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.787500, acc = 7.500000,T = 0.196342, P = 0.041344 tc id = 13, canon_type = 3, mot type = 2 time: 1.078000 primary movement = 7.837487161887e-04 time: 1.078000000000e+00 total movement = 7.837487161887e-04 vel = 7.875000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.795000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.795000, acc = 7.500000,T = 0.196342, P = 0.042135 tc id = 13, canon_type = 3, mot type = 2 time: 1.079000 primary movement = 7.912486789791e-04 time: 1.079000000000e+00 total movement = 7.912486789791e-04 vel = 7.950000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.802500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.802500, acc = 7.500000,T = 0.196342, P = 0.042934 tc id = 13, canon_type = 3, mot type = 2 time: 1.080000 primary movement = 7.987486410573e-04 time: 1.080000000000e+00 total movement = 7.987486410573e-04 vel = 8.025000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.810000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.810000, acc = 7.500000,T = 0.196342, P = 0.043740 tc id = 13, canon_type = 3, mot type = 2 time: 1.081000 primary movement = 8.062486024168e-04 time: 1.081000000000e+00 total movement = 8.062486024168e-04 vel = 8.100000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.817500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.817500, acc = 7.500000,T = 0.196342, P = 0.044554 tc id = 13, canon_type = 3, mot type = 2 time: 1.082000 primary movement = 8.137485630505e-04 time: 1.082000000000e+00 total movement = 8.137485630505e-04 vel = 8.175000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.825000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.825000, acc = 7.500000,T = 0.196342, P = 0.045375 tc id = 13, canon_type = 3, mot type = 2 time: 1.083000 primary movement = 8.212485229520e-04 time: 1.083000000000e+00 total movement = 8.212485229520e-04 vel = 8.250000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.832500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.832500, acc = 7.500000,T = 0.196342, P = 0.046204 tc id = 13, canon_type = 3, mot type = 2 time: 1.084000 primary movement = 8.287484821140e-04 time: 1.084000000000e+00 total movement = 8.287484821140e-04 vel = 8.325000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.840000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.840000, acc = 7.500000,T = 0.196342, P = 0.047040 tc id = 13, canon_type = 3, mot type = 2 time: 1.085000 primary movement = 8.362484405306e-04 time: 1.085000000000e+00 total movement = 8.362484405306e-04 vel = 8.400000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.847500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.847500, acc = 7.500000,T = 0.196342, P = 0.047884 tc id = 13, canon_type = 3, mot type = 2 time: 1.086000 primary movement = 8.437483981943e-04 time: 1.086000000000e+00 total movement = 8.437483981943e-04 vel = 8.475000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.855000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.855000, acc = 7.500000,T = 0.196342, P = 0.048735 tc id = 13, canon_type = 3, mot type = 2 time: 1.087000 primary movement = 8.512483550987e-04 time: 1.087000000000e+00 total movement = 8.512483550987e-04 vel = 8.550000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.862500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.862500, acc = 7.500000,T = 0.196342, P = 0.049594 tc id = 13, canon_type = 3, mot type = 2 time: 1.088000 primary movement = 8.587483112368e-04 time: 1.088000000000e+00 total movement = 8.587483112368e-04 vel = 8.625000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.870000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.870000, acc = 7.500000,T = 0.196342, P = 0.050460 tc id = 13, canon_type = 3, mot type = 2 time: 1.089000 primary movement = 8.662482666024e-04 time: 1.089000000000e+00 total movement = 8.662482666024e-04 vel = 8.700000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.877500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.877500, acc = 7.500000,T = 0.196342, P = 0.051334 tc id = 13, canon_type = 3, mot type = 2 time: 1.090000 primary movement = 8.737482211880e-04 time: 1.090000000000e+00 total movement = 8.737482211880e-04 vel = 8.775000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.885000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.885000, acc = 7.500000,T = 0.196342, P = 0.052215 tc id = 13, canon_type = 3, mot type = 2 time: 1.091000 primary movement = 8.812481749875e-04 time: 1.091000000000e+00 total movement = 8.812481749875e-04 vel = 8.850000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.892500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.892500, acc = 7.500000,T = 0.196342, P = 0.053104 tc id = 13, canon_type = 3, mot type = 2 time: 1.092000 primary movement = 8.887481279937e-04 time: 1.092000000000e+00 total movement = 8.887481279937e-04 vel = 8.925000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.900000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.900000, acc = 7.500000,T = 0.196342, P = 0.054000 tc id = 13, canon_type = 3, mot type = 2 time: 1.093000 primary movement = 8.962480802002e-04 time: 1.093000000000e+00 total movement = 8.962480802002e-04 vel = 9.000000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.907500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.907500, acc = 7.500000,T = 0.196342, P = 0.054904 tc id = 13, canon_type = 3, mot type = 2 time: 1.094000 primary movement = 9.037480315998e-04 time: 1.094000000000e+00 total movement = 9.037480315998e-04 vel = 9.075000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.915000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.915000, acc = 7.500000,T = 0.196342, P = 0.055815 tc id = 13, canon_type = 3, mot type = 2 time: 1.095000 primary movement = 9.112479821863e-04 time: 1.095000000000e+00 total movement = 9.112479821863e-04 vel = 9.150000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.922500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.922500, acc = 7.500000,T = 0.196342, P = 0.056734 tc id = 13, canon_type = 3, mot type = 2 time: 1.096000 primary movement = 9.187479319527e-04 time: 1.096000000000e+00 total movement = 9.187479319527e-04 vel = 9.225000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.930000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.930000, acc = 7.500000,T = 0.196342, P = 0.057660 tc id = 13, canon_type = 3, mot type = 2 time: 1.097000 primary movement = 9.262478808920e-04 time: 1.097000000000e+00 total movement = 9.262478808920e-04 vel = 9.300000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.937500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.937500, acc = 7.500000,T = 0.196342, P = 0.058594 tc id = 13, canon_type = 3, mot type = 2 time: 1.098000 primary movement = 9.337478289978e-04 time: 1.098000000000e+00 total movement = 9.337478289978e-04 vel = 9.375000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.945000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.945000, acc = 7.500000,T = 0.196342, P = 0.059535 tc id = 13, canon_type = 3, mot type = 2 time: 1.099000 primary movement = 9.412477762631e-04 time: 1.099000000000e+00 total movement = 9.412477762631e-04 vel = 9.450000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.952500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.952500, acc = 7.500000,T = 0.196342, P = 0.060484 tc id = 13, canon_type = 3, mot type = 2 time: 1.100000 primary movement = 9.487477226815e-04 time: 1.100000000000e+00 total movement = 9.487477226815e-04 vel = 9.525000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.960000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.960000, acc = 7.500000,T = 0.196342, P = 0.061440 tc id = 13, canon_type = 3, mot type = 2 time: 1.101000 primary movement = 9.562476682458e-04 time: 1.101000000000e+00 total movement = 9.562476682458e-04 vel = 9.600000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.967500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.967500, acc = 7.500000,T = 0.196342, P = 0.062404 tc id = 13, canon_type = 3, mot type = 2 time: 1.102000 primary movement = 9.637476129495e-04 time: 1.102000000000e+00 total movement = 9.637476129495e-04 vel = 9.675000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.975000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.975000, acc = 7.500000,T = 0.196342, P = 0.063375 tc id = 13, canon_type = 3, mot type = 2 time: 1.103000 primary movement = 9.712475567860e-04 time: 1.103000000000e+00 total movement = 9.712475567860e-04 vel = 9.750000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.982500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.982500, acc = 7.500000,T = 0.196342, P = 0.064354 tc id = 13, canon_type = 3, mot type = 2 time: 1.104000 primary movement = 9.787474997484e-04 time: 1.104000000000e+00 total movement = 9.787474997484e-04 vel = 9.825000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.990000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.990000, acc = 7.500000,T = 0.196342, P = 0.065340 tc id = 13, canon_type = 3, mot type = 2 time: 1.105000 primary movement = 9.862474418298e-04 time: 1.105000000000e+00 total movement = 9.862474418298e-04 vel = 9.900000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.997500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.997500, acc = 7.500000,T = 0.196342, P = 0.066334 tc id = 13, canon_type = 3, mot type = 2 time: 1.106000 primary movement = 9.937473830235e-04 time: 1.106000000000e+00 total movement = 9.937473830235e-04 vel = 9.975000000000e-01 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.005000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.005000, acc = 7.500000,T = 0.196342, P = 0.067335 tc id = 13, canon_type = 3, mot type = 2 time: 1.107000 primary movement = 1.001247323323e-03 time: 1.107000000000e+00 total movement = 1.001247323323e-03 vel = 1.005000000000e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.012500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.012500, acc = 7.500000,T = 0.196342, P = 0.068344 tc id = 13, canon_type = 3, mot type = 2 time: 1.108000 primary movement = 1.008747262721e-03 time: 1.108000000000e+00 total movement = 1.008747262721e-03 vel = 1.012500000000e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.020000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.020000, acc = 7.500000,T = 0.196342, P = 0.069360 tc id = 13, canon_type = 3, mot type = 2 time: 1.109000 primary movement = 1.016247201212e-03 time: 1.109000000000e+00 total movement = 1.016247201212e-03 vel = 1.020000000000e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.027500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.027500, acc = 7.500000,T = 0.196342, P = 0.070384 tc id = 13, canon_type = 3, mot type = 2 time: 1.110000 primary movement = 1.023747138788e-03 time: 1.110000000000e+00 total movement = 1.023747138788e-03 vel = 1.027500000000e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.035000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.035000, acc = 7.500000,T = 0.196342, P = 0.071415 tc id = 13, canon_type = 3, mot type = 2 time: 1.111000 primary movement = 1.031247075442e-03 time: 1.111000000000e+00 total movement = 1.031247075442e-03 vel = 1.035000000000e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.042500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.042500, acc = 7.500000,T = 0.196342, P = 0.072454 tc id = 13, canon_type = 3, mot type = 2 time: 1.112000 primary movement = 1.038747011168e-03 time: 1.112000000000e+00 total movement = 1.038747011168e-03 vel = 1.042500000000e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.050000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.050000, acc = 7.500000,T = 0.196342, P = 0.073500 tc id = 13, canon_type = 3, mot type = 2 time: 1.113000 primary movement = 1.046246945960e-03 time: 1.113000000000e+00 total movement = 1.046246945960e-03 vel = 1.050000000000e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.057500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.057500, acc = 7.500000,T = 0.196342, P = 0.074554 tc id = 13, canon_type = 3, mot type = 2 time: 1.114000 primary movement = 1.053746879809e-03 time: 1.114000000000e+00 total movement = 1.053746879809e-03 vel = 1.057500000000e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.065000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.065000, acc = 7.500000,T = 0.196342, P = 0.075615 tc id = 13, canon_type = 3, mot type = 2 time: 1.115000 primary movement = 1.061246812711e-03 time: 1.115000000000e+00 total movement = 1.061246812711e-03 vel = 1.065000000000e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.072500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.072500, acc = 7.500000,T = 0.196342, P = 0.076684 tc id = 13, canon_type = 3, mot type = 2 time: 1.116000 primary movement = 1.068746744657e-03 time: 1.116000000000e+00 total movement = 1.068746744657e-03 vel = 1.072500000000e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.080000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.080000, acc = 7.500000,T = 0.196342, P = 0.077760 tc id = 13, canon_type = 3, mot type = 2 time: 1.117000 primary movement = 1.076246675642e-03 time: 1.117000000000e+00 total movement = 1.076246675642e-03 vel = 1.080000000000e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.087500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.087500, acc = 7.500000,T = 0.196342, P = 0.078844 tc id = 13, canon_type = 3, mot type = 2 time: 1.118000 primary movement = 1.083746605658e-03 time: 1.118000000000e+00 total movement = 1.083746605658e-03 vel = 1.087500000000e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.095000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.095000, acc = 7.500000,T = 0.196342, P = 0.079935 tc id = 13, canon_type = 3, mot type = 2 time: 1.119000 primary movement = 1.091246534698e-03 time: 1.119000000000e+00 total movement = 1.091246534698e-03 vel = 1.095000000000e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.102500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.102500, acc = 7.500000,T = 0.196342, P = 0.081034 tc id = 13, canon_type = 3, mot type = 2 time: 1.120000 primary movement = 1.098746462756e-03 time: 1.120000000000e+00 total movement = 1.098746462756e-03 vel = 1.102500000000e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.110000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.110000, acc = 7.500000,T = 0.196342, P = 0.082140 tc id = 13, canon_type = 3, mot type = 2 time: 1.121000 primary movement = 1.106246389826e-03 time: 1.121000000000e+00 total movement = 1.106246389826e-03 vel = 1.110000000000e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.117500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.117500, acc = 7.500000,T = 0.196342, P = 0.083254 tc id = 13, canon_type = 3, mot type = 2 time: 1.122000 primary movement = 1.113746315900e-03 time: 1.122000000000e+00 total movement = 1.113746315900e-03 vel = 1.117500000000e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.125000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.125000, acc = 7.500000,T = 0.196342, P = 0.084375 tc id = 13, canon_type = 3, mot type = 2 time: 1.123000 primary movement = 1.121246240971e-03 time: 1.123000000000e+00 total movement = 1.121246240971e-03 vel = 1.125000000000e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.132500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.132500, acc = 7.500000,T = 0.196342, P = 0.085504 tc id = 13, canon_type = 3, mot type = 2 time: 1.124000 primary movement = 1.128746165034e-03 time: 1.124000000000e+00 total movement = 1.128746165034e-03 vel = 1.132500000000e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.140000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.140000, acc = 7.500000,T = 0.196342, P = 0.086640 tc id = 13, canon_type = 3, mot type = 2 time: 1.125000 primary movement = 1.136246088080e-03 time: 1.125000000000e+00 total movement = 1.136246088080e-03 vel = 1.140000000000e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.147500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.147500, acc = 7.500000,T = 0.196342, P = 0.087784 tc id = 13, canon_type = 3, mot type = 2 time: 1.126000 primary movement = 1.143746010104e-03 time: 1.126000000000e+00 total movement = 1.143746010104e-03 vel = 1.147500000000e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.155000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.155000, acc = 7.500000,T = 0.196342, P = 0.088935 tc id = 13, canon_type = 3, mot type = 2 time: 1.127000 primary movement = 1.151245931098e-03 time: 1.127000000000e+00 total movement = 1.151245931098e-03 vel = 1.155000000000e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.162500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.162500, acc = 7.500000,T = 0.196342, P = 0.090094 tc id = 13, canon_type = 3, mot type = 2 time: 1.128000 primary movement = 1.158745851056e-03 time: 1.128000000000e+00 total movement = 1.158745851056e-03 vel = 1.162500000000e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.170000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.170000, acc = 7.500000,T = 0.196342, P = 0.091260 tc id = 13, canon_type = 3, mot type = 2 time: 1.129000 primary movement = 1.166245769972e-03 time: 1.129000000000e+00 total movement = 1.166245769972e-03 vel = 1.170000000000e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.177500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.177500, acc = 7.500000,T = 0.196342, P = 0.092434 tc id = 13, canon_type = 3, mot type = 2 time: 1.130000 primary movement = 1.173745687838e-03 time: 1.130000000000e+00 total movement = 1.173745687838e-03 vel = 1.177500000000e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.185000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.185000, acc = 7.500000,T = 0.196342, P = 0.093615 tc id = 13, canon_type = 3, mot type = 2 time: 1.131000 primary movement = 1.181245604647e-03 time: 1.131000000000e+00 total movement = 1.181245604647e-03 vel = 1.185000000000e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.192500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.192500, acc = 7.500000,T = 0.196342, P = 0.094804 tc id = 13, canon_type = 3, mot type = 2 time: 1.132000 primary movement = 1.188745520394e-03 time: 1.132000000000e+00 total movement = 1.188745520394e-03 vel = 1.192500000000e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.200000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.200000, acc = 7.500000,T = 0.196342, P = 0.096000 tc id = 13, canon_type = 3, mot type = 2 time: 1.133000 primary movement = 1.196245435070e-03 time: 1.133000000000e+00 total movement = 1.196245435070e-03 vel = 1.200000000000e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.207500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.207500, acc = 7.500000,T = 0.196342, P = 0.097204 tc id = 13, canon_type = 3, mot type = 2 time: 1.134000 primary movement = 1.203745348670e-03 time: 1.134000000000e+00 total movement = 1.203745348670e-03 vel = 1.207500000000e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.211990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.211990, acc = 4.490383,T = 0.196342, P = 0.098413 tc id = 13, canon_type = 3, mot type = 2 time: 1.135000 primary movement = 1.209740470373e-03 time: 1.135000000000e+00 total movement = 1.209740470373e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.204490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.204490, acc = -7.500000,T = 0.196342, P = 0.099622 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.007500, vf = 0.007500, maxvel = 8.337347, current_vel = 0.007500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.007500, acc = 7.500000,T = 2.453546, P = 0.000004 initial results: dx= 2.453543,dt = 18.346762, a_f = 0.013761, v_f = 0.259963 dt = 18.346762, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000004 time: 1.136000 primary movement = 1.208235679515e-03 time: 1.136000000000e+00 total movement = 1.211985679515e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.196990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.196990, acc = -7.500000,T = 0.196342, P = 0.100822 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.015000, vf = 0.015000, maxvel = 8.337347, current_vel = 0.015000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.015000, acc = 7.500000,T = 2.453546, P = 0.000015 initial results: dx= 2.453531,dt = 17.846247, a_f = 0.013726, v_f = 0.259963 dt = 17.846247, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000011 time: 1.137000 primary movement = 1.200735766563e-03 time: 1.137000000000e+00 total movement = 1.211985766563e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.189490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.189490, acc = -7.500000,T = 0.196342, P = 0.102016 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.022500, vf = 0.022500, maxvel = 8.337347, current_vel = 0.022500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.022500, acc = 7.500000,T = 2.453546, P = 0.000034 initial results: dx= 2.453513,dt = 17.372258, a_f = 0.013669, v_f = 0.259963 dt = 17.372258, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000019 time: 1.138000 primary movement = 1.193235852530e-03 time: 1.138000000000e+00 total movement = 1.211985852530e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.181990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.181990, acc = -7.500000,T = 0.196342, P = 0.103201 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.030000, vf = 0.030000, maxvel = 8.337347, current_vel = 0.030000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.030000, acc = 7.500000,T = 2.453546, P = 0.000060 initial results: dx= 2.453486,dt = 16.922738, a_f = 0.013589, v_f = 0.259963 dt = 16.922738, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000026 time: 1.139000 primary movement = 1.185735937423e-03 time: 1.139000000000e+00 total movement = 1.211985937423e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.174490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.174490, acc = -7.500000,T = 0.196342, P = 0.104380 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.037500, vf = 0.037500, maxvel = 8.337347, current_vel = 0.037500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.037500, acc = 7.500000,T = 2.453546, P = 0.000094 initial results: dx= 2.453453,dt = 16.495835, a_f = 0.013486, v_f = 0.259963 dt = 16.495835, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000034 time: 1.140000 primary movement = 1.178236021249e-03 time: 1.140000000000e+00 total movement = 1.211986021249e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.166990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.166990, acc = -7.500000,T = 0.196342, P = 0.105550 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.045000, vf = 0.045000, maxvel = 8.337347, current_vel = 0.045000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.045000, acc = 7.500000,T = 2.453546, P = 0.000135 initial results: dx= 2.453411,dt = 16.089880, a_f = 0.013360, v_f = 0.259963 dt = 16.089880, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000041 time: 1.141000 primary movement = 1.170736104016e-03 time: 1.141000000000e+00 total movement = 1.211986104016e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.159490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.159490, acc = -7.500000,T = 0.196342, P = 0.106714 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.052500, vf = 0.052500, maxvel = 8.337347, current_vel = 0.052500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.052500, acc = 7.500000,T = 2.453546, P = 0.000184 initial results: dx= 2.453363,dt = 15.703365, a_f = 0.013211, v_f = 0.259963 dt = 15.703365, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000049 time: 1.142000 primary movement = 1.163236185727e-03 time: 1.142000000000e+00 total movement = 1.211986185727e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.151990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.151990, acc = -7.500000,T = 0.196342, P = 0.107869 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.060000, vf = 0.060000, maxvel = 8.337347, current_vel = 0.060000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.060000, acc = 7.500000,T = 2.453546, P = 0.000240 initial results: dx= 2.453306,dt = 15.334924, a_f = 0.013040, v_f = 0.259963 dt = 15.334924, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000056 time: 1.143000 primary movement = 1.155736266393e-03 time: 1.143000000000e+00 total movement = 1.211986266393e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.144490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.144490, acc = -7.500000,T = 0.196342, P = 0.109018 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.067500, vf = 0.067500, maxvel = 8.337347, current_vel = 0.067500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.067500, acc = 7.500000,T = 2.453546, P = 0.000304 initial results: dx= 2.453243,dt = 14.983314, a_f = 0.012845, v_f = 0.259963 dt = 14.983314, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000064 time: 1.144000 primary movement = 1.148236346018e-03 time: 1.144000000000e+00 total movement = 1.211986346018e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.136990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.136990, acc = -7.500000,T = 0.196342, P = 0.110158 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.075000, vf = 0.075000, maxvel = 8.337347, current_vel = 0.075000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.075000, acc = 7.500000,T = 2.453546, P = 0.000375 initial results: dx= 2.453171,dt = 14.647404, a_f = 0.012628, v_f = 0.259963 dt = 14.647404, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000071 time: 1.145000 primary movement = 1.140736424609e-03 time: 1.145000000000e+00 total movement = 1.211986424609e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.129490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.129490, acc = -7.500000,T = 0.196342, P = 0.111292 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.082500, vf = 0.082500, maxvel = 8.337347, current_vel = 0.082500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.082500, acc = 7.500000,T = 2.453546, P = 0.000454 initial results: dx= 2.453093,dt = 14.326164, a_f = 0.012387, v_f = 0.259963 dt = 14.326164, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000079 time: 1.146000 primary movement = 1.133236502174e-03 time: 1.146000000000e+00 total movement = 1.211986502174e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.121990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.121990, acc = -7.500000,T = 0.196342, P = 0.112417 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.090000, vf = 0.090000, maxvel = 8.337347, current_vel = 0.090000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.090000, acc = 7.500000,T = 2.453546, P = 0.000540 initial results: dx= 2.453006,dt = 14.018649, a_f = 0.012124, v_f = 0.259963 dt = 14.018649, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000086 time: 1.147000 primary movement = 1.125736578720e-03 time: 1.147000000000e+00 total movement = 1.211986578719e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.114490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.114490, acc = -7.500000,T = 0.196342, P = 0.113536 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.097500, vf = 0.097500, maxvel = 8.337347, current_vel = 0.097500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.097500, acc = 7.500000,T = 2.453546, P = 0.000634 initial results: dx= 2.452913,dt = 13.723997, a_f = 0.011838, v_f = 0.259963 dt = 13.723997, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000094 time: 1.148000 primary movement = 1.118236654251e-03 time: 1.148000000000e+00 total movement = 1.211986654252e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.106990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.106990, acc = -7.500000,T = 0.196342, P = 0.114646 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.105000, vf = 0.105000, maxvel = 8.337347, current_vel = 0.105000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.105000, acc = 7.500000,T = 2.453546, P = 0.000735 initial results: dx= 2.452811,dt = 13.441414, a_f = 0.011529, v_f = 0.259963 dt = 13.441414, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000101 time: 1.149000 primary movement = 1.110736728777e-03 time: 1.149000000000e+00 total movement = 1.211986728776e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.099490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.099490, acc = -7.500000,T = 0.196342, P = 0.115750 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.112500, vf = 0.112500, maxvel = 8.337347, current_vel = 0.112500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.112500, acc = 7.500000,T = 2.453546, P = 0.000844 initial results: dx= 2.452703,dt = 13.170171, a_f = 0.011197, v_f = 0.259963 dt = 13.170171, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000109 time: 1.150000 primary movement = 1.103236802303e-03 time: 1.150000000000e+00 total movement = 1.211986802303e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.091990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.091990, acc = -7.500000,T = 0.196342, P = 0.116845 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.120000, vf = 0.120000, maxvel = 8.337347, current_vel = 0.120000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.120000, acc = 7.500000,T = 2.453546, P = 0.000960 initial results: dx= 2.452586,dt = 12.909596, a_f = 0.010842, v_f = 0.259963 dt = 12.909596, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000116 time: 1.151000 primary movement = 1.095736874835e-03 time: 1.151000000000e+00 total movement = 1.211986874836e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.084490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.084490, acc = -7.500000,T = 0.196342, P = 0.117934 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.127500, vf = 0.127500, maxvel = 8.337347, current_vel = 0.127500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.127500, acc = 7.500000,T = 2.453546, P = 0.001084 initial results: dx= 2.452463,dt = 12.659071, a_f = 0.010464, v_f = 0.259963 dt = 12.659071, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000124 time: 1.152000 primary movement = 1.088236946383e-03 time: 1.152000000000e+00 total movement = 1.211986946382e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.076990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.076990, acc = -7.500000,T = 0.196342, P = 0.119014 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.135000, vf = 0.135000, maxvel = 8.337347, current_vel = 0.135000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.135000, acc = 7.500000,T = 2.453546, P = 0.001215 initial results: dx= 2.452331,dt = 12.418022, a_f = 0.010063, v_f = 0.259963 dt = 12.418022, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000131 time: 1.153000 primary movement = 1.080737016949e-03 time: 1.153000000000e+00 total movement = 1.211987016949e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.069490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.069490, acc = -7.500000,T = 0.196342, P = 0.120088 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.142500, vf = 0.142500, maxvel = 8.337347, current_vel = 0.142500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.142500, acc = 7.500000,T = 2.453546, P = 0.001354 initial results: dx= 2.452193,dt = 12.185919, a_f = 0.009639, v_f = 0.259963 dt = 12.185919, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000139 time: 1.154000 primary movement = 1.073237086544e-03 time: 1.154000000000e+00 total movement = 1.211987086544e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.061990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.061990, acc = -7.500000,T = 0.196342, P = 0.121153 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.150000, vf = 0.150000, maxvel = 8.337347, current_vel = 0.150000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.150000, acc = 7.500000,T = 2.453546, P = 0.001500 initial results: dx= 2.452046,dt = 11.962273, a_f = 0.009193, v_f = 0.259963 dt = 11.962273, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000146 time: 1.155000 primary movement = 1.065737155173e-03 time: 1.155000000000e+00 total movement = 1.211987155173e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.054490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.054490, acc = -7.500000,T = 0.196342, P = 0.122212 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.157500, vf = 0.157500, maxvel = 8.337347, current_vel = 0.157500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.157500, acc = 7.500000,T = 2.453546, P = 0.001654 initial results: dx= 2.451893,dt = 11.746626, a_f = 0.008723, v_f = 0.259963 dt = 11.746626, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000154 time: 1.156000 primary movement = 1.058237222843e-03 time: 1.156000000000e+00 total movement = 1.211987222843e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.046990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.046990, acc = -7.500000,T = 0.196342, P = 0.123262 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.165000, vf = 0.165000, maxvel = 8.337347, current_vel = 0.165000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.165000, acc = 7.500000,T = 2.453546, P = 0.001815 initial results: dx= 2.451731,dt = 11.538556, a_f = 0.008230, v_f = 0.259963 dt = 11.538556, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000161 time: 1.157000 primary movement = 1.050737289560e-03 time: 1.157000000000e+00 total movement = 1.211987289560e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.039490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.039490, acc = -7.500000,T = 0.196342, P = 0.124306 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.172500, vf = 0.172500, maxvel = 8.337347, current_vel = 0.172500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.172500, acc = 7.500000,T = 2.453546, P = 0.001984 initial results: dx= 2.451563,dt = 11.337668, a_f = 0.007714, v_f = 0.259963 dt = 11.337668, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000169 time: 1.158000 primary movement = 1.043237355331e-03 time: 1.158000000000e+00 total movement = 1.211987355331e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.031990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.031990, acc = -7.500000,T = 0.196342, P = 0.125341 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.180000, vf = 0.180000, maxvel = 8.337347, current_vel = 0.180000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.180000, acc = 7.500000,T = 2.453546, P = 0.002160 initial results: dx= 2.451386,dt = 11.143595, a_f = 0.007176, v_f = 0.259963 dt = 11.143595, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000176 time: 1.159000 primary movement = 1.035737420164e-03 time: 1.159000000000e+00 total movement = 1.211987420164e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.024490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.024490, acc = -7.500000,T = 0.196342, P = 0.126370 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.187500, vf = 0.187500, maxvel = 8.337347, current_vel = 0.187500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.187500, acc = 7.500000,T = 2.453546, P = 0.002344 initial results: dx= 2.451203,dt = 10.955994, a_f = 0.006614, v_f = 0.259963 dt = 10.955994, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000184 time: 1.160000 primary movement = 1.028237484065e-03 time: 1.160000000000e+00 total movement = 1.211987484064e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.016990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.016990, acc = -7.500000,T = 0.196342, P = 0.127390 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.195000, vf = 0.195000, maxvel = 8.337347, current_vel = 0.195000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.195000, acc = 7.500000,T = 2.453546, P = 0.002535 initial results: dx= 2.451011,dt = 10.774546, a_f = 0.006029, v_f = 0.259963 dt = 10.774546, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000191 time: 1.161000 primary movement = 1.020737547039e-03 time: 1.161000000000e+00 total movement = 1.211987547039e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.009490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.009490, acc = -7.500000,T = 0.196342, P = 0.128403 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.202500, vf = 0.202500, maxvel = 8.337347, current_vel = 0.202500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.202500, acc = 7.500000,T = 2.453546, P = 0.002734 initial results: dx= 2.450813,dt = 10.598950, a_f = 0.005422, v_f = 0.259963 dt = 10.598950, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000199 time: 1.162000 primary movement = 1.013237609096e-03 time: 1.162000000000e+00 total movement = 1.211987609096e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 1.001990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.001990, acc = -7.500000,T = 0.196342, P = 0.129409 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.210000, vf = 0.210000, maxvel = 8.337347, current_vel = 0.210000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.210000, acc = 7.500000,T = 2.453546, P = 0.002940 initial results: dx= 2.450606,dt = 10.428927, a_f = 0.004791, v_f = 0.259963 dt = 10.428927, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000206 time: 1.163000 primary movement = 1.005737670240e-03 time: 1.163000000000e+00 total movement = 1.211987670240e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.994490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.994490, acc = -7.500000,T = 0.196342, P = 0.130407 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.217500, vf = 0.217500, maxvel = 8.337347, current_vel = 0.217500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.217500, acc = 7.500000,T = 2.453546, P = 0.003154 initial results: dx= 2.450393,dt = 10.264214, a_f = 0.004137, v_f = 0.259963 dt = 10.264214, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000214 time: 1.164000 primary movement = 9.982377304794e-04 time: 1.164000000000e+00 total movement = 1.211987730480e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.986990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.986990, acc = -7.500000,T = 0.196342, P = 0.131398 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.225000, vf = 0.225000, maxvel = 8.337347, current_vel = 0.225000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.225000, acc = 7.500000,T = 2.453546, P = 0.003375 initial results: dx= 2.450171,dt = 10.104564, a_f = 0.003460, v_f = 0.259963 dt = 10.104564, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000221 time: 1.165000 primary movement = 9.907377898206e-04 time: 1.165000000000e+00 total movement = 1.211987789821e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.979490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.979490, acc = -7.500000,T = 0.196342, P = 0.132381 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.232500, vf = 0.232500, maxvel = 8.337347, current_vel = 0.232500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.232500, acc = 7.500000,T = 2.453546, P = 0.003604 initial results: dx= 2.449943,dt = 9.949747, a_f = 0.002760, v_f = 0.259963 dt = 9.949747, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000229 time: 1.166000 primary movement = 9.832378482692e-04 time: 1.166000000000e+00 total movement = 1.211987848269e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.971990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.971990, acc = -7.500000,T = 0.196342, P = 0.133357 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.240000, vf = 0.240000, maxvel = 8.337347, current_vel = 0.240000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.240000, acc = 7.500000,T = 2.453546, P = 0.003840 initial results: dx= 2.449706,dt = 9.799545, a_f = 0.002037, v_f = 0.259963 dt = 9.799545, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000236 time: 1.167000 primary movement = 9.757379058339e-04 time: 1.167000000000e+00 total movement = 1.211987905834e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.964490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.964490, acc = -7.500000,T = 0.196342, P = 0.134325 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.247500, vf = 0.247500, maxvel = 8.337347, current_vel = 0.247500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.247500, acc = 7.500000,T = 2.453546, P = 0.004084 initial results: dx= 2.449463,dt = 9.653753, a_f = 0.001291, v_f = 0.259963 dt = 9.653753, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000244 time: 1.168000 primary movement = 9.682379625202e-04 time: 1.168000000000e+00 total movement = 1.211987962520e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.956990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.956990, acc = -7.500000,T = 0.196342, P = 0.135286 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.255000, vf = 0.255000, maxvel = 8.337347, current_vel = 0.255000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.255000, acc = 7.500000,T = 2.453546, P = 0.004335 initial results: dx= 2.449211,dt = 9.512178, a_f = 0.000522, v_f = 0.259963 dt = 9.512178, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000251 time: 1.169000 primary movement = 9.607380183347e-04 time: 1.169000000000e+00 total movement = 1.211988018335e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.949490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.949490, acc = -7.500000,T = 0.196342, P = 0.136239 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.262500, vf = 0.259963, maxvel = 8.337347, current_vel = 0.262500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.262500, acc = 7.500000,T = 2.453546, P = 0.004594 initial results: dx= 2.448953,dt = 9.374640, a_f = -0.000271, v_f = 0.259963 dt = 9.374640, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000259 time: 1.170000 primary movement = 9.532380732846e-04 time: 1.170000000000e+00 total movement = 1.211988073284e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.941990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.941990, acc = -7.500000,T = 0.196342, P = 0.137185 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.270000, vf = 0.259963, maxvel = 8.337347, current_vel = 0.270000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.270000, acc = 7.500000,T = 2.453546, P = 0.004860 initial results: dx= 2.448686,dt = 9.240966, a_f = -0.001086, v_f = 0.259963 dt = 9.240966, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000266 time: 1.171000 primary movement = 9.457381273768e-04 time: 1.171000000000e+00 total movement = 1.211988127377e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.934490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.934490, acc = -7.500000,T = 0.196342, P = 0.138123 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.277500, vf = 0.259963, maxvel = 8.337347, current_vel = 0.277500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.277500, acc = 7.500000,T = 2.453546, P = 0.005134 initial results: dx= 2.448413,dt = 9.110995, a_f = -0.001925, v_f = 0.259963 dt = 9.110995, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000274 time: 1.172000 primary movement = 9.382381806181e-04 time: 1.172000000000e+00 total movement = 1.211988180618e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.926990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.926990, acc = -7.500000,T = 0.196342, P = 0.139054 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.285000, vf = 0.259963, maxvel = 8.337347, current_vel = 0.285000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.285000, acc = 7.500000,T = 2.453546, P = 0.005415 initial results: dx= 2.448131,dt = 8.984573, a_f = -0.002787, v_f = 0.259963 dt = 8.984573, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000281 time: 1.173000 primary movement = 9.307382330145e-04 time: 1.173000000000e+00 total movement = 1.211988233015e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.919490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.919490, acc = -7.500000,T = 0.196342, P = 0.139977 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.292500, vf = 0.259963, maxvel = 8.337347, current_vel = 0.292500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.292500, acc = 7.500000,T = 2.453546, P = 0.005704 initial results: dx= 2.447843,dt = 8.861557, a_f = -0.003672, v_f = 0.259963 dt = 8.861557, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000289 time: 1.174000 primary movement = 9.232382845731e-04 time: 1.174000000000e+00 total movement = 1.211988284573e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.911990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.911990, acc = -7.500000,T = 0.196342, P = 0.140893 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.300000, vf = 0.259963, maxvel = 8.337347, current_vel = 0.300000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.300000, acc = 7.500000,T = 2.453546, P = 0.006000 initial results: dx= 2.447546,dt = 8.741810, a_f = -0.004580, v_f = 0.259963 dt = 8.741810, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000296 time: 1.175000 primary movement = 9.157383353013e-04 time: 1.175000000000e+00 total movement = 1.211988335301e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.904490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.904490, acc = -7.500000,T = 0.196342, P = 0.141801 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.307500, vf = 0.259963, maxvel = 8.337347, current_vel = 0.307500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.307500, acc = 7.500000,T = 2.453546, P = 0.006304 initial results: dx= 2.447243,dt = 8.625201, a_f = -0.005511, v_f = 0.259963 dt = 8.625201, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000304 time: 1.176000 primary movement = 9.082383852050e-04 time: 1.176000000000e+00 total movement = 1.211988385205e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.896990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.896990, acc = -7.500000,T = 0.196342, P = 0.142702 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.315000, vf = 0.259963, maxvel = 8.337347, current_vel = 0.315000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.315000, acc = 7.500000,T = 2.453546, P = 0.006615 initial results: dx= 2.446931,dt = 8.511609, a_f = -0.006466, v_f = 0.259963 dt = 8.511609, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000311 time: 1.177000 primary movement = 9.007384342916e-04 time: 1.177000000000e+00 total movement = 1.211988434292e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.889490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.889490, acc = -7.500000,T = 0.196342, P = 0.143595 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.322500, vf = 0.259963, maxvel = 8.337347, current_vel = 0.322500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.322500, acc = 7.500000,T = 2.453546, P = 0.006934 initial results: dx= 2.446613,dt = 8.400916, a_f = -0.007444, v_f = 0.259963 dt = 8.400916, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000319 time: 1.178000 primary movement = 8.932384825671e-04 time: 1.178000000000e+00 total movement = 1.211988482567e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.881990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.881990, acc = -7.500000,T = 0.196342, P = 0.144481 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.330000, vf = 0.259963, maxvel = 8.337347, current_vel = 0.330000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.330000, acc = 7.500000,T = 2.453546, P = 0.007260 initial results: dx= 2.446286,dt = 8.293012, a_f = -0.008445, v_f = 0.259963 dt = 8.293012, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000326 time: 1.179000 primary movement = 8.857385300391e-04 time: 1.179000000000e+00 total movement = 1.211988530039e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.874490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.874490, acc = -7.500000,T = 0.196342, P = 0.145359 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.337500, vf = 0.259963, maxvel = 8.337347, current_vel = 0.337500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.337500, acc = 7.500000,T = 2.453546, P = 0.007594 initial results: dx= 2.445953,dt = 8.187792, a_f = -0.009470, v_f = 0.259963 dt = 8.187792, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000334 time: 1.180000 primary movement = 8.782385767140e-04 time: 1.180000000000e+00 total movement = 1.211988576714e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.866990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.866990, acc = -7.500000,T = 0.196342, P = 0.146230 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.345000, vf = 0.259963, maxvel = 8.337347, current_vel = 0.345000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.345000, acc = 7.500000,T = 2.453546, P = 0.007935 initial results: dx= 2.445611,dt = 8.085156, a_f = -0.010518, v_f = 0.259963 dt = 8.085156, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000341 time: 1.181000 primary movement = 8.707386225976e-04 time: 1.181000000000e+00 total movement = 1.211988622598e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.859490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.859490, acc = -7.500000,T = 0.196342, P = 0.147093 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.352500, vf = 0.259963, maxvel = 8.337347, current_vel = 0.352500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.352500, acc = 7.500000,T = 2.453546, P = 0.008284 initial results: dx= 2.445263,dt = 7.985009, a_f = -0.011589, v_f = 0.259963 dt = 7.985009, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000349 time: 1.182000 primary movement = 8.632386676989e-04 time: 1.182000000000e+00 total movement = 1.211988667699e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.851990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.851990, acc = -7.500000,T = 0.196342, P = 0.147949 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.360000, vf = 0.259963, maxvel = 8.337347, current_vel = 0.360000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.360000, acc = 7.500000,T = 2.453546, P = 0.008640 initial results: dx= 2.444906,dt = 7.887262, a_f = -0.012683, v_f = 0.259963 dt = 7.887262, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000356 time: 1.183000 primary movement = 8.557387120221e-04 time: 1.183000000000e+00 total movement = 1.211988712022e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.844490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.844490, acc = -7.500000,T = 0.196342, P = 0.148797 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.367500, vf = 0.259963, maxvel = 8.337347, current_vel = 0.367500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.367500, acc = 7.500000,T = 2.453546, P = 0.009004 initial results: dx= 2.444543,dt = 7.791827, a_f = -0.013801, v_f = 0.259963 dt = 7.791827, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000364 time: 1.184000 primary movement = 8.482387555754e-04 time: 1.184000000000e+00 total movement = 1.211988755575e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.836990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.836990, acc = -7.500000,T = 0.196342, P = 0.149638 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.375000, vf = 0.259963, maxvel = 8.337347, current_vel = 0.375000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.375000, acc = 7.500000,T = 2.453546, P = 0.009375 initial results: dx= 2.444171,dt = 7.698622, a_f = -0.014943, v_f = 0.259963 dt = 7.698622, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000371 time: 1.185000 primary movement = 8.407387983659e-04 time: 1.185000000000e+00 total movement = 1.211988798366e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.829490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.829490, acc = -7.500000,T = 0.196342, P = 0.150471 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.382500, vf = 0.259963, maxvel = 8.337347, current_vel = 0.382500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.382500, acc = 7.500000,T = 2.453546, P = 0.009754 initial results: dx= 2.443793,dt = 7.607571, a_f = -0.016107, v_f = 0.259963 dt = 7.607571, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000379 time: 1.186000 primary movement = 8.332388403992e-04 time: 1.186000000000e+00 total movement = 1.211988840399e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.821990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.821990, acc = -7.500000,T = 0.196342, P = 0.151297 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.390000, vf = 0.259963, maxvel = 8.337347, current_vel = 0.390000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.390000, acc = 7.500000,T = 2.453546, P = 0.010140 initial results: dx= 2.443406,dt = 7.518598, a_f = -0.017295, v_f = 0.259963 dt = 7.518598, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000386 time: 1.187000 primary movement = 8.257388816826e-04 time: 1.187000000000e+00 total movement = 1.211988881683e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.814490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.814490, acc = -7.500000,T = 0.196342, P = 0.152115 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.397500, vf = 0.259963, maxvel = 8.337347, current_vel = 0.397500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.397500, acc = 7.500000,T = 2.453546, P = 0.010534 initial results: dx= 2.443013,dt = 7.431632, a_f = -0.018507, v_f = 0.259963 dt = 7.431632, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000394 time: 1.188000 primary movement = 8.182389222232e-04 time: 1.188000000000e+00 total movement = 1.211988922223e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.806990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.806990, acc = -7.500000,T = 0.196342, P = 0.152926 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.405000, vf = 0.259963, maxvel = 8.337347, current_vel = 0.405000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.405000, acc = 7.500000,T = 2.453546, P = 0.010935 initial results: dx= 2.442611,dt = 7.346605, a_f = -0.019742, v_f = 0.259963 dt = 7.346605, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000401 time: 1.189000 primary movement = 8.107389620268e-04 time: 1.189000000000e+00 total movement = 1.211988962027e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.799490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.799490, acc = -7.500000,T = 0.196342, P = 0.153729 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.412500, vf = 0.259963, maxvel = 8.337347, current_vel = 0.412500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.412500, acc = 7.500000,T = 2.453546, P = 0.011344 initial results: dx= 2.442203,dt = 7.263452, a_f = -0.021001, v_f = 0.259963 dt = 7.263452, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000409 time: 1.190000 primary movement = 8.032390011013e-04 time: 1.190000000000e+00 total movement = 1.211989001101e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.791990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.791990, acc = -7.500000,T = 0.196342, P = 0.154525 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.420000, vf = 0.259963, maxvel = 8.337347, current_vel = 0.420000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.420000, acc = 7.500000,T = 2.453546, P = 0.011760 initial results: dx= 2.441786,dt = 7.182112, a_f = -0.022283, v_f = 0.259963 dt = 7.182112, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000416 time: 1.191000 primary movement = 7.957390394525e-04 time: 1.191000000000e+00 total movement = 1.211989039453e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.784490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.784490, acc = -7.500000,T = 0.196342, P = 0.155313 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.427500, vf = 0.259963, maxvel = 8.337347, current_vel = 0.427500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.427500, acc = 7.500000,T = 2.453546, P = 0.012184 initial results: dx= 2.441363,dt = 7.102525, a_f = -0.023588, v_f = 0.259963 dt = 7.102525, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000424 time: 1.192000 primary movement = 7.882390770878e-04 time: 1.192000000000e+00 total movement = 1.211989077088e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.776990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.776990, acc = -7.500000,T = 0.196342, P = 0.156094 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.435000, vf = 0.259963, maxvel = 8.337347, current_vel = 0.435000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.435000, acc = 7.500000,T = 2.453546, P = 0.012615 initial results: dx= 2.440931,dt = 7.024634, a_f = -0.024918, v_f = 0.259963 dt = 7.024634, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000431 time: 1.193000 primary movement = 7.807391140137e-04 time: 1.193000000000e+00 total movement = 1.211989114013e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.769490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.769490, acc = -7.500000,T = 0.196342, P = 0.156867 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.442500, vf = 0.259963, maxvel = 8.337347, current_vel = 0.442500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.442500, acc = 7.500000,T = 2.453546, P = 0.013054 initial results: dx= 2.440493,dt = 6.948385, a_f = -0.026270, v_f = 0.259963 dt = 6.948385, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000439 time: 1.194000 primary movement = 7.732391502366e-04 time: 1.194000000000e+00 total movement = 1.211989150237e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.761990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.761990, acc = -7.500000,T = 0.196342, P = 0.157633 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.450000, vf = 0.259963, maxvel = 8.337347, current_vel = 0.450000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.450000, acc = 7.500000,T = 2.453546, P = 0.013500 initial results: dx= 2.440046,dt = 6.873725, a_f = -0.027647, v_f = 0.259963 dt = 6.873725, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000446 time: 1.195000 primary movement = 7.657391857636e-04 time: 1.195000000000e+00 total movement = 1.211989185763e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.754490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.754490, acc = -7.500000,T = 0.196342, P = 0.158391 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.457500, vf = 0.259963, maxvel = 8.337347, current_vel = 0.457500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.457500, acc = 7.500000,T = 2.453546, P = 0.013954 initial results: dx= 2.439593,dt = 6.800606, a_f = -0.029047, v_f = 0.259963 dt = 6.800606, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000454 time: 1.196000 primary movement = 7.582392206017e-04 time: 1.196000000000e+00 total movement = 1.211989220602e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.746990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.746990, acc = -7.500000,T = 0.196342, P = 0.159142 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.465000, vf = 0.259963, maxvel = 8.337347, current_vel = 0.465000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.465000, acc = 7.500000,T = 2.453546, P = 0.014415 initial results: dx= 2.439131,dt = 6.728979, a_f = -0.030471, v_f = 0.259963 dt = 6.728979, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000461 time: 1.197000 primary movement = 7.507392547573e-04 time: 1.197000000000e+00 total movement = 1.211989254757e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.739490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.739490, acc = -7.500000,T = 0.196342, P = 0.159885 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.472500, vf = 0.259963, maxvel = 8.337347, current_vel = 0.472500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.472500, acc = 7.500000,T = 2.453546, P = 0.014884 initial results: dx= 2.438663,dt = 6.658798, a_f = -0.031918, v_f = 0.259963 dt = 6.658798, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000469 time: 1.198000 primary movement = 7.432392882376e-04 time: 1.198000000000e+00 total movement = 1.211989288237e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.731990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.731990, acc = -7.500000,T = 0.196342, P = 0.160621 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.480000, vf = 0.259963, maxvel = 8.337347, current_vel = 0.480000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.480000, acc = 7.500000,T = 2.453546, P = 0.015360 initial results: dx= 2.438186,dt = 6.590020, a_f = -0.033389, v_f = 0.259963 dt = 6.590020, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000476 time: 1.199000 primary movement = 7.357393210479e-04 time: 1.199000000000e+00 total movement = 1.211989321048e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.724490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.724490, acc = -7.500000,T = 0.196342, P = 0.161349 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.487500, vf = 0.259963, maxvel = 8.337347, current_vel = 0.487500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.487500, acc = 7.500000,T = 2.453546, P = 0.015844 initial results: dx= 2.437703,dt = 6.522601, a_f = -0.034884, v_f = 0.259963 dt = 6.522601, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000484 time: 1.200000 primary movement = 7.282393531975e-04 time: 1.200000000000e+00 total movement = 1.211989353198e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.716990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.716990, acc = -7.500000,T = 0.196342, P = 0.162070 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.495000, vf = 0.259963, maxvel = 8.337347, current_vel = 0.495000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.495000, acc = 7.500000,T = 2.453546, P = 0.016335 initial results: dx= 2.437211,dt = 6.456503, a_f = -0.036403, v_f = 0.259963 dt = 6.456503, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000491 time: 1.201000 primary movement = 7.207393846905e-04 time: 1.201000000000e+00 total movement = 1.211989384690e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.709490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.709490, acc = -7.500000,T = 0.196342, P = 0.162783 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.502500, vf = 0.259963, maxvel = 8.337347, current_vel = 0.502500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.502500, acc = 7.500000,T = 2.453546, P = 0.016834 initial results: dx= 2.436713,dt = 6.391685, a_f = -0.037946, v_f = 0.259963 dt = 6.391685, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000499 time: 1.202000 primary movement = 7.132394155354e-04 time: 1.202000000000e+00 total movement = 1.211989415535e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.701990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.701990, acc = -7.500000,T = 0.196342, P = 0.163489 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.510000, vf = 0.259963, maxvel = 8.337347, current_vel = 0.510000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.510000, acc = 7.500000,T = 2.453546, P = 0.017340 initial results: dx= 2.436206,dt = 6.328110, a_f = -0.039512, v_f = 0.259963 dt = 6.328110, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000506 time: 1.203000 primary movement = 7.057394457381e-04 time: 1.203000000000e+00 total movement = 1.211989445738e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.694490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.694490, acc = -7.500000,T = 0.196342, P = 0.164187 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.517500, vf = 0.259963, maxvel = 8.337347, current_vel = 0.517500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.517500, acc = 7.500000,T = 2.453546, P = 0.017854 initial results: dx= 2.435693,dt = 6.265743, a_f = -0.041102, v_f = 0.259963 dt = 6.265743, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000514 time: 1.204000 primary movement = 6.982394753058e-04 time: 1.204000000000e+00 total movement = 1.211989475306e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.686990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.686990, acc = -7.500000,T = 0.196342, P = 0.164878 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.525000, vf = 0.259963, maxvel = 8.337347, current_vel = 0.525000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.525000, acc = 7.500000,T = 2.453546, P = 0.018375 initial results: dx= 2.435171,dt = 6.204548, a_f = -0.042717, v_f = 0.259963 dt = 6.204548, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000521 time: 1.205000 primary movement = 6.907395042452e-04 time: 1.205000000000e+00 total movement = 1.211989504245e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.679490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.679490, acc = -7.500000,T = 0.196342, P = 0.165561 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.532500, vf = 0.259963, maxvel = 8.337347, current_vel = 0.532500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.532500, acc = 7.500000,T = 2.453546, P = 0.018904 initial results: dx= 2.434643,dt = 6.144493, a_f = -0.044355, v_f = 0.259963 dt = 6.144493, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000529 time: 1.206000 primary movement = 6.832395325630e-04 time: 1.206000000000e+00 total movement = 1.211989532563e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.671990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.671990, acc = -7.500000,T = 0.196342, P = 0.166237 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.540000, vf = 0.259963, maxvel = 8.337347, current_vel = 0.540000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.540000, acc = 7.500000,T = 2.453546, P = 0.019440 initial results: dx= 2.434106,dt = 6.085545, a_f = -0.046017, v_f = 0.259963 dt = 6.085545, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000536 time: 1.207000 primary movement = 6.757395602654e-04 time: 1.207000000000e+00 total movement = 1.211989560266e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.664490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.664490, acc = -7.500000,T = 0.196342, P = 0.166905 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.547500, vf = 0.259963, maxvel = 8.337347, current_vel = 0.547500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.547500, acc = 7.500000,T = 2.453546, P = 0.019984 initial results: dx= 2.433563,dt = 6.027674, a_f = -0.047703, v_f = 0.259963 dt = 6.027674, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000544 time: 1.208000 primary movement = 6.682395873601e-04 time: 1.208000000000e+00 total movement = 1.211989587360e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.656990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.656990, acc = -7.500000,T = 0.196342, P = 0.167566 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.555000, vf = 0.259963, maxvel = 8.337347, current_vel = 0.555000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.555000, acc = 7.500000,T = 2.453546, P = 0.020535 initial results: dx= 2.433011,dt = 5.970849, a_f = -0.049413, v_f = 0.259963 dt = 5.970849, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000551 time: 1.209000 primary movement = 6.607396138532e-04 time: 1.209000000000e+00 total movement = 1.211989613853e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.649490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.649490, acc = -7.500000,T = 0.196342, P = 0.168219 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.562500, vf = 0.259963, maxvel = 8.337347, current_vel = 0.562500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.562500, acc = 7.500000,T = 2.453546, P = 0.021094 initial results: dx= 2.432453,dt = 5.915042, a_f = -0.051147, v_f = 0.259963 dt = 5.915042, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000559 time: 1.210000 primary movement = 6.532396397518e-04 time: 1.210000000000e+00 total movement = 1.211989639752e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.641990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.641990, acc = -7.500000,T = 0.196342, P = 0.168865 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.570000, vf = 0.259963, maxvel = 8.337347, current_vel = 0.570000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.570000, acc = 7.500000,T = 2.453546, P = 0.021660 initial results: dx= 2.431886,dt = 5.860226, a_f = -0.052905, v_f = 0.259963 dt = 5.860226, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000566 time: 1.211000 primary movement = 6.457396650621e-04 time: 1.211000000000e+00 total movement = 1.211989665062e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.634490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.634490, acc = -7.500000,T = 0.196342, P = 0.169503 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.577500, vf = 0.259963, maxvel = 8.337347, current_vel = 0.577500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.577500, acc = 7.500000,T = 2.453546, P = 0.022234 initial results: dx= 2.431313,dt = 5.806374, a_f = -0.054688, v_f = 0.259963 dt = 5.806374, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000574 time: 1.212000 primary movement = 6.382396897916e-04 time: 1.212000000000e+00 total movement = 1.211989689792e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.626990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.626990, acc = -7.500000,T = 0.196342, P = 0.170134 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.585000, vf = 0.259963, maxvel = 8.337347, current_vel = 0.585000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.585000, acc = 7.500000,T = 2.453546, P = 0.022815 initial results: dx= 2.430731,dt = 5.753460, a_f = -0.056494, v_f = 0.259963 dt = 5.753460, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000581 time: 1.213000 primary movement = 6.307397139461e-04 time: 1.213000000000e+00 total movement = 1.211989713946e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.619490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.619490, acc = -7.500000,T = 0.196342, P = 0.170757 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.592500, vf = 0.259963, maxvel = 8.337347, current_vel = 0.592500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.592500, acc = 7.500000,T = 2.453546, P = 0.023404 initial results: dx= 2.430143,dt = 5.701460, a_f = -0.058325, v_f = 0.259963 dt = 5.701460, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000589 time: 1.214000 primary movement = 6.232397375338e-04 time: 1.214000000000e+00 total movement = 1.211989737534e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.611990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.611990, acc = -7.500000,T = 0.196342, P = 0.171373 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.600000, vf = 0.259963, maxvel = 8.337347, current_vel = 0.600000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.600000, acc = 7.500000,T = 2.453546, P = 0.024000 initial results: dx= 2.429546,dt = 5.650349, a_f = -0.060180, v_f = 0.259963 dt = 5.650349, not at end yet tc id = 13, canon_type = 3, mot type = 2 secondary movement = 0.000596 time: 1.215000 primary movement = 6.157397605600e-04 time: 1.215000000000e+00 total movement = 1.211989760560e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.604490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.604490, acc = -7.500000,T = 0.196342, P = 0.171981 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.607500, vf = 0.259963, maxvel = 8.337347, current_vel = 0.607500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.607500, acc = 7.500000,T = 2.453546, P = 0.024604 initial results: dx= 2.428943,dt = 5.600105, a_f = -0.062059, v_f = 0.259963 dt = 5.600105, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000604 time: 1.216000 primary movement = 6.082397830323e-04 time: 1.216000000000e+00 total movement = 1.211989783033e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.596990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.596990, acc = -7.500000,T = 0.196342, P = 0.172582 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.615000, vf = 0.259963, maxvel = 8.337347, current_vel = 0.615000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.615000, acc = 7.500000,T = 2.453546, P = 0.025215 initial results: dx= 2.428331,dt = 5.550704, a_f = -0.063962, v_f = 0.259963 dt = 5.550704, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000611 time: 1.217000 primary movement = 6.007398049571e-04 time: 1.217000000000e+00 total movement = 1.211989804957e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.589490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.589490, acc = -7.500000,T = 0.196342, P = 0.173175 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.622500, vf = 0.259963, maxvel = 8.337347, current_vel = 0.622500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.622500, acc = 7.500000,T = 2.453546, P = 0.025834 initial results: dx= 2.427713,dt = 5.502127, a_f = -0.065890, v_f = 0.259963 dt = 5.502127, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000619 time: 1.218000 primary movement = 5.932398263414e-04 time: 1.218000000000e+00 total movement = 1.211989826342e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.581990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.581990, acc = -7.500000,T = 0.196342, P = 0.173761 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.630000, vf = 0.259963, maxvel = 8.337347, current_vel = 0.630000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.630000, acc = 7.500000,T = 2.453546, P = 0.026460 initial results: dx= 2.427086,dt = 5.454352, a_f = -0.067842, v_f = 0.259963 dt = 5.454352, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000626 time: 1.219000 primary movement = 5.857398471913e-04 time: 1.219000000000e+00 total movement = 1.211989847191e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.574490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.574490, acc = -7.500000,T = 0.196342, P = 0.174339 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.637500, vf = 0.259963, maxvel = 8.337347, current_vel = 0.637500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.637500, acc = 7.500000,T = 2.453546, P = 0.027094 initial results: dx= 2.426453,dt = 5.407358, a_f = -0.069819, v_f = 0.259963 dt = 5.407358, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000634 time: 1.220000 primary movement = 5.782398675148e-04 time: 1.220000000000e+00 total movement = 1.211989867515e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.566990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.566990, acc = -7.500000,T = 0.196342, P = 0.174910 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.645000, vf = 0.259963, maxvel = 8.337347, current_vel = 0.645000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.645000, acc = 7.500000,T = 2.453546, P = 0.027735 initial results: dx= 2.425811,dt = 5.361126, a_f = -0.071820, v_f = 0.259963 dt = 5.361126, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000641 time: 1.221000 primary movement = 5.707398873168e-04 time: 1.221000000000e+00 total movement = 1.211989887317e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.559490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.559490, acc = -7.500000,T = 0.196342, P = 0.175473 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.652500, vf = 0.259963, maxvel = 8.337347, current_vel = 0.652500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.652500, acc = 7.500000,T = 2.453546, P = 0.028384 initial results: dx= 2.425163,dt = 5.315639, a_f = -0.073846, v_f = 0.259963 dt = 5.315639, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000649 time: 1.222000 primary movement = 5.632399066060e-04 time: 1.222000000000e+00 total movement = 1.211989906606e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.551990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.551990, acc = -7.500000,T = 0.196342, P = 0.176029 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.660000, vf = 0.259963, maxvel = 8.337347, current_vel = 0.660000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.660000, acc = 7.500000,T = 2.453546, P = 0.029040 initial results: dx= 2.424506,dt = 5.270876, a_f = -0.075896, v_f = 0.259963 dt = 5.270876, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000656 time: 1.223000 primary movement = 5.557399253882e-04 time: 1.223000000000e+00 total movement = 1.211989925388e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.544490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.544490, acc = -7.500000,T = 0.196342, P = 0.176577 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.667500, vf = 0.259963, maxvel = 8.337347, current_vel = 0.667500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.667500, acc = 7.500000,T = 2.453546, P = 0.029704 initial results: dx= 2.423843,dt = 5.226822, a_f = -0.077970, v_f = 0.259963 dt = 5.226822, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000664 time: 1.224000 primary movement = 5.482399436700e-04 time: 1.224000000000e+00 total movement = 1.211989943670e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.536990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.536990, acc = -7.500000,T = 0.196342, P = 0.177118 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.675000, vf = 0.259963, maxvel = 8.337347, current_vel = 0.675000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.675000, acc = 7.500000,T = 2.453546, P = 0.030375 initial results: dx= 2.423171,dt = 5.183458, a_f = -0.080069, v_f = 0.259963 dt = 5.183458, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000671 time: 1.225000 primary movement = 5.407399614583e-04 time: 1.225000000000e+00 total movement = 1.211989961458e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.529490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.529490, acc = -7.500000,T = 0.196342, P = 0.177651 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.682500, vf = 0.259963, maxvel = 8.337347, current_vel = 0.682500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.682500, acc = 7.500000,T = 2.453546, P = 0.031054 initial results: dx= 2.422493,dt = 5.140768, a_f = -0.082193, v_f = 0.259963 dt = 5.140768, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000679 time: 1.226000 primary movement = 5.332399787601e-04 time: 1.226000000000e+00 total movement = 1.211989978760e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.521990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.521990, acc = -7.500000,T = 0.196342, P = 0.178177 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.690000, vf = 0.259963, maxvel = 8.337347, current_vel = 0.690000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.690000, acc = 7.500000,T = 2.453546, P = 0.031740 initial results: dx= 2.421806,dt = 5.098737, a_f = -0.084342, v_f = 0.259963 dt = 5.098737, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000686 time: 1.227000 primary movement = 5.257399955821e-04 time: 1.227000000000e+00 total movement = 1.211989995582e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.514490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.514490, acc = -7.500000,T = 0.196342, P = 0.178695 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.697500, vf = 0.259963, maxvel = 8.337347, current_vel = 0.697500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.697500, acc = 7.500000,T = 2.453546, P = 0.032434 initial results: dx= 2.421113,dt = 5.057348, a_f = -0.086515, v_f = 0.259963 dt = 5.057348, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000694 time: 1.228000 primary movement = 5.182400119311e-04 time: 1.228000000000e+00 total movement = 1.211990011931e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.506990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.506990, acc = -7.500000,T = 0.196342, P = 0.179206 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.705000, vf = 0.259963, maxvel = 8.337347, current_vel = 0.705000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.705000, acc = 7.500000,T = 2.453546, P = 0.033135 initial results: dx= 2.420411,dt = 5.016587, a_f = -0.088713, v_f = 0.259963 dt = 5.016587, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000701 time: 1.229000 primary movement = 5.107400278130e-04 time: 1.229000000000e+00 total movement = 1.211990027813e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.499490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.499490, acc = -7.500000,T = 0.196342, P = 0.179709 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.712500, vf = 0.259963, maxvel = 8.337347, current_vel = 0.712500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.712500, acc = 7.500000,T = 2.453546, P = 0.033844 initial results: dx= 2.419703,dt = 4.976440, a_f = -0.090936, v_f = 0.259963 dt = 4.976440, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000709 time: 1.230000 primary movement = 5.032400432357e-04 time: 1.230000000000e+00 total movement = 1.211990043236e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.491990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.491990, acc = -7.500000,T = 0.196342, P = 0.180205 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.720000, vf = 0.259963, maxvel = 8.337347, current_vel = 0.720000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.720000, acc = 7.500000,T = 2.453546, P = 0.034560 initial results: dx= 2.418986,dt = 4.936892, a_f = -0.093183, v_f = 0.259963 dt = 4.936892, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000716 time: 1.231000 primary movement = 4.957400582057e-04 time: 1.231000000000e+00 total movement = 1.211990058205e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.484490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.484490, acc = -7.500000,T = 0.196342, P = 0.180693 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.727500, vf = 0.259963, maxvel = 8.337347, current_vel = 0.727500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.727500, acc = 7.500000,T = 2.453546, P = 0.035284 initial results: dx= 2.418263,dt = 4.897929, a_f = -0.095456, v_f = 0.259963 dt = 4.897929, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000724 time: 1.232000 primary movement = 4.882400727289e-04 time: 1.232000000000e+00 total movement = 1.211990072729e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.476990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.476990, acc = -7.500000,T = 0.196342, P = 0.181174 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.735000, vf = 0.259963, maxvel = 8.337347, current_vel = 0.735000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.735000, acc = 7.500000,T = 2.453546, P = 0.036015 initial results: dx= 2.417531,dt = 4.859539, a_f = -0.097753, v_f = 0.259963 dt = 4.859539, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000731 time: 1.233000 primary movement = 4.807400868131e-04 time: 1.233000000000e+00 total movement = 1.211990086813e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.469490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.469490, acc = -7.500000,T = 0.196342, P = 0.181647 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.742500, vf = 0.259963, maxvel = 8.337347, current_vel = 0.742500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.742500, acc = 7.500000,T = 2.453546, P = 0.036754 initial results: dx= 2.416793,dt = 4.821708, a_f = -0.100076, v_f = 0.259963 dt = 4.821708, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000739 time: 1.234000 primary movement = 4.732401004646e-04 time: 1.234000000000e+00 total movement = 1.211990100465e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.461990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.461990, acc = -7.500000,T = 0.196342, P = 0.182113 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.750000, vf = 0.259963, maxvel = 8.337347, current_vel = 0.750000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.750000, acc = 7.500000,T = 2.453546, P = 0.037500 initial results: dx= 2.416046,dt = 4.784424, a_f = -0.102423, v_f = 0.259963 dt = 4.784424, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000746 time: 1.235000 primary movement = 4.657401136902e-04 time: 1.235000000000e+00 total movement = 1.211990113690e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.454490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.454490, acc = -7.500000,T = 0.196342, P = 0.182571 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.757500, vf = 0.259963, maxvel = 8.337347, current_vel = 0.757500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.757500, acc = 7.500000,T = 2.453546, P = 0.038254 initial results: dx= 2.415293,dt = 4.747675, a_f = -0.104796, v_f = 0.259963 dt = 4.747675, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000754 time: 1.236000 primary movement = 4.582401264963e-04 time: 1.236000000000e+00 total movement = 1.211990126496e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.446990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.446990, acc = -7.500000,T = 0.196342, P = 0.183022 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.765000, vf = 0.259963, maxvel = 8.337347, current_vel = 0.765000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.765000, acc = 7.500000,T = 2.453546, P = 0.039015 initial results: dx= 2.414531,dt = 4.711449, a_f = -0.107193, v_f = 0.259963 dt = 4.711449, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000761 time: 1.237000 primary movement = 4.507401388906e-04 time: 1.237000000000e+00 total movement = 1.211990138890e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.439490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.439490, acc = -7.500000,T = 0.196342, P = 0.183465 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.772500, vf = 0.259963, maxvel = 8.337347, current_vel = 0.772500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.772500, acc = 7.500000,T = 2.453546, P = 0.039784 initial results: dx= 2.413763,dt = 4.675735, a_f = -0.109616, v_f = 0.259963 dt = 4.675735, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000769 time: 1.238000 primary movement = 4.432401508790e-04 time: 1.238000000000e+00 total movement = 1.211990150879e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.431990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.431990, acc = -7.500000,T = 0.196342, P = 0.183900 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.780000, vf = 0.259963, maxvel = 8.337347, current_vel = 0.780000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.780000, acc = 7.500000,T = 2.453546, P = 0.040560 initial results: dx= 2.412986,dt = 4.640522, a_f = -0.112064, v_f = 0.259963 dt = 4.640522, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000776 time: 1.239000 primary movement = 4.357401624679e-04 time: 1.239000000000e+00 total movement = 1.211990162468e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.424490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.424490, acc = -7.500000,T = 0.196342, P = 0.184329 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.787500, vf = 0.259963, maxvel = 8.337347, current_vel = 0.787500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.787500, acc = 7.500000,T = 2.453546, P = 0.041344 initial results: dx= 2.412203,dt = 4.605799, a_f = -0.114538, v_f = 0.259963 dt = 4.605799, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000784 time: 1.240000 primary movement = 4.282401736657e-04 time: 1.240000000000e+00 total movement = 1.211990173666e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.416990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.416990, acc = -7.500000,T = 0.196342, P = 0.184749 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.795000, vf = 0.259963, maxvel = 8.337347, current_vel = 0.795000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.795000, acc = 7.500000,T = 2.453546, P = 0.042135 initial results: dx= 2.411411,dt = 4.571555, a_f = -0.117036, v_f = 0.259963 dt = 4.571555, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000791 time: 1.241000 primary movement = 4.207401844769e-04 time: 1.241000000000e+00 total movement = 1.211990184477e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.409490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.409490, acc = -7.500000,T = 0.196342, P = 0.185163 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.802500, vf = 0.259963, maxvel = 8.337347, current_vel = 0.802500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.802500, acc = 7.500000,T = 2.453546, P = 0.042934 initial results: dx= 2.410613,dt = 4.537780, a_f = -0.119560, v_f = 0.259963 dt = 4.537780, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000799 time: 1.242000 primary movement = 4.132401949107e-04 time: 1.242000000000e+00 total movement = 1.211990194911e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.401990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.401990, acc = -7.500000,T = 0.196342, P = 0.185568 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.810000, vf = 0.259963, maxvel = 8.337347, current_vel = 0.810000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.810000, acc = 7.500000,T = 2.453546, P = 0.043740 initial results: dx= 2.409806,dt = 4.504465, a_f = -0.122109, v_f = 0.259963 dt = 4.504465, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000806 time: 1.243000 primary movement = 4.057402049712e-04 time: 1.243000000000e+00 total movement = 1.211990204971e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.394490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.394490, acc = -7.500000,T = 0.196342, P = 0.185967 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.817500, vf = 0.259963, maxvel = 8.337347, current_vel = 0.817500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.817500, acc = 7.500000,T = 2.453546, P = 0.044554 initial results: dx= 2.408993,dt = 4.471600, a_f = -0.124684, v_f = 0.259963 dt = 4.471600, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000814 time: 1.244000 primary movement = 3.982402146677e-04 time: 1.244000000000e+00 total movement = 1.211990214667e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.386990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.386990, acc = -7.500000,T = 0.196342, P = 0.186357 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.825000, vf = 0.259963, maxvel = 8.337347, current_vel = 0.825000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.825000, acc = 7.500000,T = 2.453546, P = 0.045375 initial results: dx= 2.408171,dt = 4.439176, a_f = -0.127284, v_f = 0.259963 dt = 4.439176, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000821 time: 1.245000 primary movement = 3.907402240056e-04 time: 1.245000000000e+00 total movement = 1.211990224006e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.379490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.379490, acc = -7.500000,T = 0.196342, P = 0.186741 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.832500, vf = 0.259963, maxvel = 8.337347, current_vel = 0.832500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.832500, acc = 7.500000,T = 2.453546, P = 0.046204 initial results: dx= 2.407343,dt = 4.407183, a_f = -0.129910, v_f = 0.259963 dt = 4.407183, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000829 time: 1.246000 primary movement = 3.832402329912e-04 time: 1.246000000000e+00 total movement = 1.211990232991e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.371990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.371990, acc = -7.500000,T = 0.196342, P = 0.187116 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.840000, vf = 0.259963, maxvel = 8.337347, current_vel = 0.840000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.840000, acc = 7.500000,T = 2.453546, P = 0.047040 initial results: dx= 2.406506,dt = 4.375612, a_f = -0.132561, v_f = 0.259963 dt = 4.375612, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000836 time: 1.247000 primary movement = 3.757402416321e-04 time: 1.247000000000e+00 total movement = 1.211990241632e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.364490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.364490, acc = -7.500000,T = 0.196342, P = 0.187485 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.847500, vf = 0.259963, maxvel = 8.337347, current_vel = 0.847500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.847500, acc = 7.500000,T = 2.453546, P = 0.047884 initial results: dx= 2.405663,dt = 4.344456, a_f = -0.135238, v_f = 0.259963 dt = 4.344456, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000844 time: 1.248000 primary movement = 3.682402499355e-04 time: 1.248000000000e+00 total movement = 1.211990249935e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.356990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.356990, acc = -7.500000,T = 0.196342, P = 0.187845 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.855000, vf = 0.259963, maxvel = 8.337347, current_vel = 0.855000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.855000, acc = 7.500000,T = 2.453546, P = 0.048735 initial results: dx= 2.404811,dt = 4.313705, a_f = -0.137941, v_f = 0.259963 dt = 4.313705, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000851 time: 1.249000 primary movement = 3.607402579063e-04 time: 1.249000000000e+00 total movement = 1.211990257906e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.349490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.349490, acc = -7.500000,T = 0.196342, P = 0.188199 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.862500, vf = 0.259963, maxvel = 8.337347, current_vel = 0.862500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.862500, acc = 7.500000,T = 2.453546, P = 0.049594 initial results: dx= 2.403953,dt = 4.283352, a_f = -0.140669, v_f = 0.259963 dt = 4.283352, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000859 time: 1.250000 primary movement = 3.532402655538e-04 time: 1.250000000000e+00 total movement = 1.211990265554e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.341990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.341990, acc = -7.500000,T = 0.196342, P = 0.188544 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.870000, vf = 0.259963, maxvel = 8.337347, current_vel = 0.870000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.870000, acc = 7.500000,T = 2.453546, P = 0.050460 initial results: dx= 2.403086,dt = 4.253388, a_f = -0.143424, v_f = 0.259963 dt = 4.253388, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000866 time: 1.251000 primary movement = 3.457402728823e-04 time: 1.251000000000e+00 total movement = 1.211990272882e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.334490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.334490, acc = -7.500000,T = 0.196342, P = 0.188883 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.877500, vf = 0.259963, maxvel = 8.337347, current_vel = 0.877500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.877500, acc = 7.500000,T = 2.453546, P = 0.051334 initial results: dx= 2.402213,dt = 4.223807, a_f = -0.146204, v_f = 0.259963 dt = 4.223807, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000874 time: 1.252000 primary movement = 3.382402799001e-04 time: 1.252000000000e+00 total movement = 1.211990279900e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.326990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.326990, acc = -7.500000,T = 0.196342, P = 0.189213 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.885000, vf = 0.259963, maxvel = 8.337347, current_vel = 0.885000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.885000, acc = 7.500000,T = 2.453546, P = 0.052215 initial results: dx= 2.401331,dt = 4.194600, a_f = -0.149010, v_f = 0.259963 dt = 4.194600, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000881 time: 1.253000 primary movement = 3.307402866133e-04 time: 1.253000000000e+00 total movement = 1.211990286613e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.319490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.319490, acc = -7.500000,T = 0.196342, P = 0.189537 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.892500, vf = 0.259963, maxvel = 8.337347, current_vel = 0.892500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.892500, acc = 7.500000,T = 2.453546, P = 0.053104 initial results: dx= 2.400443,dt = 4.165760, a_f = -0.151842, v_f = 0.259963 dt = 4.165760, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000889 time: 1.254000 primary movement = 3.232402930290e-04 time: 1.254000000000e+00 total movement = 1.211990293029e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.311990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.311990, acc = -7.500000,T = 0.196342, P = 0.189852 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.900000, vf = 0.259963, maxvel = 8.337347, current_vel = 0.900000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.900000, acc = 7.500000,T = 2.453546, P = 0.054000 initial results: dx= 2.399546,dt = 4.137280, a_f = -0.154700, v_f = 0.259963 dt = 4.137280, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000896 time: 1.255000 primary movement = 3.157402991538e-04 time: 1.255000000000e+00 total movement = 1.211990299154e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.304490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.304490, acc = -7.500000,T = 0.196342, P = 0.190161 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.907500, vf = 0.259963, maxvel = 8.337347, current_vel = 0.907500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.907500, acc = 7.500000,T = 2.453546, P = 0.054904 initial results: dx= 2.398643,dt = 4.109153, a_f = -0.157584, v_f = 0.259963 dt = 4.109153, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000904 time: 1.256000 primary movement = 3.082403049944e-04 time: 1.256000000000e+00 total movement = 1.211990304994e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.296990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.296990, acc = -7.500000,T = 0.196342, P = 0.190461 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.915000, vf = 0.259963, maxvel = 8.337347, current_vel = 0.915000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.915000, acc = 7.500000,T = 2.453546, P = 0.055815 initial results: dx= 2.397731,dt = 4.081372, a_f = -0.160494, v_f = 0.259963 dt = 4.081372, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000911 time: 1.257000 primary movement = 3.007403105573e-04 time: 1.257000000000e+00 total movement = 1.211990310557e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.289490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.289490, acc = -7.500000,T = 0.196342, P = 0.190755 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.922500, vf = 0.259963, maxvel = 8.337347, current_vel = 0.922500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.922500, acc = 7.500000,T = 2.453546, P = 0.056734 initial results: dx= 2.396813,dt = 4.053931, a_f = -0.163431, v_f = 0.259963 dt = 4.053931, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000919 time: 1.258000 primary movement = 2.932403158503e-04 time: 1.258000000000e+00 total movement = 1.211990315850e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.281990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.281990, acc = -7.500000,T = 0.196342, P = 0.191040 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.930000, vf = 0.259963, maxvel = 8.337347, current_vel = 0.930000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.930000, acc = 7.500000,T = 2.453546, P = 0.057660 initial results: dx= 2.395886,dt = 4.026824, a_f = -0.166393, v_f = 0.259963 dt = 4.026824, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000926 time: 1.259000 primary movement = 2.857403208782e-04 time: 1.259000000000e+00 total movement = 1.211990320878e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.274490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.274490, acc = -7.500000,T = 0.196342, P = 0.191319 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.937500, vf = 0.259963, maxvel = 8.337347, current_vel = 0.937500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.937500, acc = 7.500000,T = 2.453546, P = 0.058594 initial results: dx= 2.394953,dt = 4.000043, a_f = -0.169382, v_f = 0.259963 dt = 4.000043, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000934 time: 1.260000 primary movement = 2.782403256501e-04 time: 1.260000000000e+00 total movement = 1.211990325650e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.266990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.266990, acc = -7.500000,T = 0.196342, P = 0.191589 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.945000, vf = 0.259963, maxvel = 8.337347, current_vel = 0.945000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.945000, acc = 7.500000,T = 2.453546, P = 0.059535 initial results: dx= 2.394011,dt = 3.973584, a_f = -0.172398, v_f = 0.259963 dt = 3.973584, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000941 time: 1.261000 primary movement = 2.707403301707e-04 time: 1.261000000000e+00 total movement = 1.211990330171e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.259490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.259490, acc = -7.500000,T = 0.196342, P = 0.191853 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.952500, vf = 0.259963, maxvel = 8.337347, current_vel = 0.952500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.952500, acc = 7.500000,T = 2.453546, P = 0.060484 initial results: dx= 2.393063,dt = 3.947439, a_f = -0.175439, v_f = 0.259963 dt = 3.947439, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000949 time: 1.262000 primary movement = 2.632403344484e-04 time: 1.262000000000e+00 total movement = 1.211990334448e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.251990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.251990, acc = -7.500000,T = 0.196342, P = 0.192108 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.960000, vf = 0.259963, maxvel = 8.337347, current_vel = 0.960000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.960000, acc = 7.500000,T = 2.453546, P = 0.061440 initial results: dx= 2.392106,dt = 3.921604, a_f = -0.178508, v_f = 0.259963 dt = 3.921604, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000956 time: 1.263000 primary movement = 2.557403384884e-04 time: 1.263000000000e+00 total movement = 1.211990338488e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.244490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.244490, acc = -7.500000,T = 0.196342, P = 0.192357 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.967500, vf = 0.259963, maxvel = 8.337347, current_vel = 0.967500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.967500, acc = 7.500000,T = 2.453546, P = 0.062404 initial results: dx= 2.391143,dt = 3.896072, a_f = -0.181603, v_f = 0.259963 dt = 3.896072, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000964 time: 1.264000 primary movement = 2.482403422988e-04 time: 1.264000000000e+00 total movement = 1.211990342299e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.236990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.236990, acc = -7.500000,T = 0.196342, P = 0.192597 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.975000, vf = 0.259963, maxvel = 8.337347, current_vel = 0.975000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.975000, acc = 7.500000,T = 2.453546, P = 0.063375 initial results: dx= 2.390171,dt = 3.870838, a_f = -0.184724, v_f = 0.259963 dt = 3.870838, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000971 time: 1.265000 primary movement = 2.407403458860e-04 time: 1.265000000000e+00 total movement = 1.211990345886e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.229490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.229490, acc = -7.500000,T = 0.196342, P = 0.192830 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.982500, vf = 0.259963, maxvel = 8.337347, current_vel = 0.982500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.982500, acc = 7.500000,T = 2.453546, P = 0.064354 initial results: dx= 2.389193,dt = 3.845896, a_f = -0.187872, v_f = 0.259963 dt = 3.845896, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000979 time: 1.266000 primary movement = 2.332403492555e-04 time: 1.266000000000e+00 total movement = 1.211990349255e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.221990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.221990, acc = -7.500000,T = 0.196342, P = 0.193056 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.990000, vf = 0.259963, maxvel = 8.337347, current_vel = 0.990000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.990000, acc = 7.500000,T = 2.453546, P = 0.065340 initial results: dx= 2.388206,dt = 3.821242, a_f = -0.191047, v_f = 0.259963 dt = 3.821242, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000986 time: 1.267000 primary movement = 2.257403524161e-04 time: 1.267000000000e+00 total movement = 1.211990352416e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.214490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.214490, acc = -7.500000,T = 0.196342, P = 0.193274 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 0.997500, vf = 0.259963, maxvel = 8.337347, current_vel = 0.997500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.997500, acc = 7.500000,T = 2.453546, P = 0.066334 initial results: dx= 2.387213,dt = 3.796870, a_f = -0.194249, v_f = 0.259963 dt = 3.796870, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.000994 time: 1.268000 primary movement = 2.182403553730e-04 time: 1.268000000000e+00 total movement = 1.211990355373e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.206990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.206990, acc = -7.500000,T = 0.196342, P = 0.193485 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 1.005000, vf = 0.259963, maxvel = 8.337347, current_vel = 1.005000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.005000, acc = 7.500000,T = 2.453546, P = 0.067335 initial results: dx= 2.386211,dt = 3.772776, a_f = -0.197477, v_f = 0.259963 dt = 3.772776, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.001001 time: 1.269000 primary movement = 2.107403581339e-04 time: 1.269000000000e+00 total movement = 1.211990358134e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.199490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.199490, acc = -7.500000,T = 0.196342, P = 0.193688 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 1.012500, vf = 0.259963, maxvel = 8.337347, current_vel = 1.012500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.012500, acc = 7.500000,T = 2.453546, P = 0.068344 initial results: dx= 2.385203,dt = 3.748953, a_f = -0.200732, v_f = 0.259963 dt = 3.748953, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.001009 time: 1.270000 primary movement = 2.032403607048e-04 time: 1.270000000000e+00 total movement = 1.211990360704e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.191990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.191990, acc = -7.500000,T = 0.196342, P = 0.193884 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 1.020000, vf = 0.259963, maxvel = 8.337347, current_vel = 1.020000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.020000, acc = 7.500000,T = 2.453546, P = 0.069360 initial results: dx= 2.384186,dt = 3.725398, a_f = -0.204015, v_f = 0.259963 dt = 3.725398, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.001016 time: 1.271000 primary movement = 1.957403630927e-04 time: 1.271000000000e+00 total movement = 1.211990363093e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.184490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.184490, acc = -7.500000,T = 0.196342, P = 0.194072 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 1.027500, vf = 0.259963, maxvel = 8.337347, current_vel = 1.027500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.027500, acc = 7.500000,T = 2.453546, P = 0.070384 initial results: dx= 2.383163,dt = 3.702106, a_f = -0.207324, v_f = 0.259963 dt = 3.702106, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.001024 time: 1.272000 primary movement = 1.882403653047e-04 time: 1.272000000000e+00 total movement = 1.211990365305e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.176990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.176990, acc = -7.500000,T = 0.196342, P = 0.194253 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 1.035000, vf = 0.259963, maxvel = 8.337347, current_vel = 1.035000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.035000, acc = 7.500000,T = 2.453546, P = 0.071415 initial results: dx= 2.382131,dt = 3.679072, a_f = -0.210661, v_f = 0.259963 dt = 3.679072, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.001031 time: 1.273000 primary movement = 1.807403673471e-04 time: 1.273000000000e+00 total movement = 1.211990367347e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.169490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.169490, acc = -7.500000,T = 0.196342, P = 0.194426 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 1.042500, vf = 0.259963, maxvel = 8.337347, current_vel = 1.042500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.042500, acc = 7.500000,T = 2.453546, P = 0.072454 initial results: dx= 2.381093,dt = 3.656291, a_f = -0.214025, v_f = 0.259963 dt = 3.656291, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.001039 time: 1.274000 primary movement = 1.732403692269e-04 time: 1.274000000000e+00 total movement = 1.211990369227e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.161990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.161990, acc = -7.500000,T = 0.196342, P = 0.194592 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 1.050000, vf = 0.259963, maxvel = 8.337347, current_vel = 1.050000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.050000, acc = 7.500000,T = 2.453546, P = 0.073500 initial results: dx= 2.380046,dt = 3.633760, a_f = -0.217416, v_f = 0.259963 dt = 3.633760, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.001046 time: 1.275000 primary movement = 1.657403709507e-04 time: 1.275000000000e+00 total movement = 1.211990370950e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.154490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.154490, acc = -7.500000,T = 0.196342, P = 0.194750 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 1.057500, vf = 0.259963, maxvel = 8.337347, current_vel = 1.057500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.057500, acc = 7.500000,T = 2.453546, P = 0.074554 initial results: dx= 2.378993,dt = 3.611475, a_f = -0.220834, v_f = 0.259963 dt = 3.611475, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.001054 time: 1.276000 primary movement = 1.582403725256e-04 time: 1.276000000000e+00 total movement = 1.211990372526e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.146990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.146990, acc = -7.500000,T = 0.196342, P = 0.194901 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 1.065000, vf = 0.259963, maxvel = 8.337347, current_vel = 1.065000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.065000, acc = 7.500000,T = 2.453546, P = 0.075615 initial results: dx= 2.377931,dt = 3.589430, a_f = -0.224280, v_f = 0.259963 dt = 3.589430, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.001061 time: 1.277000 primary movement = 1.507403739581e-04 time: 1.277000000000e+00 total movement = 1.211990373958e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.139490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.139490, acc = -7.500000,T = 0.196342, P = 0.195044 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 1.072500, vf = 0.259963, maxvel = 8.337347, current_vel = 1.072500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.072500, acc = 7.500000,T = 2.453546, P = 0.076684 initial results: dx= 2.376863,dt = 3.567622, a_f = -0.227753, v_f = 0.259963 dt = 3.567622, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.001069 time: 1.278000 primary movement = 1.432403752543e-04 time: 1.278000000000e+00 total movement = 1.211990375255e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.131990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.131990, acc = -7.500000,T = 0.196342, P = 0.195180 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 1.080000, vf = 0.259963, maxvel = 8.337347, current_vel = 1.080000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.080000, acc = 7.500000,T = 2.453546, P = 0.077760 initial results: dx= 2.375786,dt = 3.546047, a_f = -0.231254, v_f = 0.259963 dt = 3.546047, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.001076 time: 1.279000 primary movement = 1.357403764226e-04 time: 1.279000000000e+00 total movement = 1.211990376422e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.124490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.124490, acc = -7.500000,T = 0.196342, P = 0.195308 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 1.087500, vf = 0.259963, maxvel = 8.337347, current_vel = 1.087500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.087500, acc = 7.500000,T = 2.453546, P = 0.078844 initial results: dx= 2.374703,dt = 3.524701, a_f = -0.234782, v_f = 0.259963 dt = 3.524701, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.001084 time: 1.280000 primary movement = 1.282403774677e-04 time: 1.280000000000e+00 total movement = 1.211990377468e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.116990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.116990, acc = -7.500000,T = 0.196342, P = 0.195429 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 1.095000, vf = 0.259963, maxvel = 8.337347, current_vel = 1.095000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.095000, acc = 7.500000,T = 2.453546, P = 0.079935 initial results: dx= 2.373611,dt = 3.503580, a_f = -0.238338, v_f = 0.259963 dt = 3.503580, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.001091 time: 1.281000 primary movement = 1.207403783982e-04 time: 1.281000000000e+00 total movement = 1.211990378398e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.109490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.109490, acc = -7.500000,T = 0.196342, P = 0.195542 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 1.102500, vf = 0.259963, maxvel = 8.337347, current_vel = 1.102500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.102500, acc = 7.500000,T = 2.453546, P = 0.081034 initial results: dx= 2.372513,dt = 3.482681, a_f = -0.241922, v_f = 0.259963 dt = 3.482681, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.001099 time: 1.282000 primary movement = 1.132403792195e-04 time: 1.282000000000e+00 total movement = 1.211990379220e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.101990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.101990, acc = -7.500000,T = 0.196342, P = 0.195648 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 1.110000, vf = 0.259963, maxvel = 8.337347, current_vel = 1.110000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.110000, acc = 7.500000,T = 2.453546, P = 0.082140 initial results: dx= 2.371406,dt = 3.462000, a_f = -0.245533, v_f = 0.259963 dt = 3.462000, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.001106 time: 1.283000 primary movement = 1.057403799389e-04 time: 1.283000000000e+00 total movement = 1.211990379939e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.094490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.094490, acc = -7.500000,T = 0.196342, P = 0.195746 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 1.117500, vf = 0.259963, maxvel = 8.337347, current_vel = 1.117500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.117500, acc = 7.500000,T = 2.453546, P = 0.083254 initial results: dx= 2.370293,dt = 3.441533, a_f = -0.249173, v_f = 0.259963 dt = 3.441533, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.001114 time: 1.284000 primary movement = 9.824038056389e-05 time: 1.284000000000e+00 total movement = 1.211990380564e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.086990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.086990, acc = -7.500000,T = 0.196342, P = 0.195837 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 1.125000, vf = 0.259963, maxvel = 8.337347, current_vel = 1.125000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.125000, acc = 7.500000,T = 2.453546, P = 0.084375 initial results: dx= 2.369171,dt = 3.421277, a_f = -0.252840, v_f = 0.259963 dt = 3.421277, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.001121 time: 1.285000 primary movement = 9.074038109915e-05 time: 1.285000000000e+00 total movement = 1.211990381099e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.079490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.079490, acc = -7.500000,T = 0.196342, P = 0.195920 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 1.132500, vf = 0.259963, maxvel = 8.337347, current_vel = 1.132500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.132500, acc = 7.500000,T = 2.453546, P = 0.085504 initial results: dx= 2.368043,dt = 3.401228, a_f = -0.256536, v_f = 0.259963 dt = 3.401228, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.001129 time: 1.286000 primary movement = 8.324038155407e-05 time: 1.286000000000e+00 total movement = 1.211990381554e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.071990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.071990, acc = -7.500000,T = 0.196342, P = 0.195996 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 1.140000, vf = 0.259963, maxvel = 8.337347, current_vel = 1.140000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.140000, acc = 7.500000,T = 2.453546, P = 0.086640 initial results: dx= 2.366906,dt = 3.381383, a_f = -0.260259, v_f = 0.259963 dt = 3.381383, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.001136 time: 1.287000 primary movement = 7.574038193289e-05 time: 1.287000000000e+00 total movement = 1.211990381933e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.064490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.064490, acc = -7.500000,T = 0.196342, P = 0.196064 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 1.147500, vf = 0.259963, maxvel = 8.337347, current_vel = 1.147500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.147500, acc = 7.500000,T = 2.453546, P = 0.087784 initial results: dx= 2.365763,dt = 3.361740, a_f = -0.264011, v_f = 0.259963 dt = 3.361740, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.001144 time: 1.288000 primary movement = 6.824038224452e-05 time: 1.288000000000e+00 total movement = 1.211990382245e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.056990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.056990, acc = -7.500000,T = 0.196342, P = 0.196125 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 1.155000, vf = 0.259963, maxvel = 8.337347, current_vel = 1.155000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.155000, acc = 7.500000,T = 2.453546, P = 0.088935 initial results: dx= 2.364611,dt = 3.342294, a_f = -0.267791, v_f = 0.259963 dt = 3.342294, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.001151 time: 1.289000 primary movement = 6.074038249459e-05 time: 1.289000000000e+00 total movement = 1.211990382494e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.049490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.049490, acc = -7.500000,T = 0.196342, P = 0.196178 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 1.162500, vf = 0.259963, maxvel = 8.337347, current_vel = 1.162500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.162500, acc = 7.500000,T = 2.453546, P = 0.090094 initial results: dx= 2.363453,dt = 3.323042, a_f = -0.271600, v_f = 0.259963 dt = 3.323042, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.001159 time: 1.290000 primary movement = 5.324038268906e-05 time: 1.290000000000e+00 total movement = 1.211990382689e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.041990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.041990, acc = -7.500000,T = 0.196342, P = 0.196224 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 1.170000, vf = 0.259963, maxvel = 8.337347, current_vel = 1.170000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.170000, acc = 7.500000,T = 2.453546, P = 0.091260 initial results: dx= 2.362286,dt = 3.303982, a_f = -0.275436, v_f = 0.259963 dt = 3.303982, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.001166 time: 1.291000 primary movement = 4.574038283690e-05 time: 1.291000000000e+00 total movement = 1.211990382837e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.034490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.034490, acc = -7.500000,T = 0.196342, P = 0.196262 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 1.177500, vf = 0.259963, maxvel = 8.337347, current_vel = 1.177500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.177500, acc = 7.500000,T = 2.453546, P = 0.092434 initial results: dx= 2.361113,dt = 3.285110, a_f = -0.279302, v_f = 0.259963 dt = 3.285110, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.001174 time: 1.292000 primary movement = 3.824038294257e-05 time: 1.292000000000e+00 total movement = 1.211990382942e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.026990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.026990, acc = -7.500000,T = 0.196342, P = 0.196293 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 1.185000, vf = 0.259963, maxvel = 8.337347, current_vel = 1.185000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.185000, acc = 7.500000,T = 2.453546, P = 0.093615 initial results: dx= 2.359931,dt = 3.266424, a_f = -0.283196, v_f = 0.259963 dt = 3.266424, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.001181 time: 1.293000 primary movement = 3.074038301448e-05 time: 1.293000000000e+00 total movement = 1.211990383014e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.019490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.019490, acc = -7.500000,T = 0.196342, P = 0.196316 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 1.192500, vf = 0.259963, maxvel = 8.337347, current_vel = 1.192500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.192500, acc = 7.500000,T = 2.453546, P = 0.094804 initial results: dx= 2.358743,dt = 3.247920, a_f = -0.287118, v_f = 0.259963 dt = 3.247920, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.001189 time: 1.294000 primary movement = 2.324038305835e-05 time: 1.294000000000e+00 total movement = 1.211990383058e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.011990, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.011990, acc = -7.500000,T = 0.196342, P = 0.196332 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 1.200000, vf = 0.259963, maxvel = 8.337347, current_vel = 1.200000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.200000, acc = 7.500000,T = 2.453546, P = 0.096000 initial results: dx= 2.357546,dt = 3.229597, a_f = -0.291069, v_f = 0.259963 dt = 3.229597, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.001196 time: 1.295000 primary movement = 1.574038308163e-05 time: 1.295000000000e+00 total movement = 1.211990383082e-03 vel = 1.211990383092e+00 ------------------- tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.004490, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.004490, acc = -7.500000,T = 0.196342, P = 0.196340 on final decel tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 1.207500, vf = 0.259963, maxvel = 8.337347, current_vel = 1.207500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.207500, acc = 7.500000,T = 2.453546, P = 0.097204 initial results: dx= 2.356343,dt = 3.211450, a_f = -0.295049, v_f = 0.259963 dt = 3.211450, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.001204 time: 1.296000 primary movement = 8.240383090431e-06 time: 1.296000000000e+00 total movement = 1.211990383091e-03 vel = 1.211990383092e+00 ------------------- Found newvel = -0.003010, assuming segment is done segment 13 at target in runcycle tc state : vr = 1.274283, vf = 0.000000, maxvel = 1.274283, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.196342, P = 0.196342 tc id = 13, canon_type = 3, mot type = 2 tc state : vr = 1.211990, vf = 0.259963, maxvel = 8.337347, current_vel = 1.211990, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.211990, acc = 4.490383,T = 2.453546, P = 0.098413 initial results: dx= 2.355133,dt = 3.200009, a_f = -0.297508, v_f = 0.259963 dt = 3.200009, not at end yet tc id = 15, canon_type = 2, mot type = 1 secondary movement = 0.001210 time: 1.297000 primary movement = 1.344236020293e-06 time: 1.297000000000e+00 total movement = 1.211089427566e-03 vel = 1.211990383092e+00 Finished tc id 13 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.226998, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.226998, acc = 15.007285,T = 2.453546, P = 0.099633 initial results: dx= 2.353913,dt = 3.166073, a_f = -0.305437, v_f = 0.259963 dt = 3.166073, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.298000 primary movement = 1.219494025669e-03 time: 1.298000000000e+00 total movement = 1.219494025669e-03 vel = 1.226997668246e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.242005, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.242005, acc = 15.007285,T = 2.453546, P = 0.100867 initial results: dx= 2.352679,dt = 3.132794, a_f = -0.313471, v_f = 0.259963 dt = 3.132794, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.299000 primary movement = 1.234501310823e-03 time: 1.299000000000e+00 total movement = 1.234501310823e-03 vel = 1.242004953400e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.257012, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.257012, acc = 15.007285,T = 2.453546, P = 0.102117 initial results: dx= 2.351429,dt = 3.100155, a_f = -0.321613, v_f = 0.259963 dt = 3.100155, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.300000 primary movement = 1.249508595976e-03 time: 1.300000000000e+00 total movement = 1.249508595976e-03 vel = 1.257012238553e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.272020, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.272020, acc = 15.007285,T = 2.453546, P = 0.103382 initial results: dx= 2.350165,dt = 3.068135, a_f = -0.329860, v_f = 0.259963 dt = 3.068135, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.301000 primary movement = 1.264515881130e-03 time: 1.301000000000e+00 total movement = 1.264515881130e-03 vel = 1.272019523707e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.287027, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.287027, acc = 15.007285,T = 2.453546, P = 0.104661 initial results: dx= 2.348885,dt = 3.036717, a_f = -0.338215, v_f = 0.259963 dt = 3.036717, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.302000 primary movement = 1.279523166284e-03 time: 1.302000000000e+00 total movement = 1.279523166284e-03 vel = 1.287026808861e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.302034, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.302034, acc = 15.007285,T = 2.453546, P = 0.105956 initial results: dx= 2.347591,dt = 3.005883, a_f = -0.346677, v_f = 0.259963 dt = 3.005883, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.303000 primary movement = 1.294530451438e-03 time: 1.303000000000e+00 total movement = 1.294530451438e-03 vel = 1.302034094015e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.317041, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.317041, acc = 15.007285,T = 2.453546, P = 0.107265 initial results: dx= 2.346281,dt = 2.975617, a_f = -0.355247, v_f = 0.259963 dt = 2.975617, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.304000 primary movement = 1.309537736592e-03 time: 1.304000000000e+00 total movement = 1.309537736592e-03 vel = 1.317041379169e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.332049, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.332049, acc = 15.007285,T = 2.453546, P = 0.108590 initial results: dx= 2.344957,dt = 2.945903, a_f = -0.363924, v_f = 0.259963 dt = 2.945903, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.305000 primary movement = 1.324545021746e-03 time: 1.305000000000e+00 total movement = 1.324545021746e-03 vel = 1.332048664323e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.347056, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.347056, acc = 15.007285,T = 2.453546, P = 0.109929 initial results: dx= 2.343617,dt = 2.916726, a_f = -0.372710, v_f = 0.259963 dt = 2.916726, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.306000 primary movement = 1.339552306900e-03 time: 1.306000000000e+00 total movement = 1.339552306900e-03 vel = 1.347055949477e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.362063, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.362063, acc = 15.007285,T = 2.453546, P = 0.111284 initial results: dx= 2.342263,dt = 2.888069, a_f = -0.381604, v_f = 0.259963 dt = 2.888069, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.307000 primary movement = 1.354559592053e-03 time: 1.307000000000e+00 total movement = 1.354559592053e-03 vel = 1.362063234631e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.377071, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.377071, acc = 15.007285,T = 2.453546, P = 0.112653 initial results: dx= 2.340893,dt = 2.859920, a_f = -0.390608, v_f = 0.259963 dt = 2.859920, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.308000 primary movement = 1.369566877208e-03 time: 1.308000000000e+00 total movement = 1.369566877208e-03 vel = 1.377070519784e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.392078, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.392078, acc = 15.007285,T = 2.453546, P = 0.114038 initial results: dx= 2.339508,dt = 2.832264, a_f = -0.399721, v_f = 0.259963 dt = 2.832264, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.309000 primary movement = 1.384574162361e-03 time: 1.309000000000e+00 total movement = 1.384574162361e-03 vel = 1.392077804938e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.407085, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.407085, acc = 15.007285,T = 2.453546, P = 0.115437 initial results: dx= 2.338109,dt = 2.805088, a_f = -0.408943, v_f = 0.259963 dt = 2.805088, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.310000 primary movement = 1.399581447515e-03 time: 1.310000000000e+00 total movement = 1.399581447515e-03 vel = 1.407085090092e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.422092, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.422092, acc = 15.007285,T = 2.453546, P = 0.116852 initial results: dx= 2.336694,dt = 2.778379, a_f = -0.418276, v_f = 0.259963 dt = 2.778379, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.311000 primary movement = 1.414588732669e-03 time: 1.311000000000e+00 total movement = 1.414588732669e-03 vel = 1.422092375246e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.437100, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.437100, acc = 15.007285,T = 2.453546, P = 0.118282 initial results: dx= 2.335265,dt = 2.752125, a_f = -0.427719, v_f = 0.259963 dt = 2.752125, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.312000 primary movement = 1.429596017823e-03 time: 1.312000000000e+00 total movement = 1.429596017823e-03 vel = 1.437099660400e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.452107, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.452107, acc = 15.007285,T = 2.453546, P = 0.119726 initial results: dx= 2.333820,dt = 2.726313, a_f = -0.437273, v_f = 0.259963 dt = 2.726313, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.313000 primary movement = 1.444603302977e-03 time: 1.313000000000e+00 total movement = 1.444603302977e-03 vel = 1.452106945554e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.467114, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.467114, acc = 15.007285,T = 2.453546, P = 0.121186 initial results: dx= 2.332360,dt = 2.700933, a_f = -0.446938, v_f = 0.259963 dt = 2.700933, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.314000 primary movement = 1.459610588131e-03 time: 1.314000000000e+00 total movement = 1.459610588131e-03 vel = 1.467114230708e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.482122, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.482122, acc = 15.007285,T = 2.453546, P = 0.122661 initial results: dx= 2.330886,dt = 2.675973, a_f = -0.456715, v_f = 0.259963 dt = 2.675973, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.315000 primary movement = 1.474617873285e-03 time: 1.315000000000e+00 total movement = 1.474617873285e-03 vel = 1.482121515861e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.497129, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.497129, acc = 15.007285,T = 2.453546, P = 0.124150 initial results: dx= 2.329396,dt = 2.651422, a_f = -0.466605, v_f = 0.259963 dt = 2.651422, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.316000 primary movement = 1.489625158438e-03 time: 1.316000000000e+00 total movement = 1.489625158438e-03 vel = 1.497128801015e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.512136, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.512136, acc = 15.007285,T = 2.453546, P = 0.125655 initial results: dx= 2.327892,dt = 2.627270, a_f = -0.476606, v_f = 0.259963 dt = 2.627270, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.317000 primary movement = 1.504632443592e-03 time: 1.317000000000e+00 total movement = 1.504632443592e-03 vel = 1.512136086169e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.527143, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.527143, acc = 15.007285,T = 2.453546, P = 0.127174 initial results: dx= 2.326372,dt = 2.603507, a_f = -0.486721, v_f = 0.259963 dt = 2.603507, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.318000 primary movement = 1.519639728746e-03 time: 1.318000000000e+00 total movement = 1.519639728746e-03 vel = 1.527143371323e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.542151, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.542151, acc = 15.007285,T = 2.453546, P = 0.128709 initial results: dx= 2.324837,dt = 2.580122, a_f = -0.496948, v_f = 0.259963 dt = 2.580122, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.319000 primary movement = 1.534647013900e-03 time: 1.319000000000e+00 total movement = 1.534647013900e-03 vel = 1.542150656477e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.557158, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.557158, acc = 15.007285,T = 2.453546, P = 0.130259 initial results: dx= 2.323288,dt = 2.557108, a_f = -0.507290, v_f = 0.259963 dt = 2.557108, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.320000 primary movement = 1.549654299054e-03 time: 1.320000000000e+00 total movement = 1.549654299054e-03 vel = 1.557157941631e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.572165, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.572165, acc = 15.007285,T = 2.453546, P = 0.131823 initial results: dx= 2.321723,dt = 2.534454, a_f = -0.517745, v_f = 0.259963 dt = 2.534454, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.321000 primary movement = 1.564661584208e-03 time: 1.321000000000e+00 total movement = 1.564661584208e-03 vel = 1.572165226785e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.587173, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.587173, acc = 15.007285,T = 2.453546, P = 0.133403 initial results: dx= 2.320143,dt = 2.512152, a_f = -0.528316, v_f = 0.259963 dt = 2.512152, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.322000 primary movement = 1.579668869362e-03 time: 1.322000000000e+00 total movement = 1.579668869362e-03 vel = 1.587172511939e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.602180, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.602180, acc = 15.007285,T = 2.453546, P = 0.134998 initial results: dx= 2.318549,dt = 2.490194, a_f = -0.539001, v_f = 0.259963 dt = 2.490194, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.323000 primary movement = 1.594676154515e-03 time: 1.323000000000e+00 total movement = 1.594676154515e-03 vel = 1.602179797092e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.617187, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.617187, acc = 15.007285,T = 2.453546, P = 0.136607 initial results: dx= 2.316939,dt = 2.468570, a_f = -0.549802, v_f = 0.259963 dt = 2.468570, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.324000 primary movement = 1.609683439669e-03 time: 1.324000000000e+00 total movement = 1.609683439669e-03 vel = 1.617187082246e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.632194, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.632194, acc = 15.007285,T = 2.453546, P = 0.138232 initial results: dx= 2.315314,dt = 2.447274, a_f = -0.560718, v_f = 0.259963 dt = 2.447274, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.325000 primary movement = 1.624690724823e-03 time: 1.325000000000e+00 total movement = 1.624690724823e-03 vel = 1.632194367400e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.647202, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.647202, acc = 15.007285,T = 2.453546, P = 0.139872 initial results: dx= 2.313675,dt = 2.426297, a_f = -0.571751, v_f = 0.259963 dt = 2.426297, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.326000 primary movement = 1.639698009977e-03 time: 1.326000000000e+00 total movement = 1.639698009977e-03 vel = 1.647201652554e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.662209, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.662209, acc = 15.007285,T = 2.453546, P = 0.141526 initial results: dx= 2.312020,dt = 2.405632, a_f = -0.582901, v_f = 0.259963 dt = 2.405632, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.327000 primary movement = 1.654705295131e-03 time: 1.327000000000e+00 total movement = 1.654705295131e-03 vel = 1.662208937708e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.677216, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.677216, acc = 15.007285,T = 2.453546, P = 0.143196 initial results: dx= 2.310350,dt = 2.385272, a_f = -0.594168, v_f = 0.259963 dt = 2.385272, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.328000 primary movement = 1.669712580285e-03 time: 1.328000000000e+00 total movement = 1.669712580285e-03 vel = 1.677216222862e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.692224, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.692224, acc = 15.007285,T = 2.453546, P = 0.144881 initial results: dx= 2.308665,dt = 2.365210, a_f = -0.605553, v_f = 0.259963 dt = 2.365210, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.329000 primary movement = 1.684719865439e-03 time: 1.329000000000e+00 total movement = 1.684719865439e-03 vel = 1.692223508016e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.707231, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.707231, acc = 15.007285,T = 2.453546, P = 0.146581 initial results: dx= 2.306966,dt = 2.345438, a_f = -0.617056, v_f = 0.259963 dt = 2.345438, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.330000 primary movement = 1.699727150593e-03 time: 1.330000000000e+00 total movement = 1.699727150593e-03 vel = 1.707230793169e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.722238, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.722238, acc = 15.007285,T = 2.453546, P = 0.148295 initial results: dx= 2.305251,dt = 2.325950, a_f = -0.628678, v_f = 0.259963 dt = 2.325950, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.331000 primary movement = 1.714734435746e-03 time: 1.331000000000e+00 total movement = 1.714734435746e-03 vel = 1.722238078323e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.737245, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.737245, acc = 15.007285,T = 2.453546, P = 0.150025 initial results: dx= 2.303521,dt = 2.306741, a_f = -0.640420, v_f = 0.259963 dt = 2.306741, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.332000 primary movement = 1.729741720900e-03 time: 1.332000000000e+00 total movement = 1.729741720900e-03 vel = 1.737245363477e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.752253, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.752253, acc = 15.007285,T = 2.453546, P = 0.151770 initial results: dx= 2.301776,dt = 2.287803, a_f = -0.652281, v_f = 0.259963 dt = 2.287803, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.333000 primary movement = 1.744749006054e-03 time: 1.333000000000e+00 total movement = 1.744749006054e-03 vel = 1.752252648631e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.767260, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.767260, acc = 15.007285,T = 2.453546, P = 0.153530 initial results: dx= 2.300017,dt = 2.269130, a_f = -0.664262, v_f = 0.259963 dt = 2.269130, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.334000 primary movement = 1.759756291208e-03 time: 1.334000000000e+00 total movement = 1.759756291208e-03 vel = 1.767259933785e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.782267, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.782267, acc = 15.007285,T = 2.453546, P = 0.155304 initial results: dx= 2.298242,dt = 2.250717, a_f = -0.676364, v_f = 0.259963 dt = 2.250717, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.335000 primary movement = 1.774763576362e-03 time: 1.335000000000e+00 total movement = 1.774763576362e-03 vel = 1.782267218939e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.797275, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.797275, acc = 15.007285,T = 2.453546, P = 0.157094 initial results: dx= 2.296452,dt = 2.232559, a_f = -0.688587, v_f = 0.259963 dt = 2.232559, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.336000 primary movement = 1.789770861516e-03 time: 1.336000000000e+00 total movement = 1.789770861516e-03 vel = 1.797274504093e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.812282, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.812282, acc = 15.007285,T = 2.453546, P = 0.158899 initial results: dx= 2.294647,dt = 2.214649, a_f = -0.700932, v_f = 0.259963 dt = 2.214649, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.337000 primary movement = 1.804778146670e-03 time: 1.337000000000e+00 total movement = 1.804778146670e-03 vel = 1.812281789247e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.827289, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.827289, acc = 15.007285,T = 2.453546, P = 0.160719 initial results: dx= 2.292828,dt = 2.196982, a_f = -0.713400, v_f = 0.259963 dt = 2.196982, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.338000 primary movement = 1.819785431823e-03 time: 1.338000000000e+00 total movement = 1.819785431823e-03 vel = 1.827289074400e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.842296, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.842296, acc = 15.007285,T = 2.453546, P = 0.162554 initial results: dx= 2.290993,dt = 2.179553, a_f = -0.725990, v_f = 0.259963 dt = 2.179553, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.339000 primary movement = 1.834792716977e-03 time: 1.339000000000e+00 total movement = 1.834792716977e-03 vel = 1.842296359554e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.857304, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.857304, acc = 15.007285,T = 2.453546, P = 0.164403 initial results: dx= 2.289143,dt = 2.162357, a_f = -0.738704, v_f = 0.259963 dt = 2.162357, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.340000 primary movement = 1.849800002131e-03 time: 1.340000000000e+00 total movement = 1.849800002131e-03 vel = 1.857303644708e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.872311, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.872311, acc = 15.007285,T = 2.453546, P = 0.166268 initial results: dx= 2.287278,dt = 2.145388, a_f = -0.751541, v_f = 0.259963 dt = 2.145388, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.341000 primary movement = 1.864807287285e-03 time: 1.341000000000e+00 total movement = 1.864807287285e-03 vel = 1.872310929862e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.887318, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.887318, acc = 15.007285,T = 2.453546, P = 0.168148 initial results: dx= 2.285398,dt = 2.128643, a_f = -0.764503, v_f = 0.259963 dt = 2.128643, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.342000 primary movement = 1.879814572439e-03 time: 1.342000000000e+00 total movement = 1.879814572439e-03 vel = 1.887318215016e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.902326, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.902326, acc = 15.007285,T = 2.453546, P = 0.170043 initial results: dx= 2.283504,dt = 2.112117, a_f = -0.777591, v_f = 0.259963 dt = 2.112117, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.343000 primary movement = 1.894821857593e-03 time: 1.343000000000e+00 total movement = 1.894821857593e-03 vel = 1.902325500170e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.917333, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.917333, acc = 15.007285,T = 2.453546, P = 0.171953 initial results: dx= 2.281594,dt = 2.095805, a_f = -0.790803, v_f = 0.259963 dt = 2.095805, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.344000 primary movement = 1.909829142747e-03 time: 1.344000000000e+00 total movement = 1.909829142747e-03 vel = 1.917332785324e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.932340, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.932340, acc = 15.007285,T = 2.453546, P = 0.173877 initial results: dx= 2.279669,dt = 2.079702, a_f = -0.804142, v_f = 0.259963 dt = 2.079702, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.345000 primary movement = 1.924836427900e-03 time: 1.345000000000e+00 total movement = 1.924836427900e-03 vel = 1.932340070477e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.947347, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.947347, acc = 15.007285,T = 2.453546, P = 0.175817 initial results: dx= 2.277729,dt = 2.063805, a_f = -0.817608, v_f = 0.259963 dt = 2.063805, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.346000 primary movement = 1.939843713054e-03 time: 1.346000000000e+00 total movement = 1.939843713054e-03 vel = 1.947347355631e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.962355, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.962355, acc = 15.007285,T = 2.453546, P = 0.177772 initial results: dx= 2.275774,dt = 2.048109, a_f = -0.831202, v_f = 0.259963 dt = 2.048109, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.347000 primary movement = 1.954850998208e-03 time: 1.347000000000e+00 total movement = 1.954850998208e-03 vel = 1.962354640785e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.977362, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.977362, acc = 15.007285,T = 2.453546, P = 0.179742 initial results: dx= 2.273804,dt = 2.032610, a_f = -0.844923, v_f = 0.259963 dt = 2.032610, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.348000 primary movement = 1.969858283362e-03 time: 1.348000000000e+00 total movement = 1.969858283362e-03 vel = 1.977361925939e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.992369, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.992369, acc = 15.007285,T = 2.453546, P = 0.181727 initial results: dx= 2.271819,dt = 2.017304, a_f = -0.858773, v_f = 0.259963 dt = 2.017304, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.349000 primary movement = 1.984865568516e-03 time: 1.349000000000e+00 total movement = 1.984865568516e-03 vel = 1.992369211093e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.007376, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.007376, acc = 15.007285,T = 2.453546, P = 0.183727 initial results: dx= 2.269820,dt = 2.002187, a_f = -0.872752, v_f = 0.259963 dt = 2.002187, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.350000 primary movement = 1.999872853670e-03 time: 1.350000000000e+00 total movement = 1.999872853670e-03 vel = 2.007376496247e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.022384, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.022384, acc = 15.007285,T = 2.453546, P = 0.185742 initial results: dx= 2.267805,dt = 1.987257, a_f = -0.886861, v_f = 0.259963 dt = 1.987257, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.351000 primary movement = 2.014880138824e-03 time: 1.351000000000e+00 total movement = 2.014880138824e-03 vel = 2.022383781401e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.037391, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.037391, acc = 15.007285,T = 2.453546, P = 0.187771 initial results: dx= 2.265775,dt = 1.972508, a_f = -0.901100, v_f = 0.259963 dt = 1.972508, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.352000 primary movement = 2.029887423978e-03 time: 1.352000000000e+00 total movement = 2.029887423978e-03 vel = 2.037391066555e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.052398, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.052398, acc = 15.007285,T = 2.453546, P = 0.189816 initial results: dx= 2.263730,dt = 1.957938, a_f = -0.915471, v_f = 0.259963 dt = 1.957938, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.353000 primary movement = 2.044894709131e-03 time: 1.353000000000e+00 total movement = 2.044894709131e-03 vel = 2.052398351708e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.067406, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.067406, acc = 15.007285,T = 2.453546, P = 0.191876 initial results: dx= 2.261670,dt = 1.943542, a_f = -0.929973, v_f = 0.259963 dt = 1.943542, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.354000 primary movement = 2.059901994285e-03 time: 1.354000000000e+00 total movement = 2.059901994285e-03 vel = 2.067405636862e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.082413, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.082413, acc = 15.007285,T = 2.453546, P = 0.193951 initial results: dx= 2.259595,dt = 1.929319, a_f = -0.944608, v_f = 0.259963 dt = 1.929319, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.355000 primary movement = 2.074909279439e-03 time: 1.355000000000e+00 total movement = 2.074909279439e-03 vel = 2.082412922016e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.097420, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.097420, acc = 15.007285,T = 2.453546, P = 0.196041 initial results: dx= 2.257505,dt = 1.915263, a_f = -0.959376, v_f = 0.259963 dt = 1.915263, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.356000 primary movement = 2.089916564593e-03 time: 1.356000000000e+00 total movement = 2.089916564593e-03 vel = 2.097420207170e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.112427, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.112427, acc = 15.007285,T = 2.453546, P = 0.198146 initial results: dx= 2.255400,dt = 1.901373, a_f = -0.974277, v_f = 0.259963 dt = 1.901373, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.357000 primary movement = 2.104923849747e-03 time: 1.357000000000e+00 total movement = 2.104923849747e-03 vel = 2.112427492324e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.127435, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.127435, acc = 15.007285,T = 2.453546, P = 0.200266 initial results: dx= 2.253280,dt = 1.887645, a_f = -0.989313, v_f = 0.259963 dt = 1.887645, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.358000 primary movement = 2.119931134901e-03 time: 1.358000000000e+00 total movement = 2.119931134901e-03 vel = 2.127434777478e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.142442, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.142442, acc = 15.007285,T = 2.453546, P = 0.202401 initial results: dx= 2.251145,dt = 1.874076, a_f = -1.004484, v_f = 0.259963 dt = 1.874076, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.359000 primary movement = 2.134938420055e-03 time: 1.359000000000e+00 total movement = 2.134938420055e-03 vel = 2.142442062632e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.157449, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.157449, acc = 15.007285,T = 2.453546, P = 0.204551 initial results: dx= 2.248995,dt = 1.860663, a_f = -1.019790, v_f = 0.259963 dt = 1.860663, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.360000 primary movement = 2.149945705209e-03 time: 1.360000000000e+00 total movement = 2.149945705209e-03 vel = 2.157449347785e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.172457, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.172457, acc = 15.007285,T = 2.453546, P = 0.206716 initial results: dx= 2.246831,dt = 1.847403, a_f = -1.035233, v_f = 0.259963 dt = 1.847403, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.361000 primary movement = 2.164952990362e-03 time: 1.361000000000e+00 total movement = 2.164952990362e-03 vel = 2.172456632939e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.187464, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.187464, acc = 15.007285,T = 2.453546, P = 0.208896 initial results: dx= 2.244651,dt = 1.834294, a_f = -1.050813, v_f = 0.259963 dt = 1.834294, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.362000 primary movement = 2.179960275516e-03 time: 1.362000000000e+00 total movement = 2.179960275516e-03 vel = 2.187463918093e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.202471, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.202471, acc = 15.007285,T = 2.453546, P = 0.211091 initial results: dx= 2.242456,dt = 1.821332, a_f = -1.066531, v_f = 0.259963 dt = 1.821332, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.363000 primary movement = 2.194967560670e-03 time: 1.363000000000e+00 total movement = 2.194967560670e-03 vel = 2.202471203247e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.217478, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.217478, acc = 15.007285,T = 2.453546, P = 0.213301 initial results: dx= 2.240246,dt = 1.808515, a_f = -1.082388, v_f = 0.259963 dt = 1.808515, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.364000 primary movement = 2.209974845824e-03 time: 1.364000000000e+00 total movement = 2.209974845824e-03 vel = 2.217478488401e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.232486, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.232486, acc = 15.007285,T = 2.453546, P = 0.215526 initial results: dx= 2.238021,dt = 1.795841, a_f = -1.098384, v_f = 0.259963 dt = 1.795841, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.365000 primary movement = 2.224982130978e-03 time: 1.365000000000e+00 total movement = 2.224982130978e-03 vel = 2.232485773555e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.247493, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.247493, acc = 15.007285,T = 2.453546, P = 0.217766 initial results: dx= 2.235781,dt = 1.783306, a_f = -1.114520, v_f = 0.259963 dt = 1.783306, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.366000 primary movement = 2.239989416132e-03 time: 1.366000000000e+00 total movement = 2.239989416132e-03 vel = 2.247493058709e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.262500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.262500, acc = 15.007285,T = 2.453546, P = 0.220021 initial results: dx= 2.233526,dt = 1.770908, a_f = -1.130797, v_f = 0.259963 dt = 1.770908, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.367000 primary movement = 2.254996701286e-03 time: 1.367000000000e+00 total movement = 2.254996701286e-03 vel = 2.262500343863e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.277508, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.277508, acc = 15.007285,T = 2.453546, P = 0.222291 initial results: dx= 2.231256,dt = 1.758645, a_f = -1.147215, v_f = 0.259963 dt = 1.758645, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.368000 primary movement = 2.270003986439e-03 time: 1.368000000000e+00 total movement = 2.270003986439e-03 vel = 2.277507629016e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.292515, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.292515, acc = 15.007285,T = 2.453546, P = 0.224576 initial results: dx= 2.228971,dt = 1.746515, a_f = -1.163776, v_f = 0.259963 dt = 1.746515, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.369000 primary movement = 2.285011271593e-03 time: 1.369000000000e+00 total movement = 2.285011271593e-03 vel = 2.292514914170e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.307522, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.307522, acc = 15.007285,T = 2.453546, P = 0.226876 initial results: dx= 2.226671,dt = 1.734515, a_f = -1.180479, v_f = 0.259963 dt = 1.734515, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.370000 primary movement = 2.300018556747e-03 time: 1.370000000000e+00 total movement = 2.300018556747e-03 vel = 2.307522199324e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.322529, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.322529, acc = 15.007285,T = 2.453546, P = 0.229191 initial results: dx= 2.224356,dt = 1.722642, a_f = -1.197327, v_f = 0.259963 dt = 1.722642, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.371000 primary movement = 2.315025841901e-03 time: 1.371000000000e+00 total movement = 2.315025841901e-03 vel = 2.322529484478e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.337537, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.337537, acc = 15.007285,T = 2.453546, P = 0.231521 initial results: dx= 2.222026,dt = 1.710895, a_f = -1.214319, v_f = 0.259963 dt = 1.710895, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.372000 primary movement = 2.330033127055e-03 time: 1.372000000000e+00 total movement = 2.330033127055e-03 vel = 2.337536769632e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.352544, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.352544, acc = 15.007285,T = 2.453546, P = 0.233866 initial results: dx= 2.219681,dt = 1.699272, a_f = -1.231457, v_f = 0.259963 dt = 1.699272, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.373000 primary movement = 2.345040412209e-03 time: 1.373000000000e+00 total movement = 2.345040412209e-03 vel = 2.352544054786e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.367551, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.367551, acc = 15.007285,T = 2.453546, P = 0.236226 initial results: dx= 2.217320,dt = 1.687770, a_f = -1.248741, v_f = 0.259963 dt = 1.687770, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.374000 primary movement = 2.360047697363e-03 time: 1.374000000000e+00 total movement = 2.360047697363e-03 vel = 2.367551339940e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.382559, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.382559, acc = 15.007285,T = 2.453546, P = 0.238601 initial results: dx= 2.214945,dt = 1.676388, a_f = -1.266172, v_f = 0.259963 dt = 1.676388, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.375000 primary movement = 2.375054982516e-03 time: 1.375000000000e+00 total movement = 2.375054982516e-03 vel = 2.382558625093e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.397566, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.397566, acc = 15.007285,T = 2.453546, P = 0.240991 initial results: dx= 2.212555,dt = 1.665122, a_f = -1.283751, v_f = 0.259963 dt = 1.665122, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.376000 primary movement = 2.390062267670e-03 time: 1.376000000000e+00 total movement = 2.390062267670e-03 vel = 2.397565910247e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.412573, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.412573, acc = 15.007285,T = 2.453546, P = 0.243396 initial results: dx= 2.210150,dt = 1.653972, a_f = -1.301479, v_f = 0.259963 dt = 1.653972, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.377000 primary movement = 2.405069552824e-03 time: 1.377000000000e+00 total movement = 2.405069552824e-03 vel = 2.412573195401e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.427580, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.427580, acc = 15.007285,T = 2.453546, P = 0.245816 initial results: dx= 2.207730,dt = 1.642935, a_f = -1.319356, v_f = 0.259963 dt = 1.642935, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.378000 primary movement = 2.420076837978e-03 time: 1.378000000000e+00 total movement = 2.420076837978e-03 vel = 2.427580480555e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.442588, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.442588, acc = 15.007285,T = 2.453546, P = 0.248251 initial results: dx= 2.205295,dt = 1.632010, a_f = -1.337384, v_f = 0.259963 dt = 1.632010, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.379000 primary movement = 2.435084123132e-03 time: 1.379000000000e+00 total movement = 2.435084123132e-03 vel = 2.442587765709e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.457595, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.457595, acc = 15.007285,T = 2.453546, P = 0.250701 initial results: dx= 2.202845,dt = 1.621194, a_f = -1.355563, v_f = 0.259963 dt = 1.621194, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.380000 primary movement = 2.450091408286e-03 time: 1.380000000000e+00 total movement = 2.450091408286e-03 vel = 2.457595050863e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.472602, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.472602, acc = 15.007285,T = 2.453546, P = 0.253166 initial results: dx= 2.200380,dt = 1.610486, a_f = -1.373895, v_f = 0.259963 dt = 1.610486, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.381000 primary movement = 2.465098693440e-03 time: 1.381000000000e+00 total movement = 2.465098693440e-03 vel = 2.472602336017e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.487610, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.487610, acc = 15.007285,T = 2.453546, P = 0.255646 initial results: dx= 2.197900,dt = 1.599885, a_f = -1.392379, v_f = 0.259963 dt = 1.599885, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.382000 primary movement = 2.480105978593e-03 time: 1.382000000000e+00 total movement = 2.480105978593e-03 vel = 2.487609621171e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.502617, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.502617, acc = 15.007285,T = 2.453546, P = 0.258142 initial results: dx= 2.195405,dt = 1.589387, a_f = -1.411018, v_f = 0.259963 dt = 1.589387, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.383000 primary movement = 2.495113263748e-03 time: 1.383000000000e+00 total movement = 2.495113263748e-03 vel = 2.502616906324e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.517624, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.517624, acc = 15.007285,T = 2.453546, P = 0.260652 initial results: dx= 2.192895,dt = 1.578992, a_f = -1.429811, v_f = 0.259963 dt = 1.578992, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.384000 primary movement = 2.510120548901e-03 time: 1.384000000000e+00 total movement = 2.510120548901e-03 vel = 2.517624191478e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.532631, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.532631, acc = 15.007285,T = 2.453546, P = 0.263177 initial results: dx= 2.190369,dt = 1.568698, a_f = -1.448760, v_f = 0.259963 dt = 1.568698, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.385000 primary movement = 2.525127834055e-03 time: 1.385000000000e+00 total movement = 2.525127834055e-03 vel = 2.532631476632e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.547639, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.547639, acc = 15.007285,T = 2.453546, P = 0.265717 initial results: dx= 2.187829,dt = 1.558504, a_f = -1.467866, v_f = 0.259963 dt = 1.558504, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.386000 primary movement = 2.540135119209e-03 time: 1.386000000000e+00 total movement = 2.540135119209e-03 vel = 2.547638761786e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.562646, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.562646, acc = 15.007285,T = 2.453546, P = 0.268272 initial results: dx= 2.185274,dt = 1.548407, a_f = -1.487130, v_f = 0.259963 dt = 1.548407, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.387000 primary movement = 2.555142404363e-03 time: 1.387000000000e+00 total movement = 2.555142404363e-03 vel = 2.562646046940e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.577653, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.577653, acc = 15.007285,T = 2.453546, P = 0.270842 initial results: dx= 2.182704,dt = 1.538407, a_f = -1.506552, v_f = 0.259963 dt = 1.538407, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.388000 primary movement = 2.570149689517e-03 time: 1.388000000000e+00 total movement = 2.570149689517e-03 vel = 2.577653332094e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.592661, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.592661, acc = 15.007285,T = 2.453546, P = 0.273427 initial results: dx= 2.180119,dt = 1.528501, a_f = -1.526134, v_f = 0.259963 dt = 1.528501, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.389000 primary movement = 2.585156974671e-03 time: 1.389000000000e+00 total movement = 2.585156974671e-03 vel = 2.592660617248e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.607668, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.607668, acc = 15.007285,T = 2.453546, P = 0.276028 initial results: dx= 2.177519,dt = 1.518688, a_f = -1.545877, v_f = 0.259963 dt = 1.518688, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.390000 primary movement = 2.600164259824e-03 time: 1.390000000000e+00 total movement = 2.600164259824e-03 vel = 2.607667902401e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.622675, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.622675, acc = 15.007285,T = 2.453546, P = 0.278643 initial results: dx= 2.174904,dt = 1.508967, a_f = -1.565781, v_f = 0.259963 dt = 1.508967, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.391000 primary movement = 2.615171544978e-03 time: 1.391000000000e+00 total movement = 2.615171544978e-03 vel = 2.622675187555e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.637682, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.637682, acc = 15.007285,T = 2.453546, P = 0.281273 initial results: dx= 2.172273,dt = 1.499337, a_f = -1.585847, v_f = 0.259963 dt = 1.499337, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.392000 primary movement = 2.630178830132e-03 time: 1.392000000000e+00 total movement = 2.630178830132e-03 vel = 2.637682472709e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.652690, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.652690, acc = 15.007285,T = 2.453546, P = 0.283918 initial results: dx= 2.169628,dt = 1.489795, a_f = -1.606078, v_f = 0.259963 dt = 1.489795, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.393000 primary movement = 2.645186115286e-03 time: 1.393000000000e+00 total movement = 2.645186115286e-03 vel = 2.652689757863e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.667697, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.667697, acc = 15.007285,T = 2.453546, P = 0.286578 initial results: dx= 2.166968,dt = 1.480341, a_f = -1.626472, v_f = 0.259963 dt = 1.480341, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.394000 primary movement = 2.660193400440e-03 time: 1.394000000000e+00 total movement = 2.660193400440e-03 vel = 2.667697043017e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.682704, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.682704, acc = 15.007285,T = 2.453546, P = 0.289254 initial results: dx= 2.164293,dt = 1.470973, a_f = -1.647033, v_f = 0.259963 dt = 1.470973, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.395000 primary movement = 2.675200685594e-03 time: 1.395000000000e+00 total movement = 2.675200685594e-03 vel = 2.682704328171e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.697712, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.697712, acc = 15.007285,T = 2.453546, P = 0.291944 initial results: dx= 2.161603,dt = 1.461690, a_f = -1.667760, v_f = 0.259963 dt = 1.461690, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.396000 primary movement = 2.690207970748e-03 time: 1.396000000000e+00 total movement = 2.690207970748e-03 vel = 2.697711613325e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.712719, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.712719, acc = 15.007285,T = 2.453546, P = 0.294649 initial results: dx= 2.158897,dt = 1.452491, a_f = -1.688654, v_f = 0.259963 dt = 1.452491, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.397000 primary movement = 2.705215255902e-03 time: 1.397000000000e+00 total movement = 2.705215255902e-03 vel = 2.712718898478e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.727726, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.727726, acc = 15.007285,T = 2.453546, P = 0.297369 initial results: dx= 2.156177,dt = 1.443374, a_f = -1.709718, v_f = 0.259963 dt = 1.443374, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.398000 primary movement = 2.720222541055e-03 time: 1.398000000000e+00 total movement = 2.720222541055e-03 vel = 2.727726183632e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.742733, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.742733, acc = 15.007285,T = 2.453546, P = 0.300104 initial results: dx= 2.153442,dt = 1.434339, a_f = -1.730951, v_f = 0.259963 dt = 1.434339, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.399000 primary movement = 2.735229826209e-03 time: 1.399000000000e+00 total movement = 2.735229826209e-03 vel = 2.742733468786e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.757741, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.757741, acc = 15.007285,T = 2.453546, P = 0.302855 initial results: dx= 2.150692,dt = 1.425383, a_f = -1.752356, v_f = 0.259963 dt = 1.425383, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.400000 primary movement = 2.750237111363e-03 time: 1.400000000000e+00 total movement = 2.750237111363e-03 vel = 2.757740753940e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.772748, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.772748, acc = 15.007285,T = 2.453546, P = 0.305620 initial results: dx= 2.147926,dt = 1.416506, a_f = -1.773932, v_f = 0.259963 dt = 1.416506, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.401000 primary movement = 2.765244396517e-03 time: 1.401000000000e+00 total movement = 2.765244396517e-03 vel = 2.772748039094e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.787755, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.787755, acc = 15.007285,T = 2.453546, P = 0.308400 initial results: dx= 2.145146,dt = 1.407706, a_f = -1.795682, v_f = 0.259963 dt = 1.407706, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.402000 primary movement = 2.780251681671e-03 time: 1.402000000000e+00 total movement = 2.780251681671e-03 vel = 2.787755324248e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.802763, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.802763, acc = 15.007285,T = 2.453546, P = 0.311195 initial results: dx= 2.142351,dt = 1.398983, a_f = -1.817605, v_f = 0.259963 dt = 1.398983, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.403000 primary movement = 2.795258966825e-03 time: 1.403000000000e+00 total movement = 2.795258966825e-03 vel = 2.802762609402e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.817770, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.817770, acc = 15.007285,T = 2.453546, P = 0.314006 initial results: dx= 2.139541,dt = 1.390335, a_f = -1.839705, v_f = 0.259963 dt = 1.390335, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.404000 primary movement = 2.810266251978e-03 time: 1.404000000000e+00 total movement = 2.810266251978e-03 vel = 2.817769894556e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.832777, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.832777, acc = 15.007285,T = 2.453546, P = 0.316831 initial results: dx= 2.136715,dt = 1.381762, a_f = -1.861981, v_f = 0.259963 dt = 1.381762, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.405000 primary movement = 2.825273537133e-03 time: 1.405000000000e+00 total movement = 2.825273537133e-03 vel = 2.832777179709e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.847784, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.847784, acc = 15.007285,T = 2.453546, P = 0.319671 initial results: dx= 2.133875,dt = 1.373261, a_f = -1.884434, v_f = 0.259963 dt = 1.373261, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.406000 primary movement = 2.840280822286e-03 time: 1.406000000000e+00 total movement = 2.840280822286e-03 vel = 2.847784464863e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.862792, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.862792, acc = 15.007285,T = 2.453546, P = 0.322527 initial results: dx= 2.131020,dt = 1.364833, a_f = -1.907067, v_f = 0.259963 dt = 1.364833, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.407000 primary movement = 2.855288107440e-03 time: 1.407000000000e+00 total movement = 2.855288107440e-03 vel = 2.862791750017e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.877799, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.877799, acc = 15.007285,T = 2.453546, P = 0.325397 initial results: dx= 2.128150,dt = 1.356476, a_f = -1.929880, v_f = 0.259963 dt = 1.356476, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.408000 primary movement = 2.870295392594e-03 time: 1.408000000000e+00 total movement = 2.870295392594e-03 vel = 2.877799035171e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.892806, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.892806, acc = 15.007285,T = 2.453546, P = 0.328282 initial results: dx= 2.125264,dt = 1.348189, a_f = -1.952874, v_f = 0.259963 dt = 1.348189, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.409000 primary movement = 2.885302677748e-03 time: 1.409000000000e+00 total movement = 2.885302677748e-03 vel = 2.892806320325e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.907814, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.907814, acc = 15.007285,T = 2.453546, P = 0.331182 initial results: dx= 2.122364,dt = 1.339971, a_f = -1.976051, v_f = 0.259963 dt = 1.339971, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.410000 primary movement = 2.900309962902e-03 time: 1.410000000000e+00 total movement = 2.900309962902e-03 vel = 2.907813605479e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.922821, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.922821, acc = 15.007285,T = 2.453546, P = 0.334098 initial results: dx= 2.119449,dt = 1.331820, a_f = -1.999412, v_f = 0.259963 dt = 1.331820, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.411000 primary movement = 2.915317248055e-03 time: 1.411000000000e+00 total movement = 2.915317248055e-03 vel = 2.922820890633e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.937828, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.937828, acc = 15.007285,T = 2.453546, P = 0.337028 initial results: dx= 2.116518,dt = 1.323738, a_f = -2.022958, v_f = 0.259963 dt = 1.323738, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.412000 primary movement = 2.930324533210e-03 time: 1.412000000000e+00 total movement = 2.930324533210e-03 vel = 2.937828175786e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.952835, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.952835, acc = 15.007285,T = 2.453546, P = 0.339973 initial results: dx= 2.113573,dt = 1.315721, a_f = -2.046690, v_f = 0.259963 dt = 1.315721, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.413000 primary movement = 2.945331818364e-03 time: 1.413000000000e+00 total movement = 2.945331818364e-03 vel = 2.952835460940e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.967843, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.967843, acc = 15.007285,T = 2.453546, P = 0.342934 initial results: dx= 2.110613,dt = 1.307769, a_f = -2.070610, v_f = 0.259963 dt = 1.307769, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.414000 primary movement = 2.960339103517e-03 time: 1.414000000000e+00 total movement = 2.960339103517e-03 vel = 2.967842746094e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.982850, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.982850, acc = 15.007285,T = 2.453546, P = 0.345909 initial results: dx= 2.107637,dt = 1.299882, a_f = -2.094718, v_f = 0.259963 dt = 1.299882, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.415000 primary movement = 2.975346388671e-03 time: 1.415000000000e+00 total movement = 2.975346388671e-03 vel = 2.982850031248e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.997857, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.997857, acc = 15.007285,T = 2.453546, P = 0.348899 initial results: dx= 2.104647,dt = 1.292058, a_f = -2.119018, v_f = 0.259963 dt = 1.292058, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.416000 primary movement = 2.990353673825e-03 time: 1.416000000000e+00 total movement = 2.990353673825e-03 vel = 2.997857316402e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.012865, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.012865, acc = 15.007285,T = 2.453546, P = 0.351905 initial results: dx= 2.101642,dt = 1.284297, a_f = -2.143508, v_f = 0.259963 dt = 1.284297, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.417000 primary movement = 3.005360958979e-03 time: 1.417000000000e+00 total movement = 3.005360958979e-03 vel = 3.012864601556e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.027872, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.027872, acc = 15.007285,T = 2.453546, P = 0.354925 initial results: dx= 2.098621,dt = 1.276598, a_f = -2.168192, v_f = 0.259963 dt = 1.276598, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.418000 primary movement = 3.020368244133e-03 time: 1.418000000000e+00 total movement = 3.020368244133e-03 vel = 3.027871886710e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.042879, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.042879, acc = 15.007285,T = 2.453546, P = 0.357961 initial results: dx= 2.095586,dt = 1.268959, a_f = -2.193070, v_f = 0.259963 dt = 1.268959, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.419000 primary movement = 3.035375529287e-03 time: 1.419000000000e+00 total movement = 3.035375529287e-03 vel = 3.042879171864e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.057886, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.057886, acc = 15.007285,T = 2.453546, P = 0.361011 initial results: dx= 2.092535,dt = 1.261380, a_f = -2.218144, v_f = 0.259963 dt = 1.261380, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.420000 primary movement = 3.050382814440e-03 time: 1.420000000000e+00 total movement = 3.050382814440e-03 vel = 3.057886457017e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.072894, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.072894, acc = 15.007285,T = 2.453546, P = 0.364076 initial results: dx= 2.089470,dt = 1.253861, a_f = -2.243415, v_f = 0.259963 dt = 1.253861, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.421000 primary movement = 3.065390099594e-03 time: 1.421000000000e+00 total movement = 3.065390099594e-03 vel = 3.072893742171e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.087901, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.087901, acc = 15.007285,T = 2.453546, P = 0.367157 initial results: dx= 2.086390,dt = 1.246400, a_f = -2.268884, v_f = 0.259963 dt = 1.246400, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.422000 primary movement = 3.080397384748e-03 time: 1.422000000000e+00 total movement = 3.080397384748e-03 vel = 3.087901027325e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.102908, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.102908, acc = 15.007285,T = 2.453546, P = 0.370252 initial results: dx= 2.083294,dt = 1.238997, a_f = -2.294553, v_f = 0.259963 dt = 1.238997, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.423000 primary movement = 3.095404669902e-03 time: 1.423000000000e+00 total movement = 3.095404669902e-03 vel = 3.102908312479e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.117916, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.117916, acc = 15.007285,T = 2.453546, P = 0.373363 initial results: dx= 2.080184,dt = 1.231651, a_f = -2.320424, v_f = 0.259963 dt = 1.231651, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.424000 primary movement = 3.110411955056e-03 time: 1.424000000000e+00 total movement = 3.110411955056e-03 vel = 3.117915597633e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.132923, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.132923, acc = 15.007285,T = 2.453546, P = 0.376488 initial results: dx= 2.077058,dt = 1.224361, a_f = -2.346498, v_f = 0.259963 dt = 1.224361, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.425000 primary movement = 3.125419240210e-03 time: 1.425000000000e+00 total movement = 3.125419240210e-03 vel = 3.132922882787e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.147930, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.147930, acc = 15.007285,T = 2.453546, P = 0.379628 initial results: dx= 2.073918,dt = 1.217126, a_f = -2.372776, v_f = 0.259963 dt = 1.217126, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.426000 primary movement = 3.140426525363e-03 time: 1.426000000000e+00 total movement = 3.140426525363e-03 vel = 3.147930167941e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.162937, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.162937, acc = 15.007285,T = 2.453546, P = 0.382784 initial results: dx= 2.070763,dt = 1.209946, a_f = -2.399259, v_f = 0.259963 dt = 1.209946, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.427000 primary movement = 3.155433810518e-03 time: 1.427000000000e+00 total movement = 3.155433810518e-03 vel = 3.162937453094e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.177945, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.177945, acc = 15.007285,T = 2.453546, P = 0.385954 initial results: dx= 2.067592,dt = 1.202820, a_f = -2.425950, v_f = 0.259963 dt = 1.202820, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.428000 primary movement = 3.170441095671e-03 time: 1.428000000000e+00 total movement = 3.170441095671e-03 vel = 3.177944738248e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.192952, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.192952, acc = 15.007285,T = 2.453546, P = 0.389140 initial results: dx= 2.064407,dt = 1.195747, a_f = -2.452851, v_f = 0.259963 dt = 1.195747, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.429000 primary movement = 3.185448380825e-03 time: 1.429000000000e+00 total movement = 3.185448380825e-03 vel = 3.192952023402e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.207959, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.207959, acc = 15.007285,T = 2.453546, P = 0.392340 initial results: dx= 2.061206,dt = 1.188727, a_f = -2.479961, v_f = 0.259963 dt = 1.188727, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.430000 primary movement = 3.200455665979e-03 time: 1.430000000000e+00 total movement = 3.200455665979e-03 vel = 3.207959308556e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.222967, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.222967, acc = 15.007285,T = 2.453546, P = 0.395556 initial results: dx= 2.057991,dt = 1.181758, a_f = -2.507284, v_f = 0.259963 dt = 1.181758, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.431000 primary movement = 3.215462951133e-03 time: 1.431000000000e+00 total movement = 3.215462951133e-03 vel = 3.222966593710e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.237974, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.237974, acc = 15.007285,T = 2.453546, P = 0.398786 initial results: dx= 2.054760,dt = 1.174841, a_f = -2.534820, v_f = 0.259963 dt = 1.174841, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.432000 primary movement = 3.230470236287e-03 time: 1.432000000000e+00 total movement = 3.230470236287e-03 vel = 3.237973878864e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.252981, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.252981, acc = 15.007285,T = 2.453546, P = 0.402032 initial results: dx= 2.051515,dt = 1.167974, a_f = -2.562571, v_f = 0.259963 dt = 1.167974, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.433000 primary movement = 3.245477521441e-03 time: 1.433000000000e+00 total movement = 3.245477521441e-03 vel = 3.252981164018e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.267988, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.267988, acc = 15.007285,T = 2.453546, P = 0.405292 initial results: dx= 2.048254,dt = 1.161158, a_f = -2.590540, v_f = 0.259963 dt = 1.161158, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.434000 primary movement = 3.260484806595e-03 time: 1.434000000000e+00 total movement = 3.260484806595e-03 vel = 3.267988449172e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.282996, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.282996, acc = 15.007285,T = 2.453546, P = 0.408568 initial results: dx= 2.044979,dt = 1.154390, a_f = -2.618726, v_f = 0.259963 dt = 1.154390, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.435000 primary movement = 3.275492091748e-03 time: 1.435000000000e+00 total movement = 3.275492091748e-03 vel = 3.282995734325e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.298003, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.298003, acc = 15.007285,T = 2.453546, P = 0.411858 initial results: dx= 2.041688,dt = 1.147672, a_f = -2.647134, v_f = 0.259963 dt = 1.147672, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.436000 primary movement = 3.290499376902e-03 time: 1.436000000000e+00 total movement = 3.290499376902e-03 vel = 3.298003019479e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.313010, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.313010, acc = 15.007285,T = 2.453546, P = 0.415164 initial results: dx= 2.038383,dt = 1.141001, a_f = -2.675763, v_f = 0.259963 dt = 1.141001, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.437000 primary movement = 3.305506662056e-03 time: 1.437000000000e+00 total movement = 3.305506662056e-03 vel = 3.313010304633e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.328018, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.328018, acc = 15.007285,T = 2.453546, P = 0.418484 initial results: dx= 2.035062,dt = 1.134377, a_f = -2.704615, v_f = 0.259963 dt = 1.134377, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.438000 primary movement = 3.320513947210e-03 time: 1.438000000000e+00 total movement = 3.320513947210e-03 vel = 3.328017589787e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.343025, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.343025, acc = 15.007285,T = 2.453546, P = 0.421820 initial results: dx= 2.031727,dt = 1.127801, a_f = -2.733693, v_f = 0.259963 dt = 1.127801, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.439000 primary movement = 3.335521232364e-03 time: 1.439000000000e+00 total movement = 3.335521232364e-03 vel = 3.343024874941e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.358032, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.358032, acc = 15.007285,T = 2.453546, P = 0.425170 initial results: dx= 2.028376,dt = 1.121271, a_f = -2.762998, v_f = 0.259963 dt = 1.121271, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.440000 primary movement = 3.350528517518e-03 time: 1.440000000000e+00 total movement = 3.350528517518e-03 vel = 3.358032160095e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.373039, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.373039, acc = 15.007285,T = 2.453546, P = 0.428536 initial results: dx= 2.025011,dt = 1.114786, a_f = -2.792532, v_f = 0.259963 dt = 1.114786, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.441000 primary movement = 3.365535802672e-03 time: 1.441000000000e+00 total movement = 3.365535802672e-03 vel = 3.373039445249e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.388047, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.388047, acc = 15.007285,T = 2.453546, P = 0.431916 initial results: dx= 2.021630,dt = 1.108347, a_f = -2.822297, v_f = 0.259963 dt = 1.108347, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.442000 primary movement = 3.380543087825e-03 time: 1.442000000000e+00 total movement = 3.380543087825e-03 vel = 3.388046730402e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.403054, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.403054, acc = 15.007285,T = 2.453546, P = 0.435312 initial results: dx= 2.018235,dt = 1.101952, a_f = -2.852294, v_f = 0.259963 dt = 1.101952, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.443000 primary movement = 3.395550372980e-03 time: 1.443000000000e+00 total movement = 3.395550372980e-03 vel = 3.403054015556e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.418061, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.418061, acc = 15.007285,T = 2.453546, P = 0.438722 initial results: dx= 2.014824,dt = 1.095601, a_f = -2.882525, v_f = 0.259963 dt = 1.095601, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.444000 primary movement = 3.410557658133e-03 time: 1.444000000000e+00 total movement = 3.410557658133e-03 vel = 3.418061300710e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.433069, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.433069, acc = 15.007285,T = 2.453546, P = 0.442148 initial results: dx= 2.011398,dt = 1.089294, a_f = -2.912993, v_f = 0.259963 dt = 1.089294, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.445000 primary movement = 3.425564943287e-03 time: 1.445000000000e+00 total movement = 3.425564943287e-03 vel = 3.433068585864e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.448076, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.448076, acc = 15.007285,T = 2.453546, P = 0.445588 initial results: dx= 2.007958,dt = 1.083029, a_f = -2.943699, v_f = 0.259963 dt = 1.083029, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.446000 primary movement = 3.440572228441e-03 time: 1.446000000000e+00 total movement = 3.440572228441e-03 vel = 3.448075871018e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.463083, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.463083, acc = 15.007285,T = 2.453546, P = 0.449044 initial results: dx= 2.004502,dt = 1.076808, a_f = -2.974645, v_f = 0.259963 dt = 1.076808, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.447000 primary movement = 3.455579513595e-03 time: 1.447000000000e+00 total movement = 3.455579513595e-03 vel = 3.463083156172e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.478090, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.478090, acc = 15.007285,T = 2.453546, P = 0.452515 initial results: dx= 2.001032,dt = 1.070628, a_f = -3.005832, v_f = 0.259963 dt = 1.070628, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.448000 primary movement = 3.470586798749e-03 time: 1.448000000000e+00 total movement = 3.470586798749e-03 vel = 3.478090441326e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.493098, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.493098, acc = 15.007285,T = 2.453546, P = 0.456000 initial results: dx= 1.997546,dt = 1.064489, a_f = -3.037264, v_f = 0.259963 dt = 1.064489, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.449000 primary movement = 3.485594083903e-03 time: 1.449000000000e+00 total movement = 3.485594083903e-03 vel = 3.493097726480e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.508105, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.508105, acc = 15.007285,T = 2.453546, P = 0.459501 initial results: dx= 1.994046,dt = 1.058391, a_f = -3.068942, v_f = 0.259963 dt = 1.058391, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.450000 primary movement = 3.500601369056e-03 time: 1.450000000000e+00 total movement = 3.500601369056e-03 vel = 3.508105011633e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.523112, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.523112, acc = 15.007285,T = 2.453546, P = 0.463016 initial results: dx= 1.990530,dt = 1.052334, a_f = -3.100868, v_f = 0.259963 dt = 1.052334, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.451000 primary movement = 3.515608654210e-03 time: 1.451000000000e+00 total movement = 3.515608654210e-03 vel = 3.523112296787e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.538120, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.538120, acc = 15.007285,T = 2.453546, P = 0.466547 initial results: dx= 1.986999,dt = 1.046317, a_f = -3.133043, v_f = 0.259963 dt = 1.046317, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.452000 primary movement = 3.530615939364e-03 time: 1.452000000000e+00 total movement = 3.530615939364e-03 vel = 3.538119581941e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.553127, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.553127, acc = 15.007285,T = 2.453546, P = 0.470093 initial results: dx= 1.983454,dt = 1.040339, a_f = -3.165471, v_f = 0.259963 dt = 1.040339, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.453000 primary movement = 3.545623224518e-03 time: 1.453000000000e+00 total movement = 3.545623224518e-03 vel = 3.553126867095e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.568134, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.568134, acc = 15.007285,T = 2.453546, P = 0.473653 initial results: dx= 1.979893,dt = 1.034401, a_f = -3.198153, v_f = 0.259963 dt = 1.034401, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.454000 primary movement = 3.560630509672e-03 time: 1.454000000000e+00 total movement = 3.560630509672e-03 vel = 3.568134152249e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.583141, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.583141, acc = 15.007285,T = 2.453546, P = 0.477229 initial results: dx= 1.976317,dt = 1.028500, a_f = -3.231091, v_f = 0.259963 dt = 1.028500, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.455000 primary movement = 3.575637794826e-03 time: 1.455000000000e+00 total movement = 3.575637794826e-03 vel = 3.583141437403e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.598149, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.598149, acc = 15.007285,T = 2.453546, P = 0.480820 initial results: dx= 1.972727,dt = 1.022638, a_f = -3.264287, v_f = 0.259963 dt = 1.022638, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.456000 primary movement = 3.590645079980e-03 time: 1.456000000000e+00 total movement = 3.590645079980e-03 vel = 3.598148722557e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.613156, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.613156, acc = 15.007285,T = 2.453546, P = 0.484425 initial results: dx= 1.969121,dt = 1.016814, a_f = -3.297744, v_f = 0.259963 dt = 1.016814, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.457000 primary movement = 3.605652365133e-03 time: 1.457000000000e+00 total movement = 3.605652365133e-03 vel = 3.613156007710e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.628163, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.628163, acc = 15.007285,T = 2.453546, P = 0.488046 initial results: dx= 1.965500,dt = 1.011027, a_f = -3.331464, v_f = 0.259963 dt = 1.011027, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.458000 primary movement = 3.620659650288e-03 time: 1.458000000000e+00 total movement = 3.620659650288e-03 vel = 3.628163292864e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.643171, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.643171, acc = 15.007285,T = 2.453546, P = 0.491682 initial results: dx= 1.961865,dt = 1.005277, a_f = -3.365449, v_f = 0.259963 dt = 1.005277, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.459000 primary movement = 3.635666935441e-03 time: 1.459000000000e+00 total movement = 3.635666935441e-03 vel = 3.643170578018e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.658178, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.658178, acc = 15.007285,T = 2.453546, P = 0.495332 initial results: dx= 1.958214,dt = 0.999563, a_f = -3.399701, v_f = 0.259963 dt = 0.999563, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.460000 primary movement = 3.650674220595e-03 time: 1.460000000000e+00 total movement = 3.650674220595e-03 vel = 3.658177863172e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.673185, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.673185, acc = 15.007285,T = 2.453546, P = 0.498998 initial results: dx= 1.954548,dt = 0.993885, a_f = -3.434222, v_f = 0.259963 dt = 0.993885, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.461000 primary movement = 3.665681505749e-03 time: 1.461000000000e+00 total movement = 3.665681505749e-03 vel = 3.673185148326e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.688192, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.688192, acc = 15.007285,T = 2.453546, P = 0.502679 initial results: dx= 1.950868,dt = 0.988243, a_f = -3.469016, v_f = 0.259963 dt = 0.988243, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.462000 primary movement = 3.680688790903e-03 time: 1.462000000000e+00 total movement = 3.680688790903e-03 vel = 3.688192433480e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.703200, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.703200, acc = 15.007285,T = 2.453546, P = 0.506374 initial results: dx= 1.947172,dt = 0.982635, a_f = -3.504084, v_f = 0.259963 dt = 0.982635, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.463000 primary movement = 3.695696076056e-03 time: 1.463000000000e+00 total movement = 3.695696076056e-03 vel = 3.703199718634e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.718207, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.718207, acc = 15.007285,T = 2.453546, P = 0.510085 initial results: dx= 1.943461,dt = 0.977063, a_f = -3.539428, v_f = 0.259963 dt = 0.977063, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.464000 primary movement = 3.710703361211e-03 time: 1.464000000000e+00 total movement = 3.710703361211e-03 vel = 3.718207003788e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.733214, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.733214, acc = 15.007285,T = 2.453546, P = 0.513811 initial results: dx= 1.939736,dt = 0.971525, a_f = -3.575051, v_f = 0.259963 dt = 0.971525, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.465000 primary movement = 3.725710646364e-03 time: 1.465000000000e+00 total movement = 3.725710646364e-03 vel = 3.733214288941e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.748222, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.748222, acc = 15.007285,T = 2.453546, P = 0.517551 initial results: dx= 1.935995,dt = 0.966021, a_f = -3.610956, v_f = 0.259963 dt = 0.966021, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.466000 primary movement = 3.740717931519e-03 time: 1.466000000000e+00 total movement = 3.740717931519e-03 vel = 3.748221574095e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.763229, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.763229, acc = 15.007285,T = 2.453546, P = 0.521307 initial results: dx= 1.932239,dt = 0.960550, a_f = -3.647144, v_f = 0.259963 dt = 0.960550, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.467000 primary movement = 3.755725216672e-03 time: 1.467000000000e+00 total movement = 3.755725216672e-03 vel = 3.763228859249e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.778236, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.778236, acc = 15.007285,T = 2.453546, P = 0.525078 initial results: dx= 1.928468,dt = 0.955113, a_f = -3.683619, v_f = 0.259963 dt = 0.955113, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.468000 primary movement = 3.770732501826e-03 time: 1.468000000000e+00 total movement = 3.770732501826e-03 vel = 3.778236144403e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.793243, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.793243, acc = 15.007285,T = 2.453546, P = 0.528864 initial results: dx= 1.924683,dt = 0.949709, a_f = -3.720383, v_f = 0.259963 dt = 0.949709, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.469000 primary movement = 3.785739786980e-03 time: 1.469000000000e+00 total movement = 3.785739786980e-03 vel = 3.793243429557e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.808251, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.808251, acc = 15.007285,T = 2.453546, P = 0.532664 initial results: dx= 1.920882,dt = 0.944337, a_f = -3.757439, v_f = 0.259963 dt = 0.944337, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.470000 primary movement = 3.800747072134e-03 time: 1.470000000000e+00 total movement = 3.800747072134e-03 vel = 3.808250714711e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.823258, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.823258, acc = 15.007285,T = 2.453546, P = 0.536480 initial results: dx= 1.917066,dt = 0.938997, a_f = -3.794788, v_f = 0.259963 dt = 0.938997, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.471000 primary movement = 3.815754357288e-03 time: 1.471000000000e+00 total movement = 3.815754357288e-03 vel = 3.823257999865e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.838265, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.838265, acc = 15.007285,T = 2.453546, P = 0.540311 initial results: dx= 1.913235,dt = 0.933689, a_f = -3.832435, v_f = 0.259963 dt = 0.933689, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.472000 primary movement = 3.830761642442e-03 time: 1.472000000000e+00 total movement = 3.830761642442e-03 vel = 3.838265285018e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.853273, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.853273, acc = 15.007285,T = 2.453546, P = 0.544157 initial results: dx= 1.909390,dt = 0.928412, a_f = -3.870380, v_f = 0.259963 dt = 0.928412, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.473000 primary movement = 3.845768927595e-03 time: 1.473000000000e+00 total movement = 3.845768927595e-03 vel = 3.853272570172e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.868280, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.868280, acc = 15.007285,T = 2.453546, P = 0.548017 initial results: dx= 1.905529,dt = 0.923167, a_f = -3.908628, v_f = 0.259963 dt = 0.923167, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.474000 primary movement = 3.860776212749e-03 time: 1.474000000000e+00 total movement = 3.860776212749e-03 vel = 3.868279855326e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.883287, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.883287, acc = 15.007285,T = 2.453546, P = 0.551893 initial results: dx= 1.901653,dt = 0.917952, a_f = -3.947181, v_f = 0.259963 dt = 0.917952, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.475000 primary movement = 3.875783497903e-03 time: 1.475000000000e+00 total movement = 3.875783497903e-03 vel = 3.883287140480e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.898294, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.898294, acc = 15.007285,T = 2.453546, P = 0.555784 initial results: dx= 1.897762,dt = 0.912768, a_f = -3.986041, v_f = 0.259963 dt = 0.912768, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.476000 primary movement = 3.890790783057e-03 time: 1.476000000000e+00 total movement = 3.890790783057e-03 vel = 3.898294425634e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.913302, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.913302, acc = 15.007285,T = 2.453546, P = 0.559690 initial results: dx= 1.893857,dt = 0.907614, a_f = -4.025212, v_f = 0.259963 dt = 0.907614, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.477000 primary movement = 3.905798068211e-03 time: 1.477000000000e+00 total movement = 3.905798068211e-03 vel = 3.913301710788e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.928309, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.928309, acc = 15.007285,T = 2.453546, P = 0.563611 initial results: dx= 1.889936,dt = 0.902489, a_f = -4.064697, v_f = 0.259963 dt = 0.902489, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.478000 primary movement = 3.920805353365e-03 time: 1.478000000000e+00 total movement = 3.920805353365e-03 vel = 3.928308995942e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.943316, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.943316, acc = 15.007285,T = 2.453546, P = 0.567546 initial results: dx= 1.886000,dt = 0.897394, a_f = -4.104497, v_f = 0.259963 dt = 0.897394, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.479000 primary movement = 3.935812638519e-03 time: 1.479000000000e+00 total movement = 3.935812638519e-03 vel = 3.943316281096e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.958324, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.958324, acc = 15.007285,T = 2.453546, P = 0.571497 initial results: dx= 1.882049,dt = 0.892329, a_f = -4.144617, v_f = 0.259963 dt = 0.892329, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.480000 primary movement = 3.950819923673e-03 time: 1.480000000000e+00 total movement = 3.950819923673e-03 vel = 3.958323566249e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.973331, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.973331, acc = 15.007285,T = 2.453546, P = 0.575463 initial results: dx= 1.878083,dt = 0.887292, a_f = -4.185059, v_f = 0.259963 dt = 0.887292, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.481000 primary movement = 3.965827208826e-03 time: 1.481000000000e+00 total movement = 3.965827208826e-03 vel = 3.973330851403e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.988338, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.988338, acc = 15.007285,T = 2.453546, P = 0.579444 initial results: dx= 1.874102,dt = 0.882283, a_f = -4.225826, v_f = 0.259963 dt = 0.882283, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.482000 primary movement = 3.980834493980e-03 time: 1.482000000000e+00 total movement = 3.980834493980e-03 vel = 3.988338136557e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.003345, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.003345, acc = 15.007285,T = 2.453546, P = 0.583440 initial results: dx= 1.870107,dt = 0.877303, a_f = -4.266921, v_f = 0.259963 dt = 0.877303, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.483000 primary movement = 3.995841779134e-03 time: 1.483000000000e+00 total movement = 3.995841779134e-03 vel = 4.003345421711e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.018353, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.018353, acc = 15.007285,T = 2.453546, P = 0.587451 initial results: dx= 1.866096,dt = 0.872351, a_f = -4.308347, v_f = 0.259963 dt = 0.872351, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.484000 primary movement = 4.010849064288e-03 time: 1.484000000000e+00 total movement = 4.010849064288e-03 vel = 4.018352706865e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.033360, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.033360, acc = 15.007285,T = 2.453546, P = 0.591476 initial results: dx= 1.862070,dt = 0.867426, a_f = -4.350108, v_f = 0.259963 dt = 0.867426, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.485000 primary movement = 4.025856349442e-03 time: 1.485000000000e+00 total movement = 4.025856349442e-03 vel = 4.033359992019e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.048367, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.048367, acc = 15.007285,T = 2.453546, P = 0.595517 initial results: dx= 1.858029,dt = 0.862529, a_f = -4.392207, v_f = 0.259963 dt = 0.862529, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.486000 primary movement = 4.040863634595e-03 time: 1.486000000000e+00 total movement = 4.040863634595e-03 vel = 4.048367277173e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.063375, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.063375, acc = 15.007285,T = 2.453546, P = 0.599573 initial results: dx= 1.853973,dt = 0.857658, a_f = -4.434647, v_f = 0.259963 dt = 0.857658, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.487000 primary movement = 4.055870919750e-03 time: 1.487000000000e+00 total movement = 4.055870919750e-03 vel = 4.063374562326e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.078382, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.078382, acc = 15.007285,T = 2.453546, P = 0.603644 initial results: dx= 1.849902,dt = 0.852815, a_f = -4.477430, v_f = 0.259963 dt = 0.852815, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.488000 primary movement = 4.070878204903e-03 time: 1.488000000000e+00 total movement = 4.070878204903e-03 vel = 4.078381847480e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.093389, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.093389, acc = 15.007285,T = 2.453546, P = 0.607730 initial results: dx= 1.845816,dt = 0.847998, a_f = -4.520562, v_f = 0.259963 dt = 0.847998, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.489000 primary movement = 4.085885490058e-03 time: 1.489000000000e+00 total movement = 4.085885490058e-03 vel = 4.093389132634e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.108396, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.108396, acc = 15.007285,T = 2.453546, P = 0.611831 initial results: dx= 1.841715,dt = 0.843207, a_f = -4.564044, v_f = 0.259963 dt = 0.843207, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.490000 primary movement = 4.100892775211e-03 time: 1.490000000000e+00 total movement = 4.100892775211e-03 vel = 4.108396417788e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.123404, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.123404, acc = 15.007285,T = 2.453546, P = 0.615947 initial results: dx= 1.837600,dt = 0.838442, a_f = -4.607880, v_f = 0.259963 dt = 0.838442, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.491000 primary movement = 4.115900060365e-03 time: 1.491000000000e+00 total movement = 4.115900060365e-03 vel = 4.123403702942e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.138411, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.138411, acc = 15.007285,T = 2.453546, P = 0.620078 initial results: dx= 1.833469,dt = 0.833703, a_f = -4.652074, v_f = 0.259963 dt = 0.833703, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.492000 primary movement = 4.130907345519e-03 time: 1.492000000000e+00 total movement = 4.130907345519e-03 vel = 4.138410988096e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.153418, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.153418, acc = 15.007285,T = 2.453546, P = 0.624224 initial results: dx= 1.829323,dt = 0.828989, a_f = -4.696629, v_f = 0.259963 dt = 0.828989, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.493000 primary movement = 4.145914630673e-03 time: 1.493000000000e+00 total movement = 4.145914630673e-03 vel = 4.153418273250e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.168426, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.168426, acc = 15.007285,T = 2.453546, P = 0.628384 initial results: dx= 1.825162,dt = 0.824301, a_f = -4.741550, v_f = 0.259963 dt = 0.824301, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.494000 primary movement = 4.160921915826e-03 time: 1.494000000000e+00 total movement = 4.160921915826e-03 vel = 4.168425558404e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.183433, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.183433, acc = 15.007285,T = 2.453546, P = 0.632560 initial results: dx= 1.820986,dt = 0.819637, a_f = -4.786838, v_f = 0.259963 dt = 0.819637, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.495000 primary movement = 4.175929200980e-03 time: 1.495000000000e+00 total movement = 4.175929200980e-03 vel = 4.183432843557e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.198440, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.198440, acc = 15.007285,T = 2.453546, P = 0.636751 initial results: dx= 1.816795,dt = 0.814998, a_f = -4.832499, v_f = 0.259963 dt = 0.814998, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.496000 primary movement = 4.190936486135e-03 time: 1.496000000000e+00 total movement = 4.190936486135e-03 vel = 4.198440128711e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.213447, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.213447, acc = 15.007285,T = 2.453546, P = 0.640957 initial results: dx= 1.812589,dt = 0.810383, a_f = -4.878535, v_f = 0.259963 dt = 0.810383, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.497000 primary movement = 4.205943771288e-03 time: 1.497000000000e+00 total movement = 4.205943771288e-03 vel = 4.213447413865e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.228455, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.228455, acc = 15.007285,T = 2.453546, P = 0.645178 initial results: dx= 1.808368,dt = 0.805793, a_f = -4.924951, v_f = 0.259963 dt = 0.805793, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.498000 primary movement = 4.220951056442e-03 time: 1.498000000000e+00 total movement = 4.220951056442e-03 vel = 4.228454699019e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.243462, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.243462, acc = 15.007285,T = 2.453546, P = 0.649414 initial results: dx= 1.804132,dt = 0.801227, a_f = -4.971750, v_f = 0.259963 dt = 0.801227, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.499000 primary movement = 4.235958341596e-03 time: 1.499000000000e+00 total movement = 4.235958341596e-03 vel = 4.243461984173e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.258469, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.258469, acc = 15.007285,T = 2.453546, P = 0.653665 initial results: dx= 1.799881,dt = 0.796684, a_f = -5.018937, v_f = 0.259963 dt = 0.796684, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.500000 primary movement = 4.250965626750e-03 time: 1.500000000000e+00 total movement = 4.250965626750e-03 vel = 4.258469269327e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.273477, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.273477, acc = 15.007285,T = 2.453546, P = 0.657931 initial results: dx= 1.795615,dt = 0.792165, a_f = -5.066515, v_f = 0.259963 dt = 0.792165, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.501000 primary movement = 4.265972911904e-03 time: 1.501000000000e+00 total movement = 4.265972911904e-03 vel = 4.273476554481e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.288484, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.288484, acc = 15.007285,T = 2.453546, P = 0.662212 initial results: dx= 1.791334,dt = 0.787668, a_f = -5.114487, v_f = 0.259963 dt = 0.787668, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.502000 primary movement = 4.280980197057e-03 time: 1.502000000000e+00 total movement = 4.280980197057e-03 vel = 4.288483839634e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.303491, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.303491, acc = 15.007285,T = 2.453546, P = 0.666508 initial results: dx= 1.787038,dt = 0.783195, a_f = -5.162860, v_f = 0.259963 dt = 0.783195, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.503000 primary movement = 4.295987482212e-03 time: 1.503000000000e+00 total movement = 4.295987482212e-03 vel = 4.303491124788e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.318498, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.318498, acc = 15.007285,T = 2.453546, P = 0.670819 initial results: dx= 1.782727,dt = 0.778745, a_f = -5.211635, v_f = 0.259963 dt = 0.778745, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.504000 primary movement = 4.310994767365e-03 time: 1.504000000000e+00 total movement = 4.310994767365e-03 vel = 4.318498409942e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.333506, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.333506, acc = 15.007285,T = 2.453546, P = 0.675145 initial results: dx= 1.778401,dt = 0.774317, a_f = -5.260818, v_f = 0.259963 dt = 0.774317, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.505000 primary movement = 4.326002052519e-03 time: 1.505000000000e+00 total movement = 4.326002052519e-03 vel = 4.333505695096e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.348513, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.348513, acc = 15.007285,T = 2.453546, P = 0.679486 initial results: dx= 1.774060,dt = 0.769912, a_f = -5.310413, v_f = 0.259963 dt = 0.769912, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.506000 primary movement = 4.341009337673e-03 time: 1.506000000000e+00 total movement = 4.341009337673e-03 vel = 4.348512980250e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.363520, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.363520, acc = 15.007285,T = 2.453546, P = 0.683842 initial results: dx= 1.769704,dt = 0.765528, a_f = -5.360424, v_f = 0.259963 dt = 0.765528, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.507000 primary movement = 4.356016622827e-03 time: 1.507000000000e+00 total movement = 4.356016622827e-03 vel = 4.363520265404e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.378528, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.378528, acc = 15.007285,T = 2.453546, P = 0.688213 initial results: dx= 1.765333,dt = 0.761167, a_f = -5.410855, v_f = 0.259963 dt = 0.761167, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.508000 primary movement = 4.371023907981e-03 time: 1.508000000000e+00 total movement = 4.371023907981e-03 vel = 4.378527550558e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.393535, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.393535, acc = 15.007285,T = 2.453546, P = 0.692599 initial results: dx= 1.760947,dt = 0.756827, a_f = -5.461711, v_f = 0.259963 dt = 0.756827, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.509000 primary movement = 4.386031193135e-03 time: 1.509000000000e+00 total movement = 4.386031193135e-03 vel = 4.393534835712e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.408542, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.408542, acc = 15.007285,T = 2.453546, P = 0.697000 initial results: dx= 1.756546,dt = 0.752509, a_f = -5.512996, v_f = 0.259963 dt = 0.752509, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.510000 primary movement = 4.401038478288e-03 time: 1.510000000000e+00 total movement = 4.401038478288e-03 vel = 4.408542120865e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.423549, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.423549, acc = 15.007285,T = 2.453546, P = 0.701416 initial results: dx= 1.752130,dt = 0.748212, a_f = -5.564715, v_f = 0.259963 dt = 0.748212, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.511000 primary movement = 4.416045763443e-03 time: 1.511000000000e+00 total movement = 4.416045763443e-03 vel = 4.423549406019e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.438557, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.438557, acc = 15.007285,T = 2.453546, P = 0.705847 initial results: dx= 1.747699,dt = 0.743936, a_f = -5.616872, v_f = 0.259963 dt = 0.743936, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.512000 primary movement = 4.431053048596e-03 time: 1.512000000000e+00 total movement = 4.431053048596e-03 vel = 4.438556691173e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.453564, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.453564, acc = 15.007285,T = 2.453546, P = 0.710293 initial results: dx= 1.743253,dt = 0.739681, a_f = -5.669473, v_f = 0.259963 dt = 0.739681, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.513000 primary movement = 4.446060333751e-03 time: 1.513000000000e+00 total movement = 4.446060333751e-03 vel = 4.453563976327e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.468571, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.468571, acc = 15.007285,T = 2.453546, P = 0.714754 initial results: dx= 1.738792,dt = 0.735446, a_f = -5.722522, v_f = 0.259963 dt = 0.735446, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.514000 primary movement = 4.461067618904e-03 time: 1.514000000000e+00 total movement = 4.461067618904e-03 vel = 4.468571261481e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.483579, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.483579, acc = 15.007285,T = 2.453546, P = 0.719231 initial results: dx= 1.734316,dt = 0.731232, a_f = -5.776023, v_f = 0.259963 dt = 0.731232, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.515000 primary movement = 4.476074904058e-03 time: 1.515000000000e+00 total movement = 4.476074904058e-03 vel = 4.483578546635e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.498586, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.498586, acc = 15.007285,T = 2.453546, P = 0.723722 initial results: dx= 1.729825,dt = 0.727039, a_f = -5.829982, v_f = 0.259963 dt = 0.727039, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.516000 primary movement = 4.491082189212e-03 time: 1.516000000000e+00 total movement = 4.491082189212e-03 vel = 4.498585831789e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.513593, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.513593, acc = 15.007285,T = 2.453546, P = 0.728228 initial results: dx= 1.725319,dt = 0.722865, a_f = -5.884403, v_f = 0.259963 dt = 0.722865, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.517000 primary movement = 4.506089474365e-03 time: 1.517000000000e+00 total movement = 4.506089474365e-03 vel = 4.513593116942e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.528600, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.528600, acc = 15.007285,T = 2.453546, P = 0.732749 initial results: dx= 1.720798,dt = 0.718711, a_f = -5.939293, v_f = 0.259963 dt = 0.718711, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.518000 primary movement = 4.521096759520e-03 time: 1.518000000000e+00 total movement = 4.521096759520e-03 vel = 4.528600402096e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.543608, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.543608, acc = 15.007285,T = 2.453546, P = 0.737285 initial results: dx= 1.716261,dt = 0.714577, a_f = -5.994655, v_f = 0.259963 dt = 0.714577, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.519000 primary movement = 4.536104044673e-03 time: 1.519000000000e+00 total movement = 4.536104044673e-03 vel = 4.543607687250e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.558615, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.558615, acc = 15.007285,T = 2.453546, P = 0.741836 initial results: dx= 1.711710,dt = 0.710463, a_f = -6.050495, v_f = 0.259963 dt = 0.710463, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.520000 primary movement = 4.551111329827e-03 time: 1.520000000000e+00 total movement = 4.551111329827e-03 vel = 4.558614972404e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.573622, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.573622, acc = 15.007285,T = 2.453546, P = 0.746402 initial results: dx= 1.707144,dt = 0.706368, a_f = -6.106819, v_f = 0.259963 dt = 0.706368, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.521000 primary movement = 4.566118614981e-03 time: 1.521000000000e+00 total movement = 4.566118614981e-03 vel = 4.573622257558e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.588630, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.588630, acc = 15.007285,T = 2.453546, P = 0.750983 initial results: dx= 1.702563,dt = 0.702292, a_f = -6.163631, v_f = 0.259963 dt = 0.702292, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.522000 primary movement = 4.581125900135e-03 time: 1.522000000000e+00 total movement = 4.581125900135e-03 vel = 4.588629542712e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.603637, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.603637, acc = 15.007285,T = 2.453546, P = 0.755579 initial results: dx= 1.697967,dt = 0.698235, a_f = -6.220937, v_f = 0.259963 dt = 0.698235, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.523000 primary movement = 4.596133185289e-03 time: 1.523000000000e+00 total movement = 4.596133185289e-03 vel = 4.603636827866e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.618644, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.618644, acc = 15.007285,T = 2.453546, P = 0.760191 initial results: dx= 1.693356,dt = 0.694196, a_f = -6.278743, v_f = 0.259963 dt = 0.694196, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.524000 primary movement = 4.611140470443e-03 time: 1.524000000000e+00 total movement = 4.611140470443e-03 vel = 4.618644113020e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.633651, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.633651, acc = 15.007285,T = 2.453546, P = 0.764817 initial results: dx= 1.688730,dt = 0.690177, a_f = -6.337055, v_f = 0.259963 dt = 0.690177, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.525000 primary movement = 4.626147755596e-03 time: 1.525000000000e+00 total movement = 4.626147755596e-03 vel = 4.633651398173e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.648659, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.648659, acc = 15.007285,T = 2.453546, P = 0.769458 initial results: dx= 1.684089,dt = 0.686176, a_f = -6.395877, v_f = 0.259963 dt = 0.686176, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.526000 primary movement = 4.641155040750e-03 time: 1.526000000000e+00 total movement = 4.641155040750e-03 vel = 4.648658683327e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.663666, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.663666, acc = 15.007285,T = 2.453546, P = 0.774114 initial results: dx= 1.679432,dt = 0.682193, a_f = -6.455217, v_f = 0.259963 dt = 0.682193, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.527000 primary movement = 4.656162325904e-03 time: 1.527000000000e+00 total movement = 4.656162325904e-03 vel = 4.663665968481e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.678673, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.678673, acc = 15.007285,T = 2.453546, P = 0.778785 initial results: dx= 1.674761,dt = 0.678228, a_f = -6.515079, v_f = 0.259963 dt = 0.678228, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.528000 primary movement = 4.671169611058e-03 time: 1.528000000000e+00 total movement = 4.671169611058e-03 vel = 4.678673253635e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.693681, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.693681, acc = 15.007285,T = 2.453546, P = 0.783471 initial results: dx= 1.670075,dt = 0.674281, a_f = -6.575470, v_f = 0.259963 dt = 0.674281, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.529000 primary movement = 4.686176896212e-03 time: 1.529000000000e+00 total movement = 4.686176896212e-03 vel = 4.693680538789e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.708688, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.708688, acc = 15.007285,T = 2.453546, P = 0.788173 initial results: dx= 1.665374,dt = 0.670352, a_f = -6.636396, v_f = 0.259963 dt = 0.670352, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.530000 primary movement = 4.701184181366e-03 time: 1.530000000000e+00 total movement = 4.701184181366e-03 vel = 4.708687823943e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.723695, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.723695, acc = 15.007285,T = 2.453546, P = 0.792889 initial results: dx= 1.660658,dt = 0.666441, a_f = -6.697863, v_f = 0.259963 dt = 0.666441, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.531000 primary movement = 4.716191466520e-03 time: 1.531000000000e+00 total movement = 4.716191466520e-03 vel = 4.723695109097e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.738702, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.738702, acc = 15.007285,T = 2.453546, P = 0.797620 initial results: dx= 1.655926,dt = 0.662547, a_f = -6.759878, v_f = 0.259963 dt = 0.662547, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.532000 primary movement = 4.731198751673e-03 time: 1.532000000000e+00 total movement = 4.731198751673e-03 vel = 4.738702394250e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.753710, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.753710, acc = 15.007285,T = 2.453546, P = 0.802366 initial results: dx= 1.651180,dt = 0.658671, a_f = -6.822446, v_f = 0.259963 dt = 0.658671, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.533000 primary movement = 4.746206036828e-03 time: 1.533000000000e+00 total movement = 4.746206036828e-03 vel = 4.753709679404e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.768717, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.768717, acc = 15.007285,T = 2.453546, P = 0.807127 initial results: dx= 1.646419,dt = 0.654812, a_f = -6.885574, v_f = 0.259963 dt = 0.654812, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.534000 primary movement = 4.761213321981e-03 time: 1.534000000000e+00 total movement = 4.761213321981e-03 vel = 4.768716964558e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.783724, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.783724, acc = 15.007285,T = 2.453546, P = 0.811904 initial results: dx= 1.641643,dt = 0.650969, a_f = -6.949270, v_f = 0.259963 dt = 0.650969, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.535000 primary movement = 4.776220607135e-03 time: 1.535000000000e+00 total movement = 4.776220607135e-03 vel = 4.783724249712e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.798732, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.798732, acc = 15.007285,T = 2.453546, P = 0.816695 initial results: dx= 1.636852,dt = 0.647144, a_f = -7.013539, v_f = 0.259963 dt = 0.647144, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.536000 primary movement = 4.791227892289e-03 time: 1.536000000000e+00 total movement = 4.791227892289e-03 vel = 4.798731534866e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.813739, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.813739, acc = 15.007285,T = 2.453546, P = 0.821501 initial results: dx= 1.632045,dt = 0.643335, a_f = -7.078388, v_f = 0.259963 dt = 0.643335, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.537000 primary movement = 4.806235177443e-03 time: 1.537000000000e+00 total movement = 4.806235177443e-03 vel = 4.813738820020e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.828746, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.828746, acc = 15.007285,T = 2.453546, P = 0.826322 initial results: dx= 1.627224,dt = 0.639543, a_f = -7.143825, v_f = 0.259963 dt = 0.639543, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.538000 primary movement = 4.821242462597e-03 time: 1.538000000000e+00 total movement = 4.821242462597e-03 vel = 4.828746105174e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.843753, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.843753, acc = 15.007285,T = 2.453546, P = 0.831158 initial results: dx= 1.622388,dt = 0.635767, a_f = -7.209856, v_f = 0.259963 dt = 0.635767, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.539000 primary movement = 4.836249747750e-03 time: 1.539000000000e+00 total movement = 4.836249747750e-03 vel = 4.843753390328e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.858761, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.858761, acc = 15.007285,T = 2.453546, P = 0.836010 initial results: dx= 1.617537,dt = 0.632008, a_f = -7.276489, v_f = 0.259963 dt = 0.632008, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.540000 primary movement = 4.851257032905e-03 time: 1.540000000000e+00 total movement = 4.851257032905e-03 vel = 4.858760675481e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.873768, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.873768, acc = 15.007285,T = 2.453546, P = 0.840876 initial results: dx= 1.612670,dt = 0.628264, a_f = -7.343731, v_f = 0.259963 dt = 0.628264, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.541000 primary movement = 4.866264318058e-03 time: 1.541000000000e+00 total movement = 4.866264318058e-03 vel = 4.873767960635e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.888775, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.888775, acc = 15.007285,T = 2.453546, P = 0.845757 initial results: dx= 1.607789,dt = 0.624537, a_f = -7.411589, v_f = 0.259963 dt = 0.624537, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.542000 primary movement = 4.881271603212e-03 time: 1.542000000000e+00 total movement = 4.881271603212e-03 vel = 4.888775245789e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.903783, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.903783, acc = 15.007285,T = 2.453546, P = 0.850654 initial results: dx= 1.602893,dt = 0.620826, a_f = -7.480071, v_f = 0.259963 dt = 0.620826, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.543000 primary movement = 4.896278888366e-03 time: 1.543000000000e+00 total movement = 4.896278888366e-03 vel = 4.903782530943e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.918790, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.918790, acc = 15.007285,T = 2.453546, P = 0.855565 initial results: dx= 1.597981,dt = 0.617130, a_f = -7.549184, v_f = 0.259963 dt = 0.617130, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.544000 primary movement = 4.911286173520e-03 time: 1.544000000000e+00 total movement = 4.911286173520e-03 vel = 4.918789816097e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.933797, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.933797, acc = 15.007285,T = 2.453546, P = 0.860491 initial results: dx= 1.593055,dt = 0.613450, a_f = -7.618937, v_f = 0.259963 dt = 0.613450, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.545000 primary movement = 4.926293458674e-03 time: 1.545000000000e+00 total movement = 4.926293458674e-03 vel = 4.933797101251e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.948804, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.948804, acc = 15.007285,T = 2.453546, P = 0.865432 initial results: dx= 1.588114,dt = 0.609785, a_f = -7.689337, v_f = 0.259963 dt = 0.609785, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.546000 primary movement = 4.941300743828e-03 time: 1.546000000000e+00 total movement = 4.941300743828e-03 vel = 4.948804386405e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.963812, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.963812, acc = 15.007285,T = 2.453546, P = 0.870389 initial results: dx= 1.583158,dt = 0.606135, a_f = -7.760392, v_f = 0.259963 dt = 0.606135, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.547000 primary movement = 4.956308028982e-03 time: 1.547000000000e+00 total movement = 4.956308028982e-03 vel = 4.963811671558e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.978819, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.978819, acc = 15.007285,T = 2.453546, P = 0.875360 initial results: dx= 1.578186,dt = 0.602501, a_f = -7.832110, v_f = 0.259963 dt = 0.602501, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.548000 primary movement = 4.971315314135e-03 time: 1.548000000000e+00 total movement = 4.971315314135e-03 vel = 4.978818956712e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.993826, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.993826, acc = 15.007285,T = 2.453546, P = 0.880346 initial results: dx= 1.573200,dt = 0.598882, a_f = -7.904501, v_f = 0.259963 dt = 0.598882, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.549000 primary movement = 4.986322599289e-03 time: 1.549000000000e+00 total movement = 4.986322599289e-03 vel = 4.993826241866e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.008834, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.008834, acc = 15.007285,T = 2.453546, P = 0.885348 initial results: dx= 1.568199,dt = 0.595278, a_f = -7.977571, v_f = 0.259963 dt = 0.595278, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.550000 primary movement = 5.001329884443e-03 time: 1.550000000000e+00 total movement = 5.001329884443e-03 vel = 5.008833527020e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.023841, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.023841, acc = 15.007285,T = 2.453546, P = 0.890364 initial results: dx= 1.563182,dt = 0.591688, a_f = -8.051331, v_f = 0.259963 dt = 0.591688, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.551000 primary movement = 5.016337169597e-03 time: 1.551000000000e+00 total movement = 5.016337169597e-03 vel = 5.023840812174e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.038848, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.038848, acc = 15.007285,T = 2.453546, P = 0.895395 initial results: dx= 1.558151,dt = 0.588113, a_f = -8.125788, v_f = 0.259963 dt = 0.588113, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.552000 primary movement = 5.031344454751e-03 time: 1.552000000000e+00 total movement = 5.031344454751e-03 vel = 5.038848097328e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.053855, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.053855, acc = 15.007285,T = 2.453546, P = 0.900442 initial results: dx= 1.553105,dt = 0.584553, a_f = -8.200952, v_f = 0.259963 dt = 0.584553, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.553000 primary movement = 5.046351739905e-03 time: 1.553000000000e+00 total movement = 5.046351739905e-03 vel = 5.053855382482e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.068863, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.068863, acc = 15.007285,T = 2.453546, P = 0.905503 initial results: dx= 1.548043,dt = 0.581007, a_f = -8.276832, v_f = 0.259963 dt = 0.581007, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.554000 primary movement = 5.061359025058e-03 time: 1.554000000000e+00 total movement = 5.061359025058e-03 vel = 5.068862667636e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.083870, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.083870, acc = 15.007285,T = 2.453546, P = 0.910579 initial results: dx= 1.542967,dt = 0.577476, a_f = -8.353437, v_f = 0.259963 dt = 0.577476, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.555000 primary movement = 5.076366310213e-03 time: 1.555000000000e+00 total movement = 5.076366310213e-03 vel = 5.083869952789e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.098877, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.098877, acc = 15.007285,T = 2.453546, P = 0.915671 initial results: dx= 1.537875,dt = 0.573958, a_f = -8.430776, v_f = 0.259963 dt = 0.573958, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.556000 primary movement = 5.091373595366e-03 time: 1.556000000000e+00 total movement = 5.091373595366e-03 vel = 5.098877237943e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.113885, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.113885, acc = 15.007285,T = 2.453546, P = 0.920777 initial results: dx= 1.532769,dt = 0.570455, a_f = -8.508860, v_f = 0.259963 dt = 0.570455, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.557000 primary movement = 5.106380880521e-03 time: 1.557000000000e+00 total movement = 5.106380880521e-03 vel = 5.113884523097e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.128892, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.128892, acc = 15.007285,T = 2.453546, P = 0.925899 initial results: dx= 1.527648,dt = 0.566966, a_f = -8.587697, v_f = 0.259963 dt = 0.566966, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.558000 primary movement = 5.121388165674e-03 time: 1.558000000000e+00 total movement = 5.121388165674e-03 vel = 5.128891808251e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.143899, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.143899, acc = 15.007285,T = 2.453546, P = 0.931035 initial results: dx= 1.522511,dt = 0.563490, a_f = -8.667298, v_f = 0.259963 dt = 0.563490, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.559000 primary movement = 5.136395450828e-03 time: 1.559000000000e+00 total movement = 5.136395450828e-03 vel = 5.143899093405e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.158906, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.158906, acc = 15.007285,T = 2.453546, P = 0.936186 initial results: dx= 1.517360,dt = 0.560028, a_f = -8.747672, v_f = 0.259963 dt = 0.560028, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.560000 primary movement = 5.151402735982e-03 time: 1.560000000000e+00 total movement = 5.151402735982e-03 vel = 5.158906378559e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.173914, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.173914, acc = 15.007285,T = 2.453546, P = 0.941353 initial results: dx= 1.512193,dt = 0.556580, a_f = -8.828831, v_f = 0.259963 dt = 0.556580, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.561000 primary movement = 5.166410021136e-03 time: 1.561000000000e+00 total movement = 5.166410021136e-03 vel = 5.173913663713e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.188921, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.188921, acc = 15.007285,T = 2.453546, P = 0.946534 initial results: dx= 1.507012,dt = 0.553145, a_f = -8.910785, v_f = 0.259963 dt = 0.553145, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.562000 primary movement = 5.181417306289e-03 time: 1.562000000000e+00 total movement = 5.181417306289e-03 vel = 5.188920948866e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.203928, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.203928, acc = 15.007285,T = 2.453546, P = 0.951731 initial results: dx= 1.501816,dt = 0.549724, a_f = -8.993543, v_f = 0.259963 dt = 0.549724, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.563000 primary movement = 5.196424591443e-03 time: 1.563000000000e+00 total movement = 5.196424591443e-03 vel = 5.203928234020e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.218936, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.218936, acc = 15.007285,T = 2.453546, P = 0.956942 initial results: dx= 1.496604,dt = 0.546316, a_f = -9.077118, v_f = 0.259963 dt = 0.546316, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.564000 primary movement = 5.211431876597e-03 time: 1.564000000000e+00 total movement = 5.211431876597e-03 vel = 5.218935519174e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.233943, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.233943, acc = 15.007285,T = 2.453546, P = 0.962169 initial results: dx= 1.491378,dt = 0.542921, a_f = -9.161521, v_f = 0.259963 dt = 0.542921, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.565000 primary movement = 5.226439161751e-03 time: 1.565000000000e+00 total movement = 5.226439161751e-03 vel = 5.233942804328e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.248950, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.248950, acc = 15.007285,T = 2.453546, P = 0.967410 initial results: dx= 1.486136,dt = 0.539539, a_f = -9.246761, v_f = 0.259963 dt = 0.539539, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.566000 primary movement = 5.241446446905e-03 time: 1.566000000000e+00 total movement = 5.241446446905e-03 vel = 5.248950089482e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.263957, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.263957, acc = 15.007285,T = 2.453546, P = 0.972666 initial results: dx= 1.480880,dt = 0.536170, a_f = -9.332852, v_f = 0.259963 dt = 0.536170, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.567000 primary movement = 5.256453732059e-03 time: 1.567000000000e+00 total movement = 5.256453732059e-03 vel = 5.263957374636e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.278965, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.278965, acc = 15.007285,T = 2.453546, P = 0.977938 initial results: dx= 1.475608,dt = 0.532814, a_f = -9.419805, v_f = 0.259963 dt = 0.532814, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.568000 primary movement = 5.271461017213e-03 time: 1.568000000000e+00 total movement = 5.271461017213e-03 vel = 5.278964659790e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.293972, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.293972, acc = 15.007285,T = 2.453546, P = 0.983224 initial results: dx= 1.470322,dt = 0.529470, a_f = -9.507631, v_f = 0.259963 dt = 0.529470, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.569000 primary movement = 5.286468302367e-03 time: 1.569000000000e+00 total movement = 5.286468302367e-03 vel = 5.293971944944e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.308979, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.308979, acc = 15.007285,T = 2.453546, P = 0.988526 initial results: dx= 1.465020,dt = 0.526140, a_f = -9.596344, v_f = 0.259963 dt = 0.526140, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.570000 primary movement = 5.301475587520e-03 time: 1.570000000000e+00 total movement = 5.301475587520e-03 vel = 5.308979230097e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.323987, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.323987, acc = 15.007285,T = 2.453546, P = 0.993842 initial results: dx= 1.459704,dt = 0.522821, a_f = -9.685954, v_f = 0.259963 dt = 0.522821, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.571000 primary movement = 5.316482872674e-03 time: 1.571000000000e+00 total movement = 5.316482872674e-03 vel = 5.323986515251e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.338994, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.338994, acc = 15.007285,T = 2.453546, P = 0.999174 initial results: dx= 1.454372,dt = 0.519515, a_f = -9.776475, v_f = 0.259963 dt = 0.519515, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.572000 primary movement = 5.331490157828e-03 time: 1.572000000000e+00 total movement = 5.331490157828e-03 vel = 5.338993800405e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.354001, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.354001, acc = 15.007285,T = 2.453546, P = 1.004520 initial results: dx= 1.449026,dt = 0.516222, a_f = -9.867921, v_f = 0.259963 dt = 0.516222, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.573000 primary movement = 5.346497442982e-03 time: 1.573000000000e+00 total movement = 5.346497442982e-03 vel = 5.354001085559e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.369008, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.369008, acc = 15.007285,T = 2.453546, P = 1.009882 initial results: dx= 1.443664,dt = 0.512941, a_f = -9.960302, v_f = 0.259963 dt = 0.512941, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.574000 primary movement = 5.361504728136e-03 time: 1.574000000000e+00 total movement = 5.361504728136e-03 vel = 5.369008370713e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.384016, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.384016, acc = 15.007285,T = 2.453546, P = 1.015258 initial results: dx= 1.438288,dt = 0.509672, a_f = -10.053635, v_f = 0.259963 dt = 0.509672, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.575000 primary movement = 5.376512013290e-03 time: 1.575000000000e+00 total movement = 5.376512013290e-03 vel = 5.384015655867e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.399023, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.399023, acc = 15.007285,T = 2.453546, P = 1.020650 initial results: dx= 1.432896,dt = 0.506415, a_f = -10.147931, v_f = 0.259963 dt = 0.506415, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.576000 primary movement = 5.391519298444e-03 time: 1.576000000000e+00 total movement = 5.391519298444e-03 vel = 5.399022941021e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.414030, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.414030, acc = 15.007285,T = 2.453546, P = 1.026056 initial results: dx= 1.427490,dt = 0.503169, a_f = -10.243204, v_f = 0.259963 dt = 0.503169, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.577000 primary movement = 5.406526583598e-03 time: 1.577000000000e+00 total movement = 5.406526583598e-03 vel = 5.414030226174e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.429038, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.429038, acc = 15.007285,T = 2.453546, P = 1.031478 initial results: dx= 1.422068,dt = 0.499936, a_f = -10.339470, v_f = 0.259963 dt = 0.499936, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.578000 primary movement = 5.421533868751e-03 time: 1.578000000000e+00 total movement = 5.421533868751e-03 vel = 5.429037511328e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.444045, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.444045, acc = 15.007285,T = 2.453546, P = 1.036914 initial results: dx= 1.416632,dt = 0.496715, a_f = -10.436742, v_f = 0.259963 dt = 0.496715, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.579000 primary movement = 5.436541153905e-03 time: 1.579000000000e+00 total movement = 5.436541153905e-03 vel = 5.444044796482e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.459052, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.459052, acc = 15.007285,T = 2.453546, P = 1.042366 initial results: dx= 1.411180,dt = 0.493505, a_f = -10.535035, v_f = 0.259963 dt = 0.493505, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.580000 primary movement = 5.451548439059e-03 time: 1.580000000000e+00 total movement = 5.451548439059e-03 vel = 5.459052081636e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.474059, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.474059, acc = 15.007285,T = 2.453546, P = 1.047833 initial results: dx= 1.405714,dt = 0.490306, a_f = -10.634365, v_f = 0.259963 dt = 0.490306, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.581000 primary movement = 5.466555724213e-03 time: 1.581000000000e+00 total movement = 5.466555724213e-03 vel = 5.474059366790e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.489067, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.489067, acc = 15.007285,T = 2.453546, P = 1.053314 initial results: dx= 1.400232,dt = 0.487119, a_f = -10.734745, v_f = 0.259963 dt = 0.487119, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.582000 primary movement = 5.481563009367e-03 time: 1.582000000000e+00 total movement = 5.481563009367e-03 vel = 5.489066651944e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.504074, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.504074, acc = 15.007285,T = 2.453546, P = 1.058811 initial results: dx= 1.394736,dt = 0.483944, a_f = -10.836193, v_f = 0.259963 dt = 0.483944, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.583000 primary movement = 5.496570294521e-03 time: 1.583000000000e+00 total movement = 5.496570294521e-03 vel = 5.504073937098e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.519081, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.519081, acc = 15.007285,T = 2.453546, P = 1.064322 initial results: dx= 1.389224,dt = 0.480780, a_f = -10.938724, v_f = 0.259963 dt = 0.480780, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.584000 primary movement = 5.511577579675e-03 time: 1.584000000000e+00 total movement = 5.511577579675e-03 vel = 5.519081222252e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.534089, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.534089, acc = 15.007285,T = 2.453546, P = 1.069849 initial results: dx= 1.383697,dt = 0.477627, a_f = -11.042354, v_f = 0.259963 dt = 0.477627, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.585000 primary movement = 5.526584864828e-03 time: 1.585000000000e+00 total movement = 5.526584864828e-03 vel = 5.534088507405e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.549096, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.549096, acc = 15.007285,T = 2.453546, P = 1.075390 initial results: dx= 1.378156,dt = 0.474485, a_f = -11.147100, v_f = 0.259963 dt = 0.474485, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.586000 primary movement = 5.541592149982e-03 time: 1.586000000000e+00 total movement = 5.541592149982e-03 vel = 5.549095792559e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.564103, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.564103, acc = 15.007285,T = 2.453546, P = 1.080947 initial results: dx= 1.372599,dt = 0.471354, a_f = -11.252979, v_f = 0.259963 dt = 0.471354, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.587000 primary movement = 5.556599435136e-03 time: 1.587000000000e+00 total movement = 5.556599435136e-03 vel = 5.564103077713e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.579110, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.579110, acc = 15.007285,T = 2.453546, P = 1.086519 initial results: dx= 1.367028,dt = 0.468234, a_f = -11.360008, v_f = 0.259963 dt = 0.468234, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.588000 primary movement = 5.571606720291e-03 time: 1.588000000000e+00 total movement = 5.571606720291e-03 vel = 5.579110362867e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.594118, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.594118, acc = 15.007285,T = 2.453546, P = 1.092105 initial results: dx= 1.361441,dt = 0.465125, a_f = -11.468205, v_f = 0.259963 dt = 0.465125, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.589000 primary movement = 5.586614005444e-03 time: 1.589000000000e+00 total movement = 5.586614005444e-03 vel = 5.594117648021e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.609125, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.609125, acc = 15.007285,T = 2.453546, P = 1.097707 initial results: dx= 1.355839,dt = 0.462027, a_f = -11.577588, v_f = 0.259963 dt = 0.462027, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.590000 primary movement = 5.601621290598e-03 time: 1.590000000000e+00 total movement = 5.601621290598e-03 vel = 5.609124933175e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.624132, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.624132, acc = 15.007285,T = 2.453546, P = 1.103324 initial results: dx= 1.350223,dt = 0.458940, a_f = -11.688176, v_f = 0.259963 dt = 0.458940, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.591000 primary movement = 5.616628575752e-03 time: 1.591000000000e+00 total movement = 5.616628575752e-03 vel = 5.624132218329e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.639140, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.639140, acc = 15.007285,T = 2.453546, P = 1.108955 initial results: dx= 1.344591,dt = 0.455863, a_f = -11.799986, v_f = 0.259963 dt = 0.455863, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.592000 primary movement = 5.631635860905e-03 time: 1.592000000000e+00 total movement = 5.631635860905e-03 vel = 5.639139503482e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.654147, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.654147, acc = 15.007285,T = 2.453546, P = 1.114602 initial results: dx= 1.338945,dt = 0.452797, a_f = -11.913038, v_f = 0.259963 dt = 0.452797, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.593000 primary movement = 5.646643146059e-03 time: 1.593000000000e+00 total movement = 5.646643146059e-03 vel = 5.654146788636e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.669154, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.669154, acc = 15.007285,T = 2.453546, P = 1.120263 initial results: dx= 1.333283,dt = 0.449741, a_f = -12.027353, v_f = 0.259963 dt = 0.449741, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.594000 primary movement = 5.661650431213e-03 time: 1.594000000000e+00 total movement = 5.661650431213e-03 vel = 5.669154073790e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.684161, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.684161, acc = 15.007285,T = 2.453546, P = 1.125940 initial results: dx= 1.327606,dt = 0.446695, a_f = -12.142949, v_f = 0.259963 dt = 0.446695, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.595000 primary movement = 5.676657716367e-03 time: 1.595000000000e+00 total movement = 5.676657716367e-03 vel = 5.684161358944e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.699169, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.699169, acc = 15.007285,T = 2.453546, P = 1.131632 initial results: dx= 1.321915,dt = 0.443660, a_f = -12.259848, v_f = 0.259963 dt = 0.443660, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.596000 primary movement = 5.691665001521e-03 time: 1.596000000000e+00 total movement = 5.691665001521e-03 vel = 5.699168644098e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.714176, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.714176, acc = 15.007285,T = 2.453546, P = 1.137338 initial results: dx= 1.316208,dt = 0.440635, a_f = -12.378070, v_f = 0.259963 dt = 0.440635, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.597000 primary movement = 5.706672286675e-03 time: 1.597000000000e+00 total movement = 5.706672286675e-03 vel = 5.714175929252e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.729183, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.729183, acc = 15.007285,T = 2.453546, P = 1.143060 initial results: dx= 1.310486,dt = 0.437620, a_f = -12.497636, v_f = 0.259963 dt = 0.437620, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.598000 primary movement = 5.721679571828e-03 time: 1.598000000000e+00 total movement = 5.721679571828e-03 vel = 5.729183214406e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.744190, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.744190, acc = 15.007285,T = 2.453546, P = 1.148797 initial results: dx= 1.304750,dt = 0.434616, a_f = -12.618569, v_f = 0.259963 dt = 0.434616, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.599000 primary movement = 5.736686856983e-03 time: 1.599000000000e+00 total movement = 5.736686856983e-03 vel = 5.744190499560e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.759198, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.759198, acc = 15.007285,T = 2.453546, P = 1.154549 initial results: dx= 1.298998,dt = 0.431621, a_f = -12.740891, v_f = 0.259963 dt = 0.431621, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.600000 primary movement = 5.751694142136e-03 time: 1.600000000000e+00 total movement = 5.751694142136e-03 vel = 5.759197784713e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.774205, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.774205, acc = 15.007285,T = 2.453546, P = 1.160315 initial results: dx= 1.293231,dt = 0.428636, a_f = -12.864624, v_f = 0.259963 dt = 0.428636, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.601000 primary movement = 5.766701427291e-03 time: 1.601000000000e+00 total movement = 5.766701427291e-03 vel = 5.774205069867e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.789212, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.789212, acc = 15.007285,T = 2.453546, P = 1.166097 initial results: dx= 1.287449,dt = 0.425661, a_f = -12.989792, v_f = 0.259963 dt = 0.425661, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.602000 primary movement = 5.781708712444e-03 time: 1.602000000000e+00 total movement = 5.781708712444e-03 vel = 5.789212355021e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.804220, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.804220, acc = 15.007285,T = 2.453546, P = 1.171894 initial results: dx= 1.281653,dt = 0.422696, a_f = -13.116418, v_f = 0.259963 dt = 0.422696, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.603000 primary movement = 5.796715997598e-03 time: 1.603000000000e+00 total movement = 5.796715997598e-03 vel = 5.804219640175e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.819227, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.819227, acc = 15.007285,T = 2.453546, P = 1.177705 initial results: dx= 1.275841,dt = 0.419740, a_f = -13.244527, v_f = 0.259963 dt = 0.419740, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.604000 primary movement = 5.811723282752e-03 time: 1.604000000000e+00 total movement = 5.811723282752e-03 vel = 5.819226925329e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.834234, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.834234, acc = 15.007285,T = 2.453546, P = 1.183532 initial results: dx= 1.270014,dt = 0.416795, a_f = -13.374145, v_f = 0.259963 dt = 0.416795, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.605000 primary movement = 5.826730567906e-03 time: 1.605000000000e+00 total movement = 5.826730567906e-03 vel = 5.834234210483e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.849241, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.849241, acc = 15.007285,T = 2.453546, P = 1.189374 initial results: dx= 1.264172,dt = 0.413858, a_f = -13.505295, v_f = 0.259963 dt = 0.413858, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.606000 primary movement = 5.841737853060e-03 time: 1.606000000000e+00 total movement = 5.841737853060e-03 vel = 5.849241495637e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.864249, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.864249, acc = 15.007285,T = 2.453546, P = 1.195231 initial results: dx= 1.258316,dt = 0.410931, a_f = -13.638005, v_f = 0.259963 dt = 0.410931, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.607000 primary movement = 5.856745138213e-03 time: 1.607000000000e+00 total movement = 5.856745138213e-03 vel = 5.864248780790e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.879256, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.879256, acc = 15.007285,T = 2.453546, P = 1.201102 initial results: dx= 1.252444,dt = 0.408014, a_f = -13.772301, v_f = 0.259963 dt = 0.408014, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.608000 primary movement = 5.871752423368e-03 time: 1.608000000000e+00 total movement = 5.871752423368e-03 vel = 5.879256065944e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.894263, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.894263, acc = 15.007285,T = 2.453546, P = 1.206989 initial results: dx= 1.246557,dt = 0.405106, a_f = -13.908210, v_f = 0.259963 dt = 0.405106, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.609000 primary movement = 5.886759708521e-03 time: 1.609000000000e+00 total movement = 5.886759708521e-03 vel = 5.894263351098e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.909271, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.909271, acc = 15.007285,T = 2.453546, P = 1.212891 initial results: dx= 1.240655,dt = 0.402207, a_f = -14.045760, v_f = 0.259963 dt = 0.402207, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.610000 primary movement = 5.901766993676e-03 time: 1.610000000000e+00 total movement = 5.901766993676e-03 vel = 5.909270636252e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.924278, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.924278, acc = 15.007285,T = 2.453546, P = 1.218808 initial results: dx= 1.234739,dt = 0.399318, a_f = -14.184980, v_f = 0.259963 dt = 0.399318, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.611000 primary movement = 5.916774278829e-03 time: 1.611000000000e+00 total movement = 5.916774278829e-03 vel = 5.924277921406e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.939285, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.939285, acc = 15.007285,T = 2.453546, P = 1.224739 initial results: dx= 1.228807,dt = 0.396437, a_f = -14.325899, v_f = 0.259963 dt = 0.396437, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.612000 primary movement = 5.931781563983e-03 time: 1.612000000000e+00 total movement = 5.931781563983e-03 vel = 5.939285206560e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.954292, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.954292, acc = 15.007285,T = 2.453546, P = 1.230686 initial results: dx= 1.222860,dt = 0.393566, a_f = -14.468547, v_f = 0.259963 dt = 0.393566, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.613000 primary movement = 5.946788849137e-03 time: 1.613000000000e+00 total movement = 5.946788849137e-03 vel = 5.954292491714e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.969300, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.969300, acc = 15.007285,T = 2.453546, P = 1.236648 initial results: dx= 1.216898,dt = 0.390704, a_f = -14.612954, v_f = 0.259963 dt = 0.390704, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.614000 primary movement = 5.961796134291e-03 time: 1.614000000000e+00 total movement = 5.961796134291e-03 vel = 5.969299776868e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.984307, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.984307, acc = 15.007285,T = 2.453546, P = 1.242625 initial results: dx= 1.210922,dt = 0.387850, a_f = -14.759152, v_f = 0.259963 dt = 0.387850, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.615000 primary movement = 5.976803419444e-03 time: 1.615000000000e+00 total movement = 5.976803419444e-03 vel = 5.984307062021e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.999314, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.999314, acc = 15.007285,T = 2.453546, P = 1.248617 initial results: dx= 1.204930,dt = 0.385006, a_f = -14.907173, v_f = 0.259963 dt = 0.385006, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.616000 primary movement = 5.991810704598e-03 time: 1.616000000000e+00 total movement = 5.991810704598e-03 vel = 5.999314347175e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 6.004405, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 6.004405, acc = 5.091141,T = 2.453546, P = 1.254618 initial results: dx= 1.198928,dt = 0.382777, a_f = -15.007285, v_f = 0.259963 dt = 0.382777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.617000 primary movement = 6.001859917867e-03 time: 1.617000000000e+00 total movement = 6.001859917867e-03 vel = 6.004405488559e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.989398, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.989398, acc = -15.007285,T = 2.453546, P = 1.260615 on final decel initial results: dx= 1.192931,dt = 0.381777, a_f = -15.007285, v_f = 0.259963 dt = 0.381777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.618000 primary movement = 5.996901845982e-03 time: 1.618000000000e+00 total movement = 5.996901845982e-03 vel = 5.989398203405e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.974391, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.974391, acc = -15.007285,T = 2.453546, P = 1.266597 on final decel initial results: dx= 1.186949,dt = 0.380777, a_f = -15.007285, v_f = 0.259963 dt = 0.380777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.619000 primary movement = 5.981894560828e-03 time: 1.619000000000e+00 total movement = 5.981894560828e-03 vel = 5.974390918251e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.959384, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.959384, acc = -15.007285,T = 2.453546, P = 1.272564 on final decel initial results: dx= 1.180982,dt = 0.379777, a_f = -15.007285, v_f = 0.259963 dt = 0.379777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.620000 primary movement = 5.966887275674e-03 time: 1.620000000000e+00 total movement = 5.966887275674e-03 vel = 5.959383633097e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.944376, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.944376, acc = -15.007285,T = 2.453546, P = 1.278516 on final decel initial results: dx= 1.175030,dt = 0.378777, a_f = -15.007285, v_f = 0.259963 dt = 0.378777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.621000 primary movement = 5.951879990520e-03 time: 1.621000000000e+00 total movement = 5.951879990520e-03 vel = 5.944376347943e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.929369, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.929369, acc = -15.007285,T = 2.453546, P = 1.284453 on final decel initial results: dx= 1.169093,dt = 0.377777, a_f = -15.007285, v_f = 0.259963 dt = 0.377777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.622000 primary movement = 5.936872705366e-03 time: 1.622000000000e+00 total movement = 5.936872705366e-03 vel = 5.929369062789e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.914362, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.914362, acc = -15.007285,T = 2.453546, P = 1.290375 on final decel initial results: dx= 1.163172,dt = 0.376777, a_f = -15.007285, v_f = 0.259963 dt = 0.376777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.623000 primary movement = 5.921865420212e-03 time: 1.623000000000e+00 total movement = 5.921865420212e-03 vel = 5.914361777635e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.899354, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.899354, acc = -15.007285,T = 2.453546, P = 1.296282 on final decel initial results: dx= 1.157265,dt = 0.375777, a_f = -15.007285, v_f = 0.259963 dt = 0.375777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.624000 primary movement = 5.906858135058e-03 time: 1.624000000000e+00 total movement = 5.906858135058e-03 vel = 5.899354492481e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.884347, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.884347, acc = -15.007285,T = 2.453546, P = 1.302173 on final decel initial results: dx= 1.151373,dt = 0.374777, a_f = -15.007285, v_f = 0.259963 dt = 0.374777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.625000 primary movement = 5.891850849904e-03 time: 1.625000000000e+00 total movement = 5.891850849904e-03 vel = 5.884347207328e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.869340, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.869340, acc = -15.007285,T = 2.453546, P = 1.308050 on final decel initial results: dx= 1.145496,dt = 0.373777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.373777 dt = 0.373777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.626000 primary movement = 5.876843564751e-03 time: 1.626000000000e+00 total movement = 5.876843564751e-03 vel = 5.869339922174e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.854333, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.854333, acc = -15.007285,T = 2.453546, P = 1.313912 on final decel initial results: dx= 1.139634,dt = 0.372777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.372777 dt = 0.372777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.627000 primary movement = 5.861836279597e-03 time: 1.627000000000e+00 total movement = 5.861836279597e-03 vel = 5.854332637020e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.839325, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.839325, acc = -15.007285,T = 2.453546, P = 1.319759 on final decel initial results: dx= 1.133787,dt = 0.371777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.371777 dt = 0.371777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.628000 primary movement = 5.846828994443e-03 time: 1.628000000000e+00 total movement = 5.846828994443e-03 vel = 5.839325351866e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.824318, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.824318, acc = -15.007285,T = 2.453546, P = 1.325591 on final decel initial results: dx= 1.127956,dt = 0.370777, a_f = -15.007285, v_f = 0.259963 dt = 0.370777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.629000 primary movement = 5.831821709289e-03 time: 1.629000000000e+00 total movement = 5.831821709289e-03 vel = 5.824318066712e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.809311, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.809311, acc = -15.007285,T = 2.453546, P = 1.331408 on final decel initial results: dx= 1.122139,dt = 0.369777, a_f = -15.007285, v_f = 0.259963 dt = 0.369777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.630000 primary movement = 5.816814424135e-03 time: 1.630000000000e+00 total movement = 5.816814424135e-03 vel = 5.809310781558e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.794303, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.794303, acc = -15.007285,T = 2.453546, P = 1.337209 on final decel initial results: dx= 1.116337,dt = 0.368777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.368777 dt = 0.368777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.631000 primary movement = 5.801807138981e-03 time: 1.631000000000e+00 total movement = 5.801807138981e-03 vel = 5.794303496404e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.779296, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.779296, acc = -15.007285,T = 2.453546, P = 1.342996 on final decel initial results: dx= 1.110550,dt = 0.367777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.367777 dt = 0.367777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.632000 primary movement = 5.786799853827e-03 time: 1.632000000000e+00 total movement = 5.786799853827e-03 vel = 5.779296211251e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.764289, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.764289, acc = -15.007285,T = 2.453546, P = 1.348768 on final decel initial results: dx= 1.104778,dt = 0.366777, a_f = -15.007285, v_f = 0.259963 dt = 0.366777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.633000 primary movement = 5.771792568674e-03 time: 1.633000000000e+00 total movement = 5.771792568674e-03 vel = 5.764288926097e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.749282, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.749282, acc = -15.007285,T = 2.453546, P = 1.354525 on final decel initial results: dx= 1.099022,dt = 0.365777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.365777 dt = 0.365777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.634000 primary movement = 5.756785283520e-03 time: 1.634000000000e+00 total movement = 5.756785283520e-03 vel = 5.749281640943e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.734274, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.734274, acc = -15.007285,T = 2.453546, P = 1.360267 on final decel initial results: dx= 1.093280,dt = 0.364777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.364777 dt = 0.364777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.635000 primary movement = 5.741777998366e-03 time: 1.635000000000e+00 total movement = 5.741777998366e-03 vel = 5.734274355789e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.719267, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.719267, acc = -15.007285,T = 2.453546, P = 1.365993 on final decel initial results: dx= 1.087553,dt = 0.363777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.363777 dt = 0.363777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.636000 primary movement = 5.726770713212e-03 time: 1.636000000000e+00 total movement = 5.726770713212e-03 vel = 5.719267070635e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.704260, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.704260, acc = -15.007285,T = 2.453546, P = 1.371705 on final decel initial results: dx= 1.081841,dt = 0.362777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.362777 dt = 0.362777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.637000 primary movement = 5.711763428058e-03 time: 1.637000000000e+00 total movement = 5.711763428058e-03 vel = 5.704259785481e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.689253, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.689253, acc = -15.007285,T = 2.453546, P = 1.377402 on final decel initial results: dx= 1.076144,dt = 0.361777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.361777 dt = 0.361777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.638000 primary movement = 5.696756142904e-03 time: 1.638000000000e+00 total movement = 5.696756142904e-03 vel = 5.689252500327e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.674245, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.674245, acc = -15.007285,T = 2.453546, P = 1.383084 on final decel initial results: dx= 1.070463,dt = 0.360777, a_f = -15.007285, v_f = 0.259963 dt = 0.360777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.639000 primary movement = 5.681748857750e-03 time: 1.639000000000e+00 total movement = 5.681748857750e-03 vel = 5.674245215173e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.659238, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.659238, acc = -15.007285,T = 2.453546, P = 1.388750 on final decel initial results: dx= 1.064796,dt = 0.359777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.359777 dt = 0.359777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.640000 primary movement = 5.666741572596e-03 time: 1.640000000000e+00 total movement = 5.666741572596e-03 vel = 5.659237930020e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.644231, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.644231, acc = -15.007285,T = 2.453546, P = 1.394402 on final decel initial results: dx= 1.059144,dt = 0.358777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.358777 dt = 0.358777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.641000 primary movement = 5.651734287443e-03 time: 1.641000000000e+00 total movement = 5.651734287443e-03 vel = 5.644230644866e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.629223, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.629223, acc = -15.007285,T = 2.453546, P = 1.400039 on final decel initial results: dx= 1.053507,dt = 0.357777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.357777 dt = 0.357777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.642000 primary movement = 5.636727002289e-03 time: 1.642000000000e+00 total movement = 5.636727002289e-03 vel = 5.629223359712e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.614216, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.614216, acc = -15.007285,T = 2.453546, P = 1.405661 on final decel initial results: dx= 1.047886,dt = 0.356777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.356777 dt = 0.356777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.643000 primary movement = 5.621719717135e-03 time: 1.643000000000e+00 total movement = 5.621719717135e-03 vel = 5.614216074558e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.599209, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.599209, acc = -15.007285,T = 2.453546, P = 1.411267 on final decel initial results: dx= 1.042279,dt = 0.355777, a_f = -15.007285, v_f = 0.259963 dt = 0.355777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.644000 primary movement = 5.606712431981e-03 time: 1.644000000000e+00 total movement = 5.606712431981e-03 vel = 5.599208789404e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.584202, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.584202, acc = -15.007285,T = 2.453546, P = 1.416859 on final decel initial results: dx= 1.036687,dt = 0.354777, a_f = -15.007285, v_f = 0.259963 dt = 0.354777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.645000 primary movement = 5.591705146827e-03 time: 1.645000000000e+00 total movement = 5.591705146827e-03 vel = 5.584201504250e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.569194, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.569194, acc = -15.007285,T = 2.453546, P = 1.422436 on final decel initial results: dx= 1.031111,dt = 0.353777, a_f = -15.007285, v_f = 0.259963 dt = 0.353777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.646000 primary movement = 5.576697861674e-03 time: 1.646000000000e+00 total movement = 5.576697861674e-03 vel = 5.569194219096e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.554187, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.554187, acc = -15.007285,T = 2.453546, P = 1.427997 on final decel initial results: dx= 1.025549,dt = 0.352777, a_f = -15.007285, v_f = 0.259963 dt = 0.352777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.647000 primary movement = 5.561690576519e-03 time: 1.647000000000e+00 total movement = 5.561690576519e-03 vel = 5.554186933943e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.539180, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.539180, acc = -15.007285,T = 2.453546, P = 1.433544 on final decel initial results: dx= 1.020002,dt = 0.351777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.351777 dt = 0.351777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.648000 primary movement = 5.546683291366e-03 time: 1.648000000000e+00 total movement = 5.546683291366e-03 vel = 5.539179648789e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.524172, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.524172, acc = -15.007285,T = 2.453546, P = 1.439076 on final decel initial results: dx= 1.014471,dt = 0.350777, a_f = -15.007285, v_f = 0.259963 dt = 0.350777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.649000 primary movement = 5.531676006212e-03 time: 1.649000000000e+00 total movement = 5.531676006212e-03 vel = 5.524172363635e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.509165, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.509165, acc = -15.007285,T = 2.453546, P = 1.444592 on final decel initial results: dx= 1.008954,dt = 0.349777, a_f = -15.007285, v_f = 0.259963 dt = 0.349777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.650000 primary movement = 5.516668721058e-03 time: 1.650000000000e+00 total movement = 5.516668721058e-03 vel = 5.509165078481e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.494158, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.494158, acc = -15.007285,T = 2.453546, P = 1.450094 on final decel initial results: dx= 1.003452,dt = 0.348777, a_f = -15.007285, v_f = 0.259963 dt = 0.348777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.651000 primary movement = 5.501661435904e-03 time: 1.651000000000e+00 total movement = 5.501661435904e-03 vel = 5.494157793327e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.479151, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.479151, acc = -15.007285,T = 2.453546, P = 1.455581 on final decel initial results: dx= 0.997966,dt = 0.347777, a_f = -15.007285, v_f = 0.259963 dt = 0.347777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.652000 primary movement = 5.486654150750e-03 time: 1.652000000000e+00 total movement = 5.486654150750e-03 vel = 5.479150508173e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.464143, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.464143, acc = -15.007285,T = 2.453546, P = 1.461052 on final decel initial results: dx= 0.992494,dt = 0.346777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.346777 dt = 0.346777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.653000 primary movement = 5.471646865596e-03 time: 1.653000000000e+00 total movement = 5.471646865596e-03 vel = 5.464143223019e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.449136, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.449136, acc = -15.007285,T = 2.453546, P = 1.466509 on final decel initial results: dx= 0.987037,dt = 0.345777, a_f = -15.007285, v_f = 0.259963 dt = 0.345777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.654000 primary movement = 5.456639580442e-03 time: 1.654000000000e+00 total movement = 5.456639580442e-03 vel = 5.449135937865e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.434129, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.434129, acc = -15.007285,T = 2.453546, P = 1.471951 on final decel initial results: dx= 0.981596,dt = 0.344777, a_f = -15.007285, v_f = 0.259963 dt = 0.344777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.655000 primary movement = 5.441632295289e-03 time: 1.655000000000e+00 total movement = 5.441632295289e-03 vel = 5.434128652712e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.419121, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.419121, acc = -15.007285,T = 2.453546, P = 1.477377 on final decel initial results: dx= 0.976169,dt = 0.343777, a_f = -15.007285, v_f = 0.259963 dt = 0.343777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.656000 primary movement = 5.426625010135e-03 time: 1.656000000000e+00 total movement = 5.426625010135e-03 vel = 5.419121367558e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.404114, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.404114, acc = -15.007285,T = 2.453546, P = 1.482789 on final decel initial results: dx= 0.970757,dt = 0.342777, a_f = -15.007285, v_f = 0.259963 dt = 0.342777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.657000 primary movement = 5.411617724981e-03 time: 1.657000000000e+00 total movement = 5.411617724981e-03 vel = 5.404114082404e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.389107, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.389107, acc = -15.007285,T = 2.453546, P = 1.488185 on final decel initial results: dx= 0.965361,dt = 0.341777, a_f = -15.007285, v_f = 0.259963 dt = 0.341777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.658000 primary movement = 5.396610439827e-03 time: 1.658000000000e+00 total movement = 5.396610439827e-03 vel = 5.389106797250e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.374100, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.374100, acc = -15.007285,T = 2.453546, P = 1.493567 on final decel initial results: dx= 0.959979,dt = 0.340777, a_f = -15.007285, v_f = 0.259963 dt = 0.340777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.659000 primary movement = 5.381603154673e-03 time: 1.659000000000e+00 total movement = 5.381603154673e-03 vel = 5.374099512096e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.359092, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.359092, acc = -15.007285,T = 2.453546, P = 1.498934 on final decel initial results: dx= 0.954613,dt = 0.339777, a_f = -15.007285, v_f = 0.259963 dt = 0.339777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.660000 primary movement = 5.366595869519e-03 time: 1.660000000000e+00 total movement = 5.366595869519e-03 vel = 5.359092226942e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.344085, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.344085, acc = -15.007285,T = 2.453546, P = 1.504285 on final decel initial results: dx= 0.949261,dt = 0.338777, a_f = -15.007285, v_f = 0.259963 dt = 0.338777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.661000 primary movement = 5.351588584365e-03 time: 1.661000000000e+00 total movement = 5.351588584365e-03 vel = 5.344084941788e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.329078, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.329078, acc = -15.007285,T = 2.453546, P = 1.509622 on final decel initial results: dx= 0.943924,dt = 0.337777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.337777 dt = 0.337777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.662000 primary movement = 5.336581299211e-03 time: 1.662000000000e+00 total movement = 5.336581299211e-03 vel = 5.329077656635e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.314070, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.314070, acc = -15.007285,T = 2.453546, P = 1.514943 on final decel initial results: dx= 0.938603,dt = 0.336777, a_f = -15.007285, v_f = 0.259963 dt = 0.336777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.663000 primary movement = 5.321574014057e-03 time: 1.663000000000e+00 total movement = 5.321574014057e-03 vel = 5.314070371481e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.299063, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.299063, acc = -15.007285,T = 2.453546, P = 1.520250 on final decel initial results: dx= 0.933296,dt = 0.335777, a_f = -15.007285, v_f = 0.259963 dt = 0.335777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.664000 primary movement = 5.306566728904e-03 time: 1.664000000000e+00 total movement = 5.306566728904e-03 vel = 5.299063086327e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.284056, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.284056, acc = -15.007285,T = 2.453546, P = 1.525542 on final decel initial results: dx= 0.928005,dt = 0.334777, a_f = -15.007285, v_f = 0.259963 dt = 0.334777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.665000 primary movement = 5.291559443750e-03 time: 1.665000000000e+00 total movement = 5.291559443750e-03 vel = 5.284055801173e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.269049, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.269049, acc = -15.007285,T = 2.453546, P = 1.530818 on final decel initial results: dx= 0.922728,dt = 0.333777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.333777 dt = 0.333777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.666000 primary movement = 5.276552158596e-03 time: 1.666000000000e+00 total movement = 5.276552158596e-03 vel = 5.269048516019e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.254041, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.254041, acc = -15.007285,T = 2.453546, P = 1.536080 on final decel initial results: dx= 0.917467,dt = 0.332777, a_f = -15.007285, v_f = 0.259963 dt = 0.332777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.667000 primary movement = 5.261544873442e-03 time: 1.667000000000e+00 total movement = 5.261544873442e-03 vel = 5.254041230865e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.239034, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.239034, acc = -15.007285,T = 2.453546, P = 1.541326 on final decel initial results: dx= 0.912220,dt = 0.331777, a_f = -15.007285, v_f = 0.259963 dt = 0.331777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.668000 primary movement = 5.246537588288e-03 time: 1.668000000000e+00 total movement = 5.246537588288e-03 vel = 5.239033945711e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.224027, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.224027, acc = -15.007285,T = 2.453546, P = 1.546558 on final decel initial results: dx= 0.906989,dt = 0.330777, a_f = -15.007285, v_f = 0.259963 dt = 0.330777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.669000 primary movement = 5.231530303134e-03 time: 1.669000000000e+00 total movement = 5.231530303134e-03 vel = 5.224026660557e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.209019, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.209019, acc = -15.007285,T = 2.453546, P = 1.551774 on final decel initial results: dx= 0.901772,dt = 0.329777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.329777 dt = 0.329777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.670000 primary movement = 5.216523017981e-03 time: 1.670000000000e+00 total movement = 5.216523017981e-03 vel = 5.209019375404e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.194012, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.194012, acc = -15.007285,T = 2.453546, P = 1.556976 on final decel initial results: dx= 0.896571,dt = 0.328777, a_f = -15.007285, v_f = 0.259963 dt = 0.328777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.671000 primary movement = 5.201515732827e-03 time: 1.671000000000e+00 total movement = 5.201515732827e-03 vel = 5.194012090250e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.179005, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.179005, acc = -15.007285,T = 2.453546, P = 1.562162 on final decel initial results: dx= 0.891384,dt = 0.327777, a_f = -15.007285, v_f = 0.259963 dt = 0.327777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.672000 primary movement = 5.186508447673e-03 time: 1.672000000000e+00 total movement = 5.186508447673e-03 vel = 5.179004805096e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.163998, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.163998, acc = -15.007285,T = 2.453546, P = 1.567334 on final decel initial results: dx= 0.886213,dt = 0.326777, a_f = -15.007285, v_f = 0.259963 dt = 0.326777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.673000 primary movement = 5.171501162519e-03 time: 1.673000000000e+00 total movement = 5.171501162519e-03 vel = 5.163997519942e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.148990, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.148990, acc = -15.007285,T = 2.453546, P = 1.572490 on final decel initial results: dx= 0.881056,dt = 0.325777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.325777 dt = 0.325777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.674000 primary movement = 5.156493877365e-03 time: 1.674000000000e+00 total movement = 5.156493877365e-03 vel = 5.148990234788e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.133983, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.133983, acc = -15.007285,T = 2.453546, P = 1.577632 on final decel initial results: dx= 0.875915,dt = 0.324777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.324777 dt = 0.324777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.675000 primary movement = 5.141486592211e-03 time: 1.675000000000e+00 total movement = 5.141486592211e-03 vel = 5.133982949634e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.118976, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.118976, acc = -15.007285,T = 2.453546, P = 1.582758 on final decel initial results: dx= 0.870788,dt = 0.323777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.323777 dt = 0.323777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.676000 primary movement = 5.126479307057e-03 time: 1.676000000000e+00 total movement = 5.126479307057e-03 vel = 5.118975664480e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.103968, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.103968, acc = -15.007285,T = 2.453546, P = 1.587870 on final decel initial results: dx= 0.865677,dt = 0.322777, a_f = -15.007285, v_f = 0.259963 dt = 0.322777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.677000 primary movement = 5.111472021903e-03 time: 1.677000000000e+00 total movement = 5.111472021903e-03 vel = 5.103968379327e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.088961, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.088961, acc = -15.007285,T = 2.453546, P = 1.592966 on final decel initial results: dx= 0.860580,dt = 0.321777, a_f = -15.007285, v_f = 0.259963 dt = 0.321777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.678000 primary movement = 5.096464736750e-03 time: 1.678000000000e+00 total movement = 5.096464736750e-03 vel = 5.088961094173e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.073954, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.073954, acc = -15.007285,T = 2.453546, P = 1.598048 on final decel initial results: dx= 0.855499,dt = 0.320777, a_f = -15.007285, v_f = 0.259963 dt = 0.320777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.679000 primary movement = 5.081457451596e-03 time: 1.679000000000e+00 total movement = 5.081457451596e-03 vel = 5.073953809019e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.058947, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.058947, acc = -15.007285,T = 2.453546, P = 1.603114 on final decel initial results: dx= 0.850432,dt = 0.319777, a_f = -15.007285, v_f = 0.259963 dt = 0.319777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.680000 primary movement = 5.066450166442e-03 time: 1.680000000000e+00 total movement = 5.066450166442e-03 vel = 5.058946523865e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.043939, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.043939, acc = -15.007285,T = 2.453546, P = 1.608165 on final decel initial results: dx= 0.845381,dt = 0.318777, a_f = -15.007285, v_f = 0.259963 dt = 0.318777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.681000 primary movement = 5.051442881288e-03 time: 1.681000000000e+00 total movement = 5.051442881288e-03 vel = 5.043939238711e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.028932, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.028932, acc = -15.007285,T = 2.453546, P = 1.613202 on final decel initial results: dx= 0.840344,dt = 0.317777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.317777 dt = 0.317777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.682000 primary movement = 5.036435596134e-03 time: 1.682000000000e+00 total movement = 5.036435596134e-03 vel = 5.028931953557e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 5.013925, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 5.013925, acc = -15.007285,T = 2.453546, P = 1.618223 on final decel initial results: dx= 0.835323,dt = 0.316777, a_f = -15.007285, v_f = 0.259963 dt = 0.316777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.683000 primary movement = 5.021428310980e-03 time: 1.683000000000e+00 total movement = 5.021428310980e-03 vel = 5.013924668403e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.998917, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.998917, acc = -15.007285,T = 2.453546, P = 1.623230 on final decel initial results: dx= 0.830317,dt = 0.315777, a_f = -15.007285, v_f = 0.259963 dt = 0.315777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.684000 primary movement = 5.006421025827e-03 time: 1.684000000000e+00 total movement = 5.006421025827e-03 vel = 4.998917383249e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.983910, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.983910, acc = -15.007285,T = 2.453546, P = 1.628221 on final decel initial results: dx= 0.825325,dt = 0.314777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.314777 dt = 0.314777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.685000 primary movement = 4.991413740672e-03 time: 1.685000000000e+00 total movement = 4.991413740672e-03 vel = 4.983910098096e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.968903, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.968903, acc = -15.007285,T = 2.453546, P = 1.633198 on final decel initial results: dx= 0.820349,dt = 0.313777, a_f = -15.007285, v_f = 0.259963 dt = 0.313777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.686000 primary movement = 4.976406455519e-03 time: 1.686000000000e+00 total movement = 4.976406455519e-03 vel = 4.968902812942e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.953896, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.953896, acc = -15.007285,T = 2.453546, P = 1.638159 on final decel initial results: dx= 0.815387,dt = 0.312777, a_f = -15.007285, v_f = 0.259963 dt = 0.312777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.687000 primary movement = 4.961399170365e-03 time: 1.687000000000e+00 total movement = 4.961399170365e-03 vel = 4.953895527788e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.938888, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.938888, acc = -15.007285,T = 2.453546, P = 1.643105 on final decel initial results: dx= 0.810441,dt = 0.311777, a_f = -15.007285, v_f = 0.259963 dt = 0.311777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.688000 primary movement = 4.946391885211e-03 time: 1.688000000000e+00 total movement = 4.946391885211e-03 vel = 4.938888242634e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.923881, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.923881, acc = -15.007285,T = 2.453546, P = 1.648037 on final decel initial results: dx= 0.805510,dt = 0.310777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.310777 dt = 0.310777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.689000 primary movement = 4.931384600057e-03 time: 1.689000000000e+00 total movement = 4.931384600057e-03 vel = 4.923880957480e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.908874, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.908874, acc = -15.007285,T = 2.453546, P = 1.652953 on final decel initial results: dx= 0.800593,dt = 0.309777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.309777 dt = 0.309777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.690000 primary movement = 4.916377314903e-03 time: 1.690000000000e+00 total movement = 4.916377314903e-03 vel = 4.908873672326e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.893866, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.893866, acc = -15.007285,T = 2.453546, P = 1.657855 on final decel initial results: dx= 0.795692,dt = 0.308777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.308777 dt = 0.308777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.691000 primary movement = 4.901370029749e-03 time: 1.691000000000e+00 total movement = 4.901370029749e-03 vel = 4.893866387172e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.878859, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.878859, acc = -15.007285,T = 2.453546, P = 1.662741 on final decel initial results: dx= 0.790805,dt = 0.307777, a_f = -15.007285, v_f = 0.259963 dt = 0.307777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.692000 primary movement = 4.886362744595e-03 time: 1.692000000000e+00 total movement = 4.886362744595e-03 vel = 4.878859102019e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.863852, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.863852, acc = -15.007285,T = 2.453546, P = 1.667612 on final decel initial results: dx= 0.785934,dt = 0.306777, a_f = -15.007285, v_f = 0.259963 dt = 0.306777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.693000 primary movement = 4.871355459441e-03 time: 1.693000000000e+00 total movement = 4.871355459441e-03 vel = 4.863851816865e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.848845, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.848845, acc = -15.007285,T = 2.453546, P = 1.672469 on final decel initial results: dx= 0.781078,dt = 0.305777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.305777 dt = 0.305777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.694000 primary movement = 4.856348174288e-03 time: 1.694000000000e+00 total movement = 4.856348174288e-03 vel = 4.848844531711e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.833837, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.833837, acc = -15.007285,T = 2.453546, P = 1.677310 on final decel initial results: dx= 0.776236,dt = 0.304777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.304777 dt = 0.304777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.695000 primary movement = 4.841340889134e-03 time: 1.695000000000e+00 total movement = 4.841340889134e-03 vel = 4.833837246557e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.818830, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.818830, acc = -15.007285,T = 2.453546, P = 1.682136 on final decel initial results: dx= 0.771410,dt = 0.303777, a_f = -15.007285, v_f = 0.259963 dt = 0.303777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.696000 primary movement = 4.826333603980e-03 time: 1.696000000000e+00 total movement = 4.826333603980e-03 vel = 4.818829961403e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.803823, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.803823, acc = -15.007285,T = 2.453546, P = 1.686948 on final decel initial results: dx= 0.766599,dt = 0.302777, a_f = -15.007285, v_f = 0.259963 dt = 0.302777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.697000 primary movement = 4.811326318826e-03 time: 1.697000000000e+00 total movement = 4.811326318826e-03 vel = 4.803822676249e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.788815, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.788815, acc = -15.007285,T = 2.453546, P = 1.691744 on final decel initial results: dx= 0.761802,dt = 0.301777, a_f = -15.007285, v_f = 0.259963 dt = 0.301777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.698000 primary movement = 4.796319033672e-03 time: 1.698000000000e+00 total movement = 4.796319033672e-03 vel = 4.788815391095e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.773808, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.773808, acc = -15.007285,T = 2.453546, P = 1.696525 on final decel initial results: dx= 0.757021,dt = 0.300777, a_f = -15.007285, v_f = 0.259963 dt = 0.300777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.699000 primary movement = 4.781311748518e-03 time: 1.699000000000e+00 total movement = 4.781311748518e-03 vel = 4.773808105941e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.758801, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.758801, acc = -15.007285,T = 2.453546, P = 1.701292 on final decel initial results: dx= 0.752255,dt = 0.299777, a_f = -15.007285, v_f = 0.259963 dt = 0.299777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.700000 primary movement = 4.766304463365e-03 time: 1.700000000000e+00 total movement = 4.766304463365e-03 vel = 4.758800820788e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.743794, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.743794, acc = -15.007285,T = 2.453546, P = 1.706043 on final decel initial results: dx= 0.747503,dt = 0.298777, a_f = -15.007285, v_f = 0.259963 dt = 0.298777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.701000 primary movement = 4.751297178211e-03 time: 1.701000000000e+00 total movement = 4.751297178211e-03 vel = 4.743793535634e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.728786, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.728786, acc = -15.007285,T = 2.453546, P = 1.710779 on final decel initial results: dx= 0.742767,dt = 0.297777, a_f = -15.007285, v_f = 0.259963 dt = 0.297777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.702000 primary movement = 4.736289893057e-03 time: 1.702000000000e+00 total movement = 4.736289893057e-03 vel = 4.728786250480e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.713779, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.713779, acc = -15.007285,T = 2.453546, P = 1.715500 on final decel initial results: dx= 0.738046,dt = 0.296777, a_f = -15.007285, v_f = 0.259963 dt = 0.296777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.703000 primary movement = 4.721282607903e-03 time: 1.703000000000e+00 total movement = 4.721282607903e-03 vel = 4.713778965326e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.698772, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.698772, acc = -15.007285,T = 2.453546, P = 1.720207 on final decel initial results: dx= 0.733340,dt = 0.295777, a_f = -15.007285, v_f = 0.259963 dt = 0.295777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.704000 primary movement = 4.706275322749e-03 time: 1.704000000000e+00 total movement = 4.706275322749e-03 vel = 4.698771680172e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.683764, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.683764, acc = -15.007285,T = 2.453546, P = 1.724898 on final decel initial results: dx= 0.728648,dt = 0.294777, a_f = -15.007285, v_f = 0.259963 dt = 0.294777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.705000 primary movement = 4.691268037595e-03 time: 1.705000000000e+00 total movement = 4.691268037595e-03 vel = 4.683764395018e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.668757, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.668757, acc = -15.007285,T = 2.453546, P = 1.729574 on final decel initial results: dx= 0.723972,dt = 0.293777, a_f = -15.007285, v_f = 0.259963 dt = 0.293777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.706000 primary movement = 4.676260752441e-03 time: 1.706000000000e+00 total movement = 4.676260752441e-03 vel = 4.668757109864e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.653750, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.653750, acc = -15.007285,T = 2.453546, P = 1.734235 on final decel initial results: dx= 0.719311,dt = 0.292777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.292777 dt = 0.292777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.707000 primary movement = 4.661253467287e-03 time: 1.707000000000e+00 total movement = 4.661253467287e-03 vel = 4.653749824711e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.638743, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.638743, acc = -15.007285,T = 2.453546, P = 1.738882 on final decel initial results: dx= 0.714665,dt = 0.291777, a_f = -15.007285, v_f = 0.259963 dt = 0.291777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.708000 primary movement = 4.646246182133e-03 time: 1.708000000000e+00 total movement = 4.646246182133e-03 vel = 4.638742539557e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.623735, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.623735, acc = -15.007285,T = 2.453546, P = 1.743513 on final decel initial results: dx= 0.710033,dt = 0.290777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.290777 dt = 0.290777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.709000 primary movement = 4.631238896980e-03 time: 1.709000000000e+00 total movement = 4.631238896980e-03 vel = 4.623735254403e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.608728, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.608728, acc = -15.007285,T = 2.453546, P = 1.748129 on final decel initial results: dx= 0.705417,dt = 0.289777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.289777 dt = 0.289777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.710000 primary movement = 4.616231611826e-03 time: 1.710000000000e+00 total movement = 4.616231611826e-03 vel = 4.608727969249e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.593721, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.593721, acc = -15.007285,T = 2.453546, P = 1.752730 on final decel initial results: dx= 0.700816,dt = 0.288777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.288777 dt = 0.288777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.711000 primary movement = 4.601224326672e-03 time: 1.711000000000e+00 total movement = 4.601224326672e-03 vel = 4.593720684095e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.578713, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.578713, acc = -15.007285,T = 2.453546, P = 1.757317 on final decel initial results: dx= 0.696230,dt = 0.287777, a_f = -15.007285, v_f = 0.259963 dt = 0.287777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.712000 primary movement = 4.586217041518e-03 time: 1.712000000000e+00 total movement = 4.586217041518e-03 vel = 4.578713398941e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.563706, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.563706, acc = -15.007285,T = 2.453546, P = 1.761888 on final decel initial results: dx= 0.691658,dt = 0.286777, a_f = -15.007285, v_f = 0.259963 dt = 0.286777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.713000 primary movement = 4.571209756364e-03 time: 1.713000000000e+00 total movement = 4.571209756364e-03 vel = 4.563706113787e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.548699, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.548699, acc = -15.007285,T = 2.453546, P = 1.766444 on final decel initial results: dx= 0.687102,dt = 0.285777, a_f = -15.007285, v_f = 0.259963 dt = 0.285777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.714000 primary movement = 4.556202471211e-03 time: 1.714000000000e+00 total movement = 4.556202471211e-03 vel = 4.548698828633e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.533692, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.533692, acc = -15.007285,T = 2.453546, P = 1.770985 on final decel initial results: dx= 0.682561,dt = 0.284777, a_f = -15.007285, v_f = 0.259963 dt = 0.284777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.715000 primary movement = 4.541195186056e-03 time: 1.715000000000e+00 total movement = 4.541195186056e-03 vel = 4.533691543480e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.518684, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.518684, acc = -15.007285,T = 2.453546, P = 1.775511 on final decel initial results: dx= 0.678035,dt = 0.283777, a_f = -15.007285, v_f = 0.259963 dt = 0.283777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.716000 primary movement = 4.526187900903e-03 time: 1.716000000000e+00 total movement = 4.526187900903e-03 vel = 4.518684258326e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.503677, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.503677, acc = -15.007285,T = 2.453546, P = 1.780023 on final decel initial results: dx= 0.673524,dt = 0.282777, a_f = -15.007285, v_f = 0.259963 dt = 0.282777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.717000 primary movement = 4.511180615749e-03 time: 1.717000000000e+00 total movement = 4.511180615749e-03 vel = 4.503676973172e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.488670, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.488670, acc = -15.007285,T = 2.453546, P = 1.784519 on final decel initial results: dx= 0.669028,dt = 0.281777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.281777 dt = 0.281777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.718000 primary movement = 4.496173330595e-03 time: 1.718000000000e+00 total movement = 4.496173330595e-03 vel = 4.488669688018e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.473662, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.473662, acc = -15.007285,T = 2.453546, P = 1.789000 on final decel initial results: dx= 0.664546,dt = 0.280777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.280777 dt = 0.280777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.719000 primary movement = 4.481166045441e-03 time: 1.719000000000e+00 total movement = 4.481166045441e-03 vel = 4.473662402864e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.458655, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.458655, acc = -15.007285,T = 2.453546, P = 1.793466 on final decel initial results: dx= 0.660080,dt = 0.279777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.279777 dt = 0.279777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.720000 primary movement = 4.466158760287e-03 time: 1.720000000000e+00 total movement = 4.466158760287e-03 vel = 4.458655117710e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.443648, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.443648, acc = -15.007285,T = 2.453546, P = 1.797917 on final decel initial results: dx= 0.655629,dt = 0.278777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.278777 dt = 0.278777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.721000 primary movement = 4.451151475133e-03 time: 1.721000000000e+00 total movement = 4.451151475133e-03 vel = 4.443647832556e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.428641, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.428641, acc = -15.007285,T = 2.453546, P = 1.802353 on final decel initial results: dx= 0.651193,dt = 0.277777, a_f = -15.007285, v_f = 0.259963 dt = 0.277777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.722000 primary movement = 4.436144189980e-03 time: 1.722000000000e+00 total movement = 4.436144189980e-03 vel = 4.428640547403e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.413633, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.413633, acc = -15.007285,T = 2.453546, P = 1.806775 on final decel initial results: dx= 0.646772,dt = 0.276777, a_f = -15.007285, v_f = 0.259963 dt = 0.276777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.723000 primary movement = 4.421136904826e-03 time: 1.723000000000e+00 total movement = 4.421136904826e-03 vel = 4.413633262249e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.398626, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.398626, acc = -15.007285,T = 2.453546, P = 1.811181 on final decel initial results: dx= 0.642366,dt = 0.275777, a_f = -15.007285, v_f = 0.259963 dt = 0.275777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.724000 primary movement = 4.406129619672e-03 time: 1.724000000000e+00 total movement = 4.406129619672e-03 vel = 4.398625977095e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.383619, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.383619, acc = -15.007285,T = 2.453546, P = 1.815572 on final decel initial results: dx= 0.637975,dt = 0.274777, a_f = -15.007285, v_f = 0.259963 dt = 0.274777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.725000 primary movement = 4.391122334518e-03 time: 1.725000000000e+00 total movement = 4.391122334518e-03 vel = 4.383618691941e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.368611, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.368611, acc = -15.007285,T = 2.453546, P = 1.819948 on final decel initial results: dx= 0.633598,dt = 0.273777, a_f = -15.007285, v_f = 0.259963 dt = 0.273777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.726000 primary movement = 4.376115049364e-03 time: 1.726000000000e+00 total movement = 4.376115049364e-03 vel = 4.368611406787e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.353604, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.353604, acc = -15.007285,T = 2.453546, P = 1.824309 on final decel initial results: dx= 0.629237,dt = 0.272777, a_f = -15.007285, v_f = 0.259963 dt = 0.272777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.727000 primary movement = 4.361107764210e-03 time: 1.727000000000e+00 total movement = 4.361107764210e-03 vel = 4.353604121633e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.338597, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.338597, acc = -15.007285,T = 2.453546, P = 1.828655 on final decel initial results: dx= 0.624891,dt = 0.271777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.271777 dt = 0.271777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.728000 primary movement = 4.346100479056e-03 time: 1.728000000000e+00 total movement = 4.346100479056e-03 vel = 4.338596836479e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.323590, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.323590, acc = -15.007285,T = 2.453546, P = 1.832986 on final decel initial results: dx= 0.620560,dt = 0.270777, a_f = -15.007285, v_f = 0.259963 dt = 0.270777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.729000 primary movement = 4.331093193902e-03 time: 1.729000000000e+00 total movement = 4.331093193902e-03 vel = 4.323589551325e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.308582, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.308582, acc = -15.007285,T = 2.453546, P = 1.837302 on final decel initial results: dx= 0.616244,dt = 0.269777, a_f = -15.007285, v_f = 0.259963 dt = 0.269777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.730000 primary movement = 4.316085908748e-03 time: 1.730000000000e+00 total movement = 4.316085908748e-03 vel = 4.308582266172e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.293575, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.293575, acc = -15.007285,T = 2.453546, P = 1.841603 on final decel initial results: dx= 0.611943,dt = 0.268777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.268777 dt = 0.268777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.731000 primary movement = 4.301078623595e-03 time: 1.731000000000e+00 total movement = 4.301078623595e-03 vel = 4.293574981018e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.278568, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.278568, acc = -15.007285,T = 2.453546, P = 1.845889 on final decel initial results: dx= 0.607657,dt = 0.267777, a_f = -15.007285, v_f = 0.259963 dt = 0.267777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.732000 primary movement = 4.286071338441e-03 time: 1.732000000000e+00 total movement = 4.286071338441e-03 vel = 4.278567695864e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.263560, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.263560, acc = -15.007285,T = 2.453546, P = 1.850160 on final decel initial results: dx= 0.603386,dt = 0.266777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.266777 dt = 0.266777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.733000 primary movement = 4.271064053287e-03 time: 1.733000000000e+00 total movement = 4.271064053287e-03 vel = 4.263560410710e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.248553, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.248553, acc = -15.007285,T = 2.453546, P = 1.854417 on final decel initial results: dx= 0.599130,dt = 0.265777, a_f = -15.007285, v_f = 0.259963 dt = 0.265777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.734000 primary movement = 4.256056768133e-03 time: 1.734000000000e+00 total movement = 4.256056768133e-03 vel = 4.248553125556e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.233546, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.233546, acc = -15.007285,T = 2.453546, P = 1.858658 on final decel initial results: dx= 0.594889,dt = 0.264777, a_f = -15.007285, v_f = 0.259963 dt = 0.264777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.735000 primary movement = 4.241049482979e-03 time: 1.735000000000e+00 total movement = 4.241049482979e-03 vel = 4.233545840402e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.218539, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.218539, acc = -15.007285,T = 2.453546, P = 1.862884 on final decel initial results: dx= 0.590663,dt = 0.263777, a_f = -15.007285, v_f = 0.259963 dt = 0.263777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.736000 primary movement = 4.226042197825e-03 time: 1.736000000000e+00 total movement = 4.226042197825e-03 vel = 4.218538555248e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.203531, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.203531, acc = -15.007285,T = 2.453546, P = 1.867095 on final decel initial results: dx= 0.586452,dt = 0.262777, a_f = -15.007285, v_f = 0.259963 dt = 0.262777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.737000 primary movement = 4.211034912671e-03 time: 1.737000000000e+00 total movement = 4.211034912671e-03 vel = 4.203531270095e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.188524, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.188524, acc = -15.007285,T = 2.453546, P = 1.871291 on final decel initial results: dx= 0.582256,dt = 0.261777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.261777 dt = 0.261777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.738000 primary movement = 4.196027627518e-03 time: 1.738000000000e+00 total movement = 4.196027627518e-03 vel = 4.188523984941e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.173517, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.173517, acc = -15.007285,T = 2.453546, P = 1.875472 on final decel initial results: dx= 0.578075,dt = 0.260777, a_f = -15.007285, v_f = 0.259963 dt = 0.260777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.739000 primary movement = 4.181020342364e-03 time: 1.739000000000e+00 total movement = 4.181020342364e-03 vel = 4.173516699787e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.158509, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.158509, acc = -15.007285,T = 2.453546, P = 1.879638 on final decel initial results: dx= 0.573909,dt = 0.259777, a_f = -15.007285, v_f = 0.259963 dt = 0.259777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.740000 primary movement = 4.166013057210e-03 time: 1.740000000000e+00 total movement = 4.166013057210e-03 vel = 4.158509414633e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.143502, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.143502, acc = -15.007285,T = 2.453546, P = 1.883789 on final decel initial results: dx= 0.569758,dt = 0.258777, a_f = -15.007285, v_f = 0.259963 dt = 0.258777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.741000 primary movement = 4.151005772056e-03 time: 1.741000000000e+00 total movement = 4.151005772056e-03 vel = 4.143502129479e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.128495, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.128495, acc = -15.007285,T = 2.453546, P = 1.887925 on final decel initial results: dx= 0.565622,dt = 0.257777, a_f = -15.007285, v_f = 0.259963 dt = 0.257777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.742000 primary movement = 4.135998486902e-03 time: 1.742000000000e+00 total movement = 4.135998486902e-03 vel = 4.128494844325e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.113488, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.113488, acc = -15.007285,T = 2.453546, P = 1.892046 on final decel initial results: dx= 0.561501,dt = 0.256777, a_f = -15.007285, v_f = 0.259963 dt = 0.256777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.743000 primary movement = 4.120991201748e-03 time: 1.743000000000e+00 total movement = 4.120991201748e-03 vel = 4.113487559171e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.098480, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.098480, acc = -15.007285,T = 2.453546, P = 1.896152 on final decel initial results: dx= 0.557395,dt = 0.255777, a_f = -15.007285, v_f = 0.259963 dt = 0.255777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.744000 primary movement = 4.105983916594e-03 time: 1.744000000000e+00 total movement = 4.105983916594e-03 vel = 4.098480274017e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.083473, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.083473, acc = -15.007285,T = 2.453546, P = 1.900243 on final decel initial results: dx= 0.553304,dt = 0.254777, a_f = -15.007285, v_f = 0.259963 dt = 0.254777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.745000 primary movement = 4.090976631441e-03 time: 1.745000000000e+00 total movement = 4.090976631441e-03 vel = 4.083472988864e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.068466, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.068466, acc = -15.007285,T = 2.453546, P = 1.904319 on final decel initial results: dx= 0.549228,dt = 0.253777, a_f = -15.007285, v_f = 0.259963 dt = 0.253777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.746000 primary movement = 4.075969346287e-03 time: 1.746000000000e+00 total movement = 4.075969346287e-03 vel = 4.068465703710e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.053458, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.053458, acc = -15.007285,T = 2.453546, P = 1.908380 on final decel initial results: dx= 0.545167,dt = 0.252777, a_f = -15.007285, v_f = 0.259963 dt = 0.252777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.747000 primary movement = 4.060962061133e-03 time: 1.747000000000e+00 total movement = 4.060962061133e-03 vel = 4.053458418556e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.038451, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.038451, acc = -15.007285,T = 2.453546, P = 1.912426 on final decel initial results: dx= 0.541121,dt = 0.251777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.251777 dt = 0.251777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.748000 primary movement = 4.045954775979e-03 time: 1.748000000000e+00 total movement = 4.045954775979e-03 vel = 4.038451133402e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.023444, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.023444, acc = -15.007285,T = 2.453546, P = 1.916457 on final decel initial results: dx= 0.537090,dt = 0.250777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.250777 dt = 0.250777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.749000 primary movement = 4.030947490825e-03 time: 1.749000000000e+00 total movement = 4.030947490825e-03 vel = 4.023443848248e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 4.008437, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 4.008437, acc = -15.007285,T = 2.453546, P = 1.920472 on final decel initial results: dx= 0.533074,dt = 0.249777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.249777 dt = 0.249777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.750000 primary movement = 4.015940205671e-03 time: 1.750000000000e+00 total movement = 4.015940205671e-03 vel = 4.008436563094e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.993429, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.993429, acc = -15.007285,T = 2.453546, P = 1.924473 on final decel initial results: dx= 0.529073,dt = 0.248777, a_f = -15.007285, v_f = 0.259963 dt = 0.248777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.751000 primary movement = 4.000932920517e-03 time: 1.751000000000e+00 total movement = 4.000932920517e-03 vel = 3.993429277940e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.978422, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.978422, acc = -15.007285,T = 2.453546, P = 1.928459 on final decel initial results: dx= 0.525087,dt = 0.247777, a_f = -15.007285, v_f = 0.259963 dt = 0.247777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.752000 primary movement = 3.985925635363e-03 time: 1.752000000000e+00 total movement = 3.985925635363e-03 vel = 3.978421992787e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.963415, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.963415, acc = -15.007285,T = 2.453546, P = 1.932430 on final decel initial results: dx= 0.521116,dt = 0.246777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.246777 dt = 0.246777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.753000 primary movement = 3.970918350210e-03 time: 1.753000000000e+00 total movement = 3.970918350210e-03 vel = 3.963414707633e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.948407, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.948407, acc = -15.007285,T = 2.453546, P = 1.936386 on final decel initial results: dx= 0.517160,dt = 0.245777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.245777 dt = 0.245777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.754000 primary movement = 3.955911065056e-03 time: 1.754000000000e+00 total movement = 3.955911065056e-03 vel = 3.948407422479e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.933400, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.933400, acc = -15.007285,T = 2.453546, P = 1.940327 on final decel initial results: dx= 0.513219,dt = 0.244777, a_f = -15.007285, v_f = 0.259963 dt = 0.244777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.755000 primary movement = 3.940903779902e-03 time: 1.755000000000e+00 total movement = 3.940903779902e-03 vel = 3.933400137325e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.918393, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.918393, acc = -15.007285,T = 2.453546, P = 1.944253 on final decel initial results: dx= 0.509293,dt = 0.243777, a_f = -15.007285, v_f = 0.259963 dt = 0.243777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.756000 primary movement = 3.925896494748e-03 time: 1.756000000000e+00 total movement = 3.925896494748e-03 vel = 3.918392852171e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.903386, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.903386, acc = -15.007285,T = 2.453546, P = 1.948164 on final decel initial results: dx= 0.505382,dt = 0.242777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.242777 dt = 0.242777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.757000 primary movement = 3.910889209594e-03 time: 1.757000000000e+00 total movement = 3.910889209594e-03 vel = 3.903385567017e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.888378, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.888378, acc = -15.007285,T = 2.453546, P = 1.952060 on final decel initial results: dx= 0.501487,dt = 0.241777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.241777 dt = 0.241777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.758000 primary movement = 3.895881924440e-03 time: 1.758000000000e+00 total movement = 3.895881924440e-03 vel = 3.888378281863e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.873371, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.873371, acc = -15.007285,T = 2.453546, P = 1.955941 on final decel initial results: dx= 0.497606,dt = 0.240777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.240777 dt = 0.240777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.759000 primary movement = 3.880874639286e-03 time: 1.759000000000e+00 total movement = 3.880874639286e-03 vel = 3.873370996709e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.858364, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.858364, acc = -15.007285,T = 2.453546, P = 1.959806 on final decel initial results: dx= 0.493740,dt = 0.239777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.239777 dt = 0.239777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.760000 primary movement = 3.865867354132e-03 time: 1.760000000000e+00 total movement = 3.865867354132e-03 vel = 3.858363711556e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.843356, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.843356, acc = -15.007285,T = 2.453546, P = 1.963657 on final decel initial results: dx= 0.489889,dt = 0.238777, a_f = -15.007285, v_f = 0.259963 dt = 0.238777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.761000 primary movement = 3.850860068979e-03 time: 1.761000000000e+00 total movement = 3.850860068979e-03 vel = 3.843356426402e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.828349, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.828349, acc = -15.007285,T = 2.453546, P = 1.967493 on final decel initial results: dx= 0.486053,dt = 0.237777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.237777 dt = 0.237777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.762000 primary movement = 3.835852783825e-03 time: 1.762000000000e+00 total movement = 3.835852783825e-03 vel = 3.828349141248e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.813342, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.813342, acc = -15.007285,T = 2.453546, P = 1.971314 on final decel initial results: dx= 0.482232,dt = 0.236777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.236777 dt = 0.236777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.763000 primary movement = 3.820845498671e-03 time: 1.763000000000e+00 total movement = 3.820845498671e-03 vel = 3.813341856094e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.798335, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.798335, acc = -15.007285,T = 2.453546, P = 1.975120 on final decel initial results: dx= 0.478426,dt = 0.235777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.235777 dt = 0.235777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.764000 primary movement = 3.805838213517e-03 time: 1.764000000000e+00 total movement = 3.805838213517e-03 vel = 3.798334570940e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.783327, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.783327, acc = -15.007285,T = 2.453546, P = 1.978911 on final decel initial results: dx= 0.474636,dt = 0.234777, a_f = -15.007285, v_f = 0.259963 dt = 0.234777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.765000 primary movement = 3.790830928363e-03 time: 1.765000000000e+00 total movement = 3.790830928363e-03 vel = 3.783327285786e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.768320, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.768320, acc = -15.007285,T = 2.453546, P = 1.982687 on final decel initial results: dx= 0.470860,dt = 0.233777, a_f = -15.007285, v_f = 0.259963 dt = 0.233777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.766000 primary movement = 3.775823643209e-03 time: 1.766000000000e+00 total movement = 3.775823643209e-03 vel = 3.768320000632e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.753313, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.753313, acc = -15.007285,T = 2.453546, P = 1.986447 on final decel initial results: dx= 0.467099,dt = 0.232777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.232777 dt = 0.232777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.767000 primary movement = 3.760816358056e-03 time: 1.767000000000e+00 total movement = 3.760816358056e-03 vel = 3.753312715479e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.738305, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.738305, acc = -15.007285,T = 2.453546, P = 1.990193 on final decel initial results: dx= 0.463353,dt = 0.231777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.231777 dt = 0.231777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.768000 primary movement = 3.745809072902e-03 time: 1.768000000000e+00 total movement = 3.745809072902e-03 vel = 3.738305430325e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.723298, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.723298, acc = -15.007285,T = 2.453546, P = 1.993924 on final decel initial results: dx= 0.459622,dt = 0.230777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.230777 dt = 0.230777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.769000 primary movement = 3.730801787748e-03 time: 1.769000000000e+00 total movement = 3.730801787748e-03 vel = 3.723298145171e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.708291, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.708291, acc = -15.007285,T = 2.453546, P = 1.997640 on final decel initial results: dx= 0.455907,dt = 0.229777, a_f = -15.007285, v_f = 0.259963 dt = 0.229777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.770000 primary movement = 3.715794502594e-03 time: 1.770000000000e+00 total movement = 3.715794502594e-03 vel = 3.708290860017e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.693284, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.693284, acc = -15.007285,T = 2.453546, P = 2.001341 on final decel initial results: dx= 0.452206,dt = 0.228777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.228777 dt = 0.228777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.771000 primary movement = 3.700787217440e-03 time: 1.771000000000e+00 total movement = 3.700787217440e-03 vel = 3.693283574863e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.678276, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.678276, acc = -15.007285,T = 2.453546, P = 2.005026 on final decel initial results: dx= 0.448520,dt = 0.227777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.227777 dt = 0.227777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.772000 primary movement = 3.685779932286e-03 time: 1.772000000000e+00 total movement = 3.685779932286e-03 vel = 3.678276289709e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.663269, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.663269, acc = -15.007285,T = 2.453546, P = 2.008697 on final decel initial results: dx= 0.444849,dt = 0.226777, a_f = -15.007285, v_f = 0.259963 dt = 0.226777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.773000 primary movement = 3.670772647132e-03 time: 1.773000000000e+00 total movement = 3.670772647132e-03 vel = 3.663269004555e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.648262, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.648262, acc = -15.007285,T = 2.453546, P = 2.012353 on final decel initial results: dx= 0.441193,dt = 0.225777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.225777 dt = 0.225777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.774000 primary movement = 3.655765361978e-03 time: 1.774000000000e+00 total movement = 3.655765361978e-03 vel = 3.648261719401e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.633254, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.633254, acc = -15.007285,T = 2.453546, P = 2.015994 on final decel initial results: dx= 0.437553,dt = 0.224777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.224777 dt = 0.224777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.775000 primary movement = 3.640758076825e-03 time: 1.775000000000e+00 total movement = 3.640758076825e-03 vel = 3.633254434248e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.618247, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.618247, acc = -15.007285,T = 2.453546, P = 2.019619 on final decel initial results: dx= 0.433927,dt = 0.223777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.223777 dt = 0.223777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.776000 primary movement = 3.625750791671e-03 time: 1.776000000000e+00 total movement = 3.625750791671e-03 vel = 3.618247149094e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.603240, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.603240, acc = -15.007285,T = 2.453546, P = 2.023230 on final decel initial results: dx= 0.430316,dt = 0.222777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.222777 dt = 0.222777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.777000 primary movement = 3.610743506517e-03 time: 1.777000000000e+00 total movement = 3.610743506517e-03 vel = 3.603239863940e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.588233, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.588233, acc = -15.007285,T = 2.453546, P = 2.026826 on final decel initial results: dx= 0.426720,dt = 0.221777, a_f = -15.007285, v_f = 0.259963 dt = 0.221777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.778000 primary movement = 3.595736221363e-03 time: 1.778000000000e+00 total movement = 3.595736221363e-03 vel = 3.588232578786e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.573225, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.573225, acc = -15.007285,T = 2.453546, P = 2.030407 on final decel initial results: dx= 0.423140,dt = 0.220777, a_f = -15.007285, v_f = 0.259963 dt = 0.220777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.779000 primary movement = 3.580728936209e-03 time: 1.779000000000e+00 total movement = 3.580728936209e-03 vel = 3.573225293632e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.558218, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.558218, acc = -15.007285,T = 2.453546, P = 2.033972 on final decel initial results: dx= 0.419574,dt = 0.219777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.219777 dt = 0.219777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.780000 primary movement = 3.565721651056e-03 time: 1.780000000000e+00 total movement = 3.565721651056e-03 vel = 3.558218008478e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.543211, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.543211, acc = -15.007285,T = 2.453546, P = 2.037523 on final decel initial results: dx= 0.416023,dt = 0.218777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.218777 dt = 0.218777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.781000 primary movement = 3.550714365901e-03 time: 1.781000000000e+00 total movement = 3.550714365901e-03 vel = 3.543210723324e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.528203, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.528203, acc = -15.007285,T = 2.453546, P = 2.041059 on final decel initial results: dx= 0.412488,dt = 0.217777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.217777 dt = 0.217777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.782000 primary movement = 3.535707080748e-03 time: 1.782000000000e+00 total movement = 3.535707080748e-03 vel = 3.528203438171e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.513196, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.513196, acc = -15.007285,T = 2.453546, P = 2.044579 on final decel initial results: dx= 0.408967,dt = 0.216777, a_f = -15.007285, v_f = 0.259963 dt = 0.216777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.783000 primary movement = 3.520699795593e-03 time: 1.783000000000e+00 total movement = 3.520699795593e-03 vel = 3.513196153017e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.498189, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.498189, acc = -15.007285,T = 2.453546, P = 2.048085 on final decel initial results: dx= 0.405461,dt = 0.215777, a_f = -15.007285, v_f = 0.259963 dt = 0.215777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.784000 primary movement = 3.505692510440e-03 time: 1.784000000000e+00 total movement = 3.505692510440e-03 vel = 3.498188867863e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.483182, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.483182, acc = -15.007285,T = 2.453546, P = 2.051576 on final decel initial results: dx= 0.401971,dt = 0.214777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.214777 dt = 0.214777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.785000 primary movement = 3.490685225286e-03 time: 1.785000000000e+00 total movement = 3.490685225286e-03 vel = 3.483181582709e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.468174, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.468174, acc = -15.007285,T = 2.453546, P = 2.055051 on final decel initial results: dx= 0.398495,dt = 0.213777, a_f = -15.007285, v_f = 0.259963 dt = 0.213777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.786000 primary movement = 3.475677940132e-03 time: 1.786000000000e+00 total movement = 3.475677940132e-03 vel = 3.468174297555e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.453167, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.453167, acc = -15.007285,T = 2.453546, P = 2.058512 on final decel initial results: dx= 0.395034,dt = 0.212777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.212777 dt = 0.212777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.787000 primary movement = 3.460670654978e-03 time: 1.787000000000e+00 total movement = 3.460670654978e-03 vel = 3.453167012401e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.438160, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.438160, acc = -15.007285,T = 2.453546, P = 2.061958 on final decel initial results: dx= 0.391589,dt = 0.211777, a_f = -15.007285, v_f = 0.259963 dt = 0.211777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.788000 primary movement = 3.445663369824e-03 time: 1.788000000000e+00 total movement = 3.445663369824e-03 vel = 3.438159727247e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.423152, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.423152, acc = -15.007285,T = 2.453546, P = 2.065388 on final decel initial results: dx= 0.388158,dt = 0.210777, a_f = -15.007285, v_f = 0.259963 dt = 0.210777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.789000 primary movement = 3.430656084670e-03 time: 1.789000000000e+00 total movement = 3.430656084670e-03 vel = 3.423152442093e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.408145, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.408145, acc = -15.007285,T = 2.453546, P = 2.068804 on final decel initial results: dx= 0.384742,dt = 0.209777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.209777 dt = 0.209777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.790000 primary movement = 3.415648799517e-03 time: 1.790000000000e+00 total movement = 3.415648799517e-03 vel = 3.408145156940e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.393138, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.393138, acc = -15.007285,T = 2.453546, P = 2.072205 on final decel initial results: dx= 0.381342,dt = 0.208777, a_f = -15.007285, v_f = 0.259963 dt = 0.208777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.791000 primary movement = 3.400641514363e-03 time: 1.791000000000e+00 total movement = 3.400641514363e-03 vel = 3.393137871786e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.378131, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.378131, acc = -15.007285,T = 2.453546, P = 2.075590 on final decel initial results: dx= 0.377956,dt = 0.207777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.207777 dt = 0.207777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.792000 primary movement = 3.385634229209e-03 time: 1.792000000000e+00 total movement = 3.385634229209e-03 vel = 3.378130586632e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.363123, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.363123, acc = -15.007285,T = 2.453546, P = 2.078961 on final decel initial results: dx= 0.374585,dt = 0.206777, a_f = -15.007285, v_f = 0.259963 dt = 0.206777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.793000 primary movement = 3.370626944055e-03 time: 1.793000000000e+00 total movement = 3.370626944055e-03 vel = 3.363123301478e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.348116, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.348116, acc = -15.007285,T = 2.453546, P = 2.082317 on final decel initial results: dx= 0.371230,dt = 0.205777, a_f = -15.007285, v_f = 0.259963 dt = 0.205777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.794000 primary movement = 3.355619658901e-03 time: 1.794000000000e+00 total movement = 3.355619658901e-03 vel = 3.348116016324e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.333109, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.333109, acc = -15.007285,T = 2.453546, P = 2.085657 on final decel initial results: dx= 0.367889,dt = 0.204777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.204777 dt = 0.204777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.795000 primary movement = 3.340612373748e-03 time: 1.795000000000e+00 total movement = 3.340612373748e-03 vel = 3.333108731170e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.318101, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.318101, acc = -15.007285,T = 2.453546, P = 2.088983 on final decel initial results: dx= 0.364563,dt = 0.203777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.203777 dt = 0.203777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.796000 primary movement = 3.325605088593e-03 time: 1.796000000000e+00 total movement = 3.325605088593e-03 vel = 3.318101446016e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.303094, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.303094, acc = -15.007285,T = 2.453546, P = 2.092293 on final decel initial results: dx= 0.361253,dt = 0.202777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.202777 dt = 0.202777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.797000 primary movement = 3.310597803440e-03 time: 1.797000000000e+00 total movement = 3.310597803440e-03 vel = 3.303094160863e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.288087, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.288087, acc = -15.007285,T = 2.453546, P = 2.095589 on final decel initial results: dx= 0.357957,dt = 0.201777, a_f = -15.007285, v_f = 0.259963 dt = 0.201777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.798000 primary movement = 3.295590518286e-03 time: 1.798000000000e+00 total movement = 3.295590518286e-03 vel = 3.288086875709e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.273080, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.273080, acc = -15.007285,T = 2.453546, P = 2.098870 on final decel initial results: dx= 0.354677,dt = 0.200777, a_f = -15.007285, v_f = 0.259963 dt = 0.200777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.799000 primary movement = 3.280583233131e-03 time: 1.799000000000e+00 total movement = 3.280583233131e-03 vel = 3.273079590555e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.258072, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.258072, acc = -15.007285,T = 2.453546, P = 2.102135 on final decel initial results: dx= 0.351411,dt = 0.199777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.199777 dt = 0.199777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.800000 primary movement = 3.265575947978e-03 time: 1.800000000000e+00 total movement = 3.265575947978e-03 vel = 3.258072305401e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.243065, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.243065, acc = -15.007285,T = 2.453546, P = 2.105386 on final decel initial results: dx= 0.348161,dt = 0.198777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.198777 dt = 0.198777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.801000 primary movement = 3.250568662824e-03 time: 1.801000000000e+00 total movement = 3.250568662824e-03 vel = 3.243065020247e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.228058, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.228058, acc = -15.007285,T = 2.453546, P = 2.108621 on final decel initial results: dx= 0.344925,dt = 0.197777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.197777 dt = 0.197777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.802000 primary movement = 3.235561377671e-03 time: 1.802000000000e+00 total movement = 3.235561377671e-03 vel = 3.228057735093e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.213050, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.213050, acc = -15.007285,T = 2.453546, P = 2.111842 on final decel initial results: dx= 0.341704,dt = 0.196777, a_f = -15.007285, v_f = 0.259963 dt = 0.196777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.803000 primary movement = 3.220554092516e-03 time: 1.803000000000e+00 total movement = 3.220554092516e-03 vel = 3.213050449939e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.198043, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.198043, acc = -15.007285,T = 2.453546, P = 2.115047 on final decel initial results: dx= 0.338499,dt = 0.195777, a_f = -15.007285, v_f = 0.259963 dt = 0.195777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.804000 primary movement = 3.205546807362e-03 time: 1.804000000000e+00 total movement = 3.205546807362e-03 vel = 3.198043164785e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.183036, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.183036, acc = -15.007285,T = 2.453546, P = 2.118238 on final decel initial results: dx= 0.335308,dt = 0.194777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.194777 dt = 0.194777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.805000 primary movement = 3.190539522209e-03 time: 1.805000000000e+00 total movement = 3.190539522209e-03 vel = 3.183035879632e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.168029, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.168029, acc = -15.007285,T = 2.453546, P = 2.121413 on final decel initial results: dx= 0.332133,dt = 0.193777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.193777 dt = 0.193777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.806000 primary movement = 3.175532237055e-03 time: 1.806000000000e+00 total movement = 3.175532237055e-03 vel = 3.168028594478e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.153021, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.153021, acc = -15.007285,T = 2.453546, P = 2.124574 on final decel initial results: dx= 0.328972,dt = 0.192777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.192777 dt = 0.192777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.807000 primary movement = 3.160524951901e-03 time: 1.807000000000e+00 total movement = 3.160524951901e-03 vel = 3.153021309324e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.138014, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.138014, acc = -15.007285,T = 2.453546, P = 2.127720 on final decel initial results: dx= 0.325827,dt = 0.191777, a_f = -15.007285, v_f = 0.259963 dt = 0.191777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.808000 primary movement = 3.145517666747e-03 time: 1.808000000000e+00 total movement = 3.145517666747e-03 vel = 3.138014024170e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.123007, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.123007, acc = -15.007285,T = 2.453546, P = 2.130850 on final decel initial results: dx= 0.322696,dt = 0.190777, a_f = -15.007285, v_f = 0.259963 dt = 0.190777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.809000 primary movement = 3.130510381593e-03 time: 1.809000000000e+00 total movement = 3.130510381593e-03 vel = 3.123006739016e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.107999, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.107999, acc = -15.007285,T = 2.453546, P = 2.133966 on final decel initial results: dx= 0.319581,dt = 0.189777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.189777 dt = 0.189777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.810000 primary movement = 3.115503096440e-03 time: 1.810000000000e+00 total movement = 3.115503096440e-03 vel = 3.107999453862e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.092992, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.092992, acc = -15.007285,T = 2.453546, P = 2.137066 on final decel initial results: dx= 0.316480,dt = 0.188777, a_f = -15.007285, v_f = 0.259963 dt = 0.188777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.811000 primary movement = 3.100495811285e-03 time: 1.811000000000e+00 total movement = 3.100495811285e-03 vel = 3.092992168708e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.077985, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.077985, acc = -15.007285,T = 2.453546, P = 2.140152 on final decel initial results: dx= 0.313395,dt = 0.187777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.187777 dt = 0.187777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.812000 primary movement = 3.085488526131e-03 time: 1.812000000000e+00 total movement = 3.085488526131e-03 vel = 3.077984883555e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.062978, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.062978, acc = -15.007285,T = 2.453546, P = 2.143222 on final decel initial results: dx= 0.310324,dt = 0.186777, a_f = -15.007285, v_f = 0.259963 dt = 0.186777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.813000 primary movement = 3.070481240978e-03 time: 1.813000000000e+00 total movement = 3.070481240978e-03 vel = 3.062977598401e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.047970, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.047970, acc = -15.007285,T = 2.453546, P = 2.146277 on final decel initial results: dx= 0.307269,dt = 0.185777, a_f = -15.007285, v_f = 0.259963 dt = 0.185777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.814000 primary movement = 3.055473955823e-03 time: 1.814000000000e+00 total movement = 3.055473955823e-03 vel = 3.047970313247e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.032963, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.032963, acc = -15.007285,T = 2.453546, P = 2.149318 on final decel initial results: dx= 0.304228,dt = 0.184777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.184777 dt = 0.184777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.815000 primary movement = 3.040466670670e-03 time: 1.815000000000e+00 total movement = 3.040466670670e-03 vel = 3.032963028093e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.017956, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.017956, acc = -15.007285,T = 2.453546, P = 2.152343 on final decel initial results: dx= 0.301203,dt = 0.183777, a_f = -15.007285, v_f = 0.259963 dt = 0.183777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.816000 primary movement = 3.025459385516e-03 time: 1.816000000000e+00 total movement = 3.025459385516e-03 vel = 3.017955742939e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 3.002948, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 3.002948, acc = -15.007285,T = 2.453546, P = 2.155354 on final decel initial results: dx= 0.298192,dt = 0.182777, a_f = -15.007285, v_f = 0.259963 dt = 0.182777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.817000 primary movement = 3.010452100362e-03 time: 1.817000000000e+00 total movement = 3.010452100362e-03 vel = 3.002948457785e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.987941, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.987941, acc = -15.007285,T = 2.453546, P = 2.158349 on final decel initial results: dx= 0.295197,dt = 0.181777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.181777 dt = 0.181777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.818000 primary movement = 2.995444815208e-03 time: 1.818000000000e+00 total movement = 2.995444815208e-03 vel = 2.987941172631e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.972934, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.972934, acc = -15.007285,T = 2.453546, P = 2.161330 on final decel initial results: dx= 0.292217,dt = 0.180777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.180777 dt = 0.180777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.819000 primary movement = 2.980437530054e-03 time: 1.819000000000e+00 total movement = 2.980437530054e-03 vel = 2.972933887478e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.957927, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.957927, acc = -15.007285,T = 2.453546, P = 2.164295 on final decel initial results: dx= 0.289251,dt = 0.179777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.179777 dt = 0.179777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.820000 primary movement = 2.965430244901e-03 time: 1.820000000000e+00 total movement = 2.965430244901e-03 vel = 2.957926602324e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.942919, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.942919, acc = -15.007285,T = 2.453546, P = 2.167246 on final decel initial results: dx= 0.286301,dt = 0.178777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.178777 dt = 0.178777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.821000 primary movement = 2.950422959746e-03 time: 1.821000000000e+00 total movement = 2.950422959746e-03 vel = 2.942919317170e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.927912, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.927912, acc = -15.007285,T = 2.453546, P = 2.170181 on final decel initial results: dx= 0.283365,dt = 0.177777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.177777 dt = 0.177777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.822000 primary movement = 2.935415674593e-03 time: 1.822000000000e+00 total movement = 2.935415674593e-03 vel = 2.927912032016e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.912905, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.912905, acc = -15.007285,T = 2.453546, P = 2.173101 on final decel initial results: dx= 0.280445,dt = 0.176777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.176777 dt = 0.176777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.823000 primary movement = 2.920408389439e-03 time: 1.823000000000e+00 total movement = 2.920408389439e-03 vel = 2.912904746862e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.897897, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.897897, acc = -15.007285,T = 2.453546, P = 2.176007 on final decel initial results: dx= 0.277539,dt = 0.175777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.175777 dt = 0.175777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.824000 primary movement = 2.905401104285e-03 time: 1.824000000000e+00 total movement = 2.905401104285e-03 vel = 2.897897461708e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.882890, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.882890, acc = -15.007285,T = 2.453546, P = 2.178897 on final decel initial results: dx= 0.274649,dt = 0.174777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.174777 dt = 0.174777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.825000 primary movement = 2.890393819131e-03 time: 1.825000000000e+00 total movement = 2.890393819131e-03 vel = 2.882890176554e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.867883, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.867883, acc = -15.007285,T = 2.453546, P = 2.181773 on final decel initial results: dx= 0.271774,dt = 0.173777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.173777 dt = 0.173777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.826000 primary movement = 2.875386533977e-03 time: 1.826000000000e+00 total movement = 2.875386533977e-03 vel = 2.867882891400e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.852876, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.852876, acc = -15.007285,T = 2.453546, P = 2.184633 on final decel initial results: dx= 0.268913,dt = 0.172777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.172777 dt = 0.172777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.827000 primary movement = 2.860379248823e-03 time: 1.827000000000e+00 total movement = 2.860379248823e-03 vel = 2.852875606247e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.837868, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.837868, acc = -15.007285,T = 2.453546, P = 2.187478 on final decel initial results: dx= 0.266068,dt = 0.171777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.171777 dt = 0.171777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.828000 primary movement = 2.845371963670e-03 time: 1.828000000000e+00 total movement = 2.845371963670e-03 vel = 2.837868321093e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.822861, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.822861, acc = -15.007285,T = 2.453546, P = 2.190309 on final decel initial results: dx= 0.263238,dt = 0.170777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.170777 dt = 0.170777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.829000 primary movement = 2.830364678516e-03 time: 1.829000000000e+00 total movement = 2.830364678516e-03 vel = 2.822861035939e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.807854, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.807854, acc = -15.007285,T = 2.453546, P = 2.193124 on final decel initial results: dx= 0.260422,dt = 0.169777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.169777 dt = 0.169777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.830000 primary movement = 2.815357393362e-03 time: 1.830000000000e+00 total movement = 2.815357393362e-03 vel = 2.807853750785e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.792846, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.792846, acc = -15.007285,T = 2.453546, P = 2.195924 on final decel initial results: dx= 0.257622,dt = 0.168777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.168777 dt = 0.168777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.831000 primary movement = 2.800350108208e-03 time: 1.831000000000e+00 total movement = 2.800350108208e-03 vel = 2.792846465631e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.777839, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.777839, acc = -15.007285,T = 2.453546, P = 2.198710 on final decel initial results: dx= 0.254837,dt = 0.167777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.167777 dt = 0.167777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.832000 primary movement = 2.785342823054e-03 time: 1.832000000000e+00 total movement = 2.785342823054e-03 vel = 2.777839180477e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.762832, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.762832, acc = -15.007285,T = 2.453546, P = 2.201480 on final decel initial results: dx= 0.252066,dt = 0.166777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.166777 dt = 0.166777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.833000 primary movement = 2.770335537901e-03 time: 1.833000000000e+00 total movement = 2.770335537901e-03 vel = 2.762831895323e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.747825, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.747825, acc = -15.007285,T = 2.453546, P = 2.204235 on final decel initial results: dx= 0.249311,dt = 0.165777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.165777 dt = 0.165777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.834000 primary movement = 2.755328252746e-03 time: 1.834000000000e+00 total movement = 2.755328252746e-03 vel = 2.747824610170e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.732817, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.732817, acc = -15.007285,T = 2.453546, P = 2.206976 on final decel initial results: dx= 0.246571,dt = 0.164777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.164777 dt = 0.164777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.835000 primary movement = 2.740320967593e-03 time: 1.835000000000e+00 total movement = 2.740320967593e-03 vel = 2.732817325016e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.717810, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.717810, acc = -15.007285,T = 2.453546, P = 2.209701 on final decel initial results: dx= 0.243845,dt = 0.163777, a_f = -15.007285, v_f = 0.259963 dt = 0.163777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.836000 primary movement = 2.725313682438e-03 time: 1.836000000000e+00 total movement = 2.725313682438e-03 vel = 2.717810039862e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.702803, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.702803, acc = -15.007285,T = 2.453546, P = 2.212411 on final decel initial results: dx= 0.241135,dt = 0.162777, a_f = -15.007285, v_f = 0.259963 dt = 0.162777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.837000 primary movement = 2.710306397285e-03 time: 1.837000000000e+00 total movement = 2.710306397285e-03 vel = 2.702802754708e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.687795, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.687795, acc = -15.007285,T = 2.453546, P = 2.215107 on final decel initial results: dx= 0.238440,dt = 0.161777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.161777 dt = 0.161777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.838000 primary movement = 2.695299112131e-03 time: 1.838000000000e+00 total movement = 2.695299112131e-03 vel = 2.687795469554e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.672788, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.672788, acc = -15.007285,T = 2.453546, P = 2.217787 on final decel initial results: dx= 0.235759,dt = 0.160777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.160777 dt = 0.160777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.839000 primary movement = 2.680291826977e-03 time: 1.839000000000e+00 total movement = 2.680291826977e-03 vel = 2.672788184400e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.657781, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.657781, acc = -15.007285,T = 2.453546, P = 2.220452 on final decel initial results: dx= 0.233094,dt = 0.159777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.159777 dt = 0.159777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.840000 primary movement = 2.665284541823e-03 time: 1.840000000000e+00 total movement = 2.665284541823e-03 vel = 2.657780899246e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.642774, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.642774, acc = -15.007285,T = 2.453546, P = 2.223103 on final decel initial results: dx= 0.230444,dt = 0.158777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.158777 dt = 0.158777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.841000 primary movement = 2.650277256669e-03 time: 1.841000000000e+00 total movement = 2.650277256669e-03 vel = 2.642773614092e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.627766, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.627766, acc = -15.007285,T = 2.453546, P = 2.225738 on final decel initial results: dx= 0.227809,dt = 0.157777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.157777 dt = 0.157777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.842000 primary movement = 2.635269971516e-03 time: 1.842000000000e+00 total movement = 2.635269971516e-03 vel = 2.627766328939e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.612759, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.612759, acc = -15.007285,T = 2.453546, P = 2.228358 on final decel initial results: dx= 0.225188,dt = 0.156777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.156777 dt = 0.156777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.843000 primary movement = 2.620262686362e-03 time: 1.843000000000e+00 total movement = 2.620262686362e-03 vel = 2.612759043785e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.597752, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.597752, acc = -15.007285,T = 2.453546, P = 2.230963 on final decel initial results: dx= 0.222583,dt = 0.155777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.155777 dt = 0.155777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.844000 primary movement = 2.605255401208e-03 time: 1.844000000000e+00 total movement = 2.605255401208e-03 vel = 2.597751758631e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.582744, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.582744, acc = -15.007285,T = 2.453546, P = 2.233554 on final decel initial results: dx= 0.219993,dt = 0.154777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.154777 dt = 0.154777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.845000 primary movement = 2.590248116054e-03 time: 1.845000000000e+00 total movement = 2.590248116054e-03 vel = 2.582744473477e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.567737, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.567737, acc = -15.007285,T = 2.453546, P = 2.236129 on final decel initial results: dx= 0.217418,dt = 0.153777, a_f = -15.007285, v_f = 0.259963 dt = 0.153777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.846000 primary movement = 2.575240830900e-03 time: 1.846000000000e+00 total movement = 2.575240830900e-03 vel = 2.567737188323e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.552730, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.552730, acc = -15.007285,T = 2.453546, P = 2.238689 on final decel initial results: dx= 0.214857,dt = 0.152777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.152777 dt = 0.152777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.847000 primary movement = 2.560233545746e-03 time: 1.847000000000e+00 total movement = 2.560233545746e-03 vel = 2.552729903169e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.537723, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.537723, acc = -15.007285,T = 2.453546, P = 2.241234 on final decel initial results: dx= 0.212312,dt = 0.151777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.151777 dt = 0.151777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.848000 primary movement = 2.545226260592e-03 time: 1.848000000000e+00 total movement = 2.545226260592e-03 vel = 2.537722618015e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.522715, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.522715, acc = -15.007285,T = 2.453546, P = 2.243764 on final decel initial results: dx= 0.209782,dt = 0.150777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.150777 dt = 0.150777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.849000 primary movement = 2.530218975438e-03 time: 1.849000000000e+00 total movement = 2.530218975438e-03 vel = 2.522715332862e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.507708, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.507708, acc = -15.007285,T = 2.453546, P = 2.246280 on final decel initial results: dx= 0.207267,dt = 0.149777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.149777 dt = 0.149777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.850000 primary movement = 2.515211690285e-03 time: 1.850000000000e+00 total movement = 2.515211690285e-03 vel = 2.507708047708e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.492701, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.492701, acc = -15.007285,T = 2.453546, P = 2.248780 on final decel initial results: dx= 0.204766,dt = 0.148777, a_f = -15.007285, v_f = 0.259963 dt = 0.148777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.851000 primary movement = 2.500204405131e-03 time: 1.851000000000e+00 total movement = 2.500204405131e-03 vel = 2.492700762554e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.477693, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.477693, acc = -15.007285,T = 2.453546, P = 2.251265 on final decel initial results: dx= 0.202281,dt = 0.147777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.147777 dt = 0.147777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.852000 primary movement = 2.485197119977e-03 time: 1.852000000000e+00 total movement = 2.485197119977e-03 vel = 2.477693477400e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.462686, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.462686, acc = -15.007285,T = 2.453546, P = 2.253735 on final decel initial results: dx= 0.199811,dt = 0.146777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.146777 dt = 0.146777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.853000 primary movement = 2.470189834823e-03 time: 1.853000000000e+00 total movement = 2.470189834823e-03 vel = 2.462686192246e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.447679, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.447679, acc = -15.007285,T = 2.453546, P = 2.256190 on final decel initial results: dx= 0.197356,dt = 0.145777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.145777 dt = 0.145777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.854000 primary movement = 2.455182549669e-03 time: 1.854000000000e+00 total movement = 2.455182549669e-03 vel = 2.447678907092e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.432672, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.432672, acc = -15.007285,T = 2.453546, P = 2.258631 on final decel initial results: dx= 0.194916,dt = 0.144777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.144777 dt = 0.144777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.855000 primary movement = 2.440175264515e-03 time: 1.855000000000e+00 total movement = 2.440175264515e-03 vel = 2.432671621938e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.417664, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.417664, acc = -15.007285,T = 2.453546, P = 2.261056 on final decel initial results: dx= 0.192491,dt = 0.143777, a_f = -15.007285, v_f = 0.259963 dt = 0.143777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.856000 primary movement = 2.425167979361e-03 time: 1.856000000000e+00 total movement = 2.425167979361e-03 vel = 2.417664336784e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.402657, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.402657, acc = -15.007285,T = 2.453546, P = 2.263466 on final decel initial results: dx= 0.190080,dt = 0.142777, a_f = -15.007285, v_f = 0.259963 dt = 0.142777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.857000 primary movement = 2.410160694208e-03 time: 1.857000000000e+00 total movement = 2.410160694208e-03 vel = 2.402657051631e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.387650, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.387650, acc = -15.007285,T = 2.453546, P = 2.265861 on final decel initial results: dx= 0.187685,dt = 0.141777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.141777 dt = 0.141777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.858000 primary movement = 2.395153409053e-03 time: 1.858000000000e+00 total movement = 2.395153409053e-03 vel = 2.387649766477e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.372642, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.372642, acc = -15.007285,T = 2.453546, P = 2.268241 on final decel initial results: dx= 0.185305,dt = 0.140777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.140777 dt = 0.140777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.859000 primary movement = 2.380146123900e-03 time: 1.859000000000e+00 total movement = 2.380146123900e-03 vel = 2.372642481323e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.357635, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.357635, acc = -15.007285,T = 2.453546, P = 2.270606 on final decel initial results: dx= 0.182940,dt = 0.139777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.139777 dt = 0.139777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.860000 primary movement = 2.365138838746e-03 time: 1.860000000000e+00 total movement = 2.365138838746e-03 vel = 2.357635196169e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.342628, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.342628, acc = -15.007285,T = 2.453546, P = 2.272957 on final decel initial results: dx= 0.180590,dt = 0.138777, a_f = -15.007285, v_f = 0.259963 dt = 0.138777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.861000 primary movement = 2.350131553592e-03 time: 1.861000000000e+00 total movement = 2.350131553592e-03 vel = 2.342627911015e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.327621, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.327621, acc = -15.007285,T = 2.453546, P = 2.275292 on final decel initial results: dx= 0.178255,dt = 0.137777, a_f = -15.007285, v_f = 0.259963 dt = 0.137777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.862000 primary movement = 2.335124268438e-03 time: 1.862000000000e+00 total movement = 2.335124268438e-03 vel = 2.327620625861e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.312613, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.312613, acc = -15.007285,T = 2.453546, P = 2.277612 on final decel initial results: dx= 0.175935,dt = 0.136777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.136777 dt = 0.136777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.863000 primary movement = 2.320116983284e-03 time: 1.863000000000e+00 total movement = 2.320116983284e-03 vel = 2.312613340707e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.297606, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.297606, acc = -15.007285,T = 2.453546, P = 2.279917 on final decel initial results: dx= 0.173629,dt = 0.135777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.135777 dt = 0.135777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.864000 primary movement = 2.305109698131e-03 time: 1.864000000000e+00 total movement = 2.305109698131e-03 vel = 2.297606055554e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.282599, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.282599, acc = -15.007285,T = 2.453546, P = 2.282207 on final decel initial results: dx= 0.171339,dt = 0.134777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.134777 dt = 0.134777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.865000 primary movement = 2.290102412977e-03 time: 1.865000000000e+00 total movement = 2.290102412977e-03 vel = 2.282598770400e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.267591, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.267591, acc = -15.007285,T = 2.453546, P = 2.284482 on final decel initial results: dx= 0.169064,dt = 0.133777, a_f = -15.007285, v_f = 0.259963 dt = 0.133777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.866000 primary movement = 2.275095127823e-03 time: 1.866000000000e+00 total movement = 2.275095127823e-03 vel = 2.267591485246e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.252584, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.252584, acc = -15.007285,T = 2.453546, P = 2.286742 on final decel initial results: dx= 0.166804,dt = 0.132777, a_f = -15.007285, v_f = 0.259963 dt = 0.132777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.867000 primary movement = 2.260087842668e-03 time: 1.867000000000e+00 total movement = 2.260087842668e-03 vel = 2.252584200092e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.237577, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.237577, acc = -15.007285,T = 2.453546, P = 2.288987 on final decel initial results: dx= 0.164559,dt = 0.131777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.131777 dt = 0.131777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.868000 primary movement = 2.245080557516e-03 time: 1.868000000000e+00 total movement = 2.245080557516e-03 vel = 2.237576914938e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.222570, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.222570, acc = -15.007285,T = 2.453546, P = 2.291217 on final decel initial results: dx= 0.162329,dt = 0.130777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.130777 dt = 0.130777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.869000 primary movement = 2.230073272361e-03 time: 1.869000000000e+00 total movement = 2.230073272361e-03 vel = 2.222569629784e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.207562, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.207562, acc = -15.007285,T = 2.453546, P = 2.293432 on final decel initial results: dx= 0.160114,dt = 0.129777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.129777 dt = 0.129777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.870000 primary movement = 2.215065987207e-03 time: 1.870000000000e+00 total movement = 2.215065987207e-03 vel = 2.207562344630e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.192555, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.192555, acc = -15.007285,T = 2.453546, P = 2.295632 on final decel initial results: dx= 0.157914,dt = 0.128777, a_f = -15.007285, v_f = 0.259963 dt = 0.128777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.871000 primary movement = 2.200058702053e-03 time: 1.871000000000e+00 total movement = 2.200058702053e-03 vel = 2.192555059476e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.177548, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.177548, acc = -15.007285,T = 2.453546, P = 2.297818 on final decel initial results: dx= 0.155729,dt = 0.127777, a_f = -15.007285, v_f = 0.259963 dt = 0.127777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.872000 primary movement = 2.185051416900e-03 time: 1.872000000000e+00 total movement = 2.185051416900e-03 vel = 2.177547774323e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.162540, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.162540, acc = -15.007285,T = 2.453546, P = 2.299988 on final decel initial results: dx= 0.153559,dt = 0.126777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.126777 dt = 0.126777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.873000 primary movement = 2.170044131746e-03 time: 1.873000000000e+00 total movement = 2.170044131746e-03 vel = 2.162540489169e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.147533, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.147533, acc = -15.007285,T = 2.453546, P = 2.302143 on final decel initial results: dx= 0.151404,dt = 0.125777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.125777 dt = 0.125777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.874000 primary movement = 2.155036846591e-03 time: 1.874000000000e+00 total movement = 2.155036846591e-03 vel = 2.147533204015e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.132526, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.132526, acc = -15.007285,T = 2.453546, P = 2.304283 on final decel initial results: dx= 0.149264,dt = 0.124777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.124777 dt = 0.124777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.875000 primary movement = 2.140029561438e-03 time: 1.875000000000e+00 total movement = 2.140029561438e-03 vel = 2.132525918861e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.117519, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.117519, acc = -15.007285,T = 2.453546, P = 2.306408 on final decel initial results: dx= 0.147139,dt = 0.123777, a_f = -15.007285, v_f = 0.259963 dt = 0.123777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.876000 primary movement = 2.125022276284e-03 time: 1.876000000000e+00 total movement = 2.125022276284e-03 vel = 2.117518633707e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.102511, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.102511, acc = -15.007285,T = 2.453546, P = 2.308518 on final decel initial results: dx= 0.145029,dt = 0.122777, a_f = -15.007285, v_f = 0.259963 dt = 0.122777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.877000 primary movement = 2.110014991130e-03 time: 1.877000000000e+00 total movement = 2.110014991130e-03 vel = 2.102511348553e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.087504, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.087504, acc = -15.007285,T = 2.453546, P = 2.310613 on final decel initial results: dx= 0.142934,dt = 0.121777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.121777 dt = 0.121777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.878000 primary movement = 2.095007705976e-03 time: 1.878000000000e+00 total movement = 2.095007705976e-03 vel = 2.087504063399e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.072497, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.072497, acc = -15.007285,T = 2.453546, P = 2.312693 on final decel initial results: dx= 0.140854,dt = 0.120777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.120777 dt = 0.120777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.879000 primary movement = 2.080000420823e-03 time: 1.879000000000e+00 total movement = 2.080000420823e-03 vel = 2.072496778246e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.057489, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.057489, acc = -15.007285,T = 2.453546, P = 2.314758 on final decel initial results: dx= 0.138789,dt = 0.119777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.119777 dt = 0.119777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.880000 primary movement = 2.064993135668e-03 time: 1.880000000000e+00 total movement = 2.064993135668e-03 vel = 2.057489493092e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.042482, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.042482, acc = -15.007285,T = 2.453546, P = 2.316808 on final decel initial results: dx= 0.136739,dt = 0.118777, a_f = -15.007285, v_f = 0.259963 dt = 0.118777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.881000 primary movement = 2.049985850515e-03 time: 1.881000000000e+00 total movement = 2.049985850515e-03 vel = 2.042482207938e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.027475, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.027475, acc = -15.007285,T = 2.453546, P = 2.318843 on final decel initial results: dx= 0.134704,dt = 0.117777, a_f = -15.007285, v_f = 0.259963 dt = 0.117777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.882000 primary movement = 2.034978565361e-03 time: 1.882000000000e+00 total movement = 2.034978565361e-03 vel = 2.027474922784e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 2.012468, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 2.012468, acc = -15.007285,T = 2.453546, P = 2.320863 on final decel initial results: dx= 0.132684,dt = 0.116777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.116777 dt = 0.116777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.883000 primary movement = 2.019971280207e-03 time: 1.883000000000e+00 total movement = 2.019971280207e-03 vel = 2.012467637630e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.997460, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.997460, acc = -15.007285,T = 2.453546, P = 2.322868 on final decel initial results: dx= 0.130679,dt = 0.115777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.115777 dt = 0.115777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.884000 primary movement = 2.004963995053e-03 time: 1.884000000000e+00 total movement = 2.004963995053e-03 vel = 1.997460352476e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.982453, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.982453, acc = -15.007285,T = 2.453546, P = 2.324858 on final decel initial results: dx= 0.128689,dt = 0.114777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.114777 dt = 0.114777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.885000 primary movement = 1.989956709899e-03 time: 1.885000000000e+00 total movement = 1.989956709899e-03 vel = 1.982453067322e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.967446, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.967446, acc = -15.007285,T = 2.453546, P = 2.326832 on final decel initial results: dx= 0.126714,dt = 0.113777, a_f = -15.007285, v_f = 0.259963 dt = 0.113777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.886000 primary movement = 1.974949424746e-03 time: 1.886000000000e+00 total movement = 1.974949424746e-03 vel = 1.967445782168e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.952438, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.952438, acc = -15.007285,T = 2.453546, P = 2.328792 on final decel initial results: dx= 0.124754,dt = 0.112777, a_f = -15.007285, v_f = 0.259963 dt = 0.112777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.887000 primary movement = 1.959942139591e-03 time: 1.887000000000e+00 total movement = 1.959942139591e-03 vel = 1.952438497015e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.937431, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.937431, acc = -15.007285,T = 2.453546, P = 2.330737 on final decel initial results: dx= 0.122809,dt = 0.111777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.111777 dt = 0.111777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.888000 primary movement = 1.944934854438e-03 time: 1.888000000000e+00 total movement = 1.944934854438e-03 vel = 1.937431211861e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.922424, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.922424, acc = -15.007285,T = 2.453546, P = 2.332667 on final decel initial results: dx= 0.120879,dt = 0.110777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.110777 dt = 0.110777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.889000 primary movement = 1.929927569284e-03 time: 1.889000000000e+00 total movement = 1.929927569284e-03 vel = 1.922423926707e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.907417, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.907417, acc = -15.007285,T = 2.453546, P = 2.334582 on final decel initial results: dx= 0.118964,dt = 0.109777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.109777 dt = 0.109777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.890000 primary movement = 1.914920284130e-03 time: 1.890000000000e+00 total movement = 1.914920284130e-03 vel = 1.907416641553e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.892409, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.892409, acc = -15.007285,T = 2.453546, P = 2.336482 on final decel initial results: dx= 0.117064,dt = 0.108777, a_f = -15.007285, v_f = 0.259963 dt = 0.108777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.891000 primary movement = 1.899912998976e-03 time: 1.891000000000e+00 total movement = 1.899912998976e-03 vel = 1.892409356399e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.877402, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.877402, acc = -15.007285,T = 2.453546, P = 2.338367 on final decel initial results: dx= 0.115179,dt = 0.107777, a_f = -15.007285, v_f = 0.259963 dt = 0.107777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.892000 primary movement = 1.884905713822e-03 time: 1.892000000000e+00 total movement = 1.884905713822e-03 vel = 1.877402071245e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.862395, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.862395, acc = -15.007285,T = 2.453546, P = 2.340237 on final decel initial results: dx= 0.113309,dt = 0.106777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.106777 dt = 0.106777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.893000 primary movement = 1.869898428668e-03 time: 1.893000000000e+00 total movement = 1.869898428668e-03 vel = 1.862394786091e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.847388, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.847388, acc = -15.007285,T = 2.453546, P = 2.342092 on final decel initial results: dx= 0.111455,dt = 0.105777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.105777 dt = 0.105777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.894000 primary movement = 1.854891143514e-03 time: 1.894000000000e+00 total movement = 1.854891143514e-03 vel = 1.847387500938e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.832380, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.832380, acc = -15.007285,T = 2.453546, P = 2.343932 on final decel initial results: dx= 0.109615,dt = 0.104777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.104777 dt = 0.104777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.895000 primary movement = 1.839883858361e-03 time: 1.895000000000e+00 total movement = 1.839883858361e-03 vel = 1.832380215784e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.817373, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.817373, acc = -15.007285,T = 2.453546, P = 2.345757 on final decel initial results: dx= 0.107790,dt = 0.103777, a_f = -15.007285, v_f = 0.259963 dt = 0.103777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.896000 primary movement = 1.824876573206e-03 time: 1.896000000000e+00 total movement = 1.824876573206e-03 vel = 1.817372930630e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.802366, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.802366, acc = -15.007285,T = 2.453546, P = 2.347566 on final decel initial results: dx= 0.105980,dt = 0.102777, a_f = -15.007285, v_f = 0.259963 dt = 0.102777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.897000 primary movement = 1.809869288053e-03 time: 1.897000000000e+00 total movement = 1.809869288053e-03 vel = 1.802365645476e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.787358, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.787358, acc = -15.007285,T = 2.453546, P = 2.349361 on final decel initial results: dx= 0.104185,dt = 0.101777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.101777 dt = 0.101777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.898000 primary movement = 1.794862002899e-03 time: 1.898000000000e+00 total movement = 1.794862002899e-03 vel = 1.787358360322e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.772351, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.772351, acc = -15.007285,T = 2.453546, P = 2.351141 on final decel initial results: dx= 0.102405,dt = 0.100777, a_f = -15.007285, v_f = 0.259963 dt = 0.100777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.899000 primary movement = 1.779854717745e-03 time: 1.899000000000e+00 total movement = 1.779854717745e-03 vel = 1.772351075168e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.757344, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.757344, acc = -15.007285,T = 2.453546, P = 2.352906 on final decel initial results: dx= 0.100640,dt = 0.099777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.099777 dt = 0.099777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.900000 primary movement = 1.764847432591e-03 time: 1.900000000000e+00 total movement = 1.764847432591e-03 vel = 1.757343790014e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.742337, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.742337, acc = -15.007285,T = 2.453546, P = 2.354656 on final decel initial results: dx= 0.098890,dt = 0.098777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.098777 dt = 0.098777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.901000 primary movement = 1.749840147438e-03 time: 1.901000000000e+00 total movement = 1.749840147438e-03 vel = 1.742336504860e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.727329, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.727329, acc = -15.007285,T = 2.453546, P = 2.356391 on final decel initial results: dx= 0.097156,dt = 0.097777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.097777 dt = 0.097777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.902000 primary movement = 1.734832862283e-03 time: 1.902000000000e+00 total movement = 1.734832862283e-03 vel = 1.727329219707e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.712322, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.712322, acc = -15.007285,T = 2.453546, P = 2.358110 on final decel initial results: dx= 0.095436,dt = 0.096777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.096777 dt = 0.096777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.903000 primary movement = 1.719825577130e-03 time: 1.903000000000e+00 total movement = 1.719825577130e-03 vel = 1.712321934553e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.697315, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.697315, acc = -15.007285,T = 2.453546, P = 2.359815 on final decel initial results: dx= 0.093731,dt = 0.095777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.095777 dt = 0.095777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.904000 primary movement = 1.704818291976e-03 time: 1.904000000000e+00 total movement = 1.704818291976e-03 vel = 1.697314649399e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.682307, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.682307, acc = -15.007285,T = 2.453546, P = 2.361505 on final decel initial results: dx= 0.092041,dt = 0.094777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.094777 dt = 0.094777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.905000 primary movement = 1.689811006822e-03 time: 1.905000000000e+00 total movement = 1.689811006822e-03 vel = 1.682307364245e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.667300, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.667300, acc = -15.007285,T = 2.453546, P = 2.363180 on final decel initial results: dx= 0.090366,dt = 0.093777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.093777 dt = 0.093777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.906000 primary movement = 1.674803721668e-03 time: 1.906000000000e+00 total movement = 1.674803721668e-03 vel = 1.667300079091e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.652293, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.652293, acc = -15.007285,T = 2.453546, P = 2.364840 on final decel initial results: dx= 0.088707,dt = 0.092777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.092777 dt = 0.092777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.907000 primary movement = 1.659796436514e-03 time: 1.907000000000e+00 total movement = 1.659796436514e-03 vel = 1.652292793937e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.637286, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.637286, acc = -15.007285,T = 2.453546, P = 2.366484 on final decel initial results: dx= 0.087062,dt = 0.091777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.091777 dt = 0.091777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.908000 primary movement = 1.644789151361e-03 time: 1.908000000000e+00 total movement = 1.644789151361e-03 vel = 1.637285508783e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.622278, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.622278, acc = -15.007285,T = 2.453546, P = 2.368114 on final decel initial results: dx= 0.085432,dt = 0.090777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.090777 dt = 0.090777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.909000 primary movement = 1.629781866206e-03 time: 1.909000000000e+00 total movement = 1.629781866206e-03 vel = 1.622278223630e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.607271, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.607271, acc = -15.007285,T = 2.453546, P = 2.369729 on final decel initial results: dx= 0.083817,dt = 0.089777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.089777 dt = 0.089777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.910000 primary movement = 1.614774581053e-03 time: 1.910000000000e+00 total movement = 1.614774581053e-03 vel = 1.607270938476e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.592264, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.592264, acc = -15.007285,T = 2.453546, P = 2.371329 on final decel initial results: dx= 0.082217,dt = 0.088777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.088777 dt = 0.088777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.911000 primary movement = 1.599767295899e-03 time: 1.911000000000e+00 total movement = 1.599767295899e-03 vel = 1.592263653322e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.577256, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.577256, acc = -15.007285,T = 2.453546, P = 2.372914 on final decel initial results: dx= 0.080633,dt = 0.087777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.087777 dt = 0.087777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.912000 primary movement = 1.584760010745e-03 time: 1.912000000000e+00 total movement = 1.584760010745e-03 vel = 1.577256368168e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.562249, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.562249, acc = -15.007285,T = 2.453546, P = 2.374483 on final decel initial results: dx= 0.079063,dt = 0.086777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.086777 dt = 0.086777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.913000 primary movement = 1.569752725591e-03 time: 1.913000000000e+00 total movement = 1.569752725591e-03 vel = 1.562249083014e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.547242, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.547242, acc = -15.007285,T = 2.453546, P = 2.376038 on final decel initial results: dx= 0.077508,dt = 0.085777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.085777 dt = 0.085777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.914000 primary movement = 1.554745440437e-03 time: 1.914000000000e+00 total movement = 1.554745440437e-03 vel = 1.547241797860e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.532235, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.532235, acc = -15.007285,T = 2.453546, P = 2.377578 on final decel initial results: dx= 0.075968,dt = 0.084777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.084777 dt = 0.084777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.915000 primary movement = 1.539738155283e-03 time: 1.915000000000e+00 total movement = 1.539738155283e-03 vel = 1.532234512706e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.517227, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.517227, acc = -15.007285,T = 2.453546, P = 2.379103 on final decel initial results: dx= 0.074444,dt = 0.083777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.083777 dt = 0.083777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.916000 primary movement = 1.524730870129e-03 time: 1.916000000000e+00 total movement = 1.524730870129e-03 vel = 1.517227227552e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.502220, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.502220, acc = -15.007285,T = 2.453546, P = 2.380612 on final decel initial results: dx= 0.072934,dt = 0.082777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.082777 dt = 0.082777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.917000 primary movement = 1.509723584976e-03 time: 1.917000000000e+00 total movement = 1.509723584976e-03 vel = 1.502219942399e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.487213, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.487213, acc = -15.007285,T = 2.453546, P = 2.382107 on final decel initial results: dx= 0.071439,dt = 0.081777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.081777 dt = 0.081777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.918000 primary movement = 1.494716299822e-03 time: 1.918000000000e+00 total movement = 1.494716299822e-03 vel = 1.487212657245e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.472205, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.472205, acc = -15.007285,T = 2.453546, P = 2.383587 on final decel initial results: dx= 0.069960,dt = 0.080777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.080777 dt = 0.080777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.919000 primary movement = 1.479709014668e-03 time: 1.919000000000e+00 total movement = 1.479709014668e-03 vel = 1.472205372091e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.457198, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.457198, acc = -15.007285,T = 2.453546, P = 2.385051 on final decel initial results: dx= 0.068495,dt = 0.079777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.079777 dt = 0.079777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.920000 primary movement = 1.464701729514e-03 time: 1.920000000000e+00 total movement = 1.464701729514e-03 vel = 1.457198086937e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.442191, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.442191, acc = -15.007285,T = 2.453546, P = 2.386501 on final decel initial results: dx= 0.067045,dt = 0.078777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.078777 dt = 0.078777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.921000 primary movement = 1.449694444360e-03 time: 1.921000000000e+00 total movement = 1.449694444360e-03 vel = 1.442190801783e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.427184, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.427184, acc = -15.007285,T = 2.453546, P = 2.387936 on final decel initial results: dx= 0.065611,dt = 0.077777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.077777 dt = 0.077777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.922000 primary movement = 1.434687159206e-03 time: 1.922000000000e+00 total movement = 1.434687159206e-03 vel = 1.427183516629e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.412176, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.412176, acc = -15.007285,T = 2.453546, P = 2.389355 on final decel initial results: dx= 0.064191,dt = 0.076777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.076777 dt = 0.076777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.923000 primary movement = 1.419679874053e-03 time: 1.923000000000e+00 total movement = 1.419679874053e-03 vel = 1.412176231475e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.397169, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.397169, acc = -15.007285,T = 2.453546, P = 2.390760 on final decel initial results: dx= 0.062786,dt = 0.075777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.075777 dt = 0.075777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.924000 primary movement = 1.404672588898e-03 time: 1.924000000000e+00 total movement = 1.404672588898e-03 vel = 1.397168946322e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.382162, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.382162, acc = -15.007285,T = 2.453546, P = 2.392150 on final decel initial results: dx= 0.061397,dt = 0.074777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.074777 dt = 0.074777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.925000 primary movement = 1.389665303744e-03 time: 1.925000000000e+00 total movement = 1.389665303744e-03 vel = 1.382161661168e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.367154, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.367154, acc = -15.007285,T = 2.453546, P = 2.393524 on final decel initial results: dx= 0.060022,dt = 0.073777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.073777 dt = 0.073777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.926000 primary movement = 1.374658018591e-03 time: 1.926000000000e+00 total movement = 1.374658018591e-03 vel = 1.367154376014e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.352147, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.352147, acc = -15.007285,T = 2.453546, P = 2.394884 on final decel initial results: dx= 0.058662,dt = 0.072777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.072777 dt = 0.072777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.927000 primary movement = 1.359650733437e-03 time: 1.927000000000e+00 total movement = 1.359650733437e-03 vel = 1.352147090860e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.337140, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.337140, acc = -15.007285,T = 2.453546, P = 2.396229 on final decel initial results: dx= 0.057318,dt = 0.071777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.071777 dt = 0.071777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.928000 primary movement = 1.344643448283e-03 time: 1.928000000000e+00 total movement = 1.344643448283e-03 vel = 1.337139805706e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.322133, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.322133, acc = -15.007285,T = 2.453546, P = 2.397558 on final decel initial results: dx= 0.055988,dt = 0.070777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.070777 dt = 0.070777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.929000 primary movement = 1.329636163129e-03 time: 1.929000000000e+00 total movement = 1.329636163129e-03 vel = 1.322132520552e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.307125, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.307125, acc = -15.007285,T = 2.453546, P = 2.398873 on final decel initial results: dx= 0.054673,dt = 0.069777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.069777 dt = 0.069777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.930000 primary movement = 1.314628877975e-03 time: 1.930000000000e+00 total movement = 1.314628877975e-03 vel = 1.307125235398e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.292118, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.292118, acc = -15.007285,T = 2.453546, P = 2.400173 on final decel initial results: dx= 0.053374,dt = 0.068777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.068777 dt = 0.068777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.931000 primary movement = 1.299621592822e-03 time: 1.931000000000e+00 total movement = 1.299621592822e-03 vel = 1.292117950244e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.277111, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.277111, acc = -15.007285,T = 2.453546, P = 2.401457 on final decel initial results: dx= 0.052089,dt = 0.067777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.067777 dt = 0.067777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.932000 primary movement = 1.284614307668e-03 time: 1.932000000000e+00 total movement = 1.284614307668e-03 vel = 1.277110665091e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.262103, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.262103, acc = -15.007285,T = 2.453546, P = 2.402727 on final decel initial results: dx= 0.050819,dt = 0.066777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.066777 dt = 0.066777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.933000 primary movement = 1.269607022513e-03 time: 1.933000000000e+00 total movement = 1.269607022513e-03 vel = 1.262103379937e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.247096, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.247096, acc = -15.007285,T = 2.453546, P = 2.403981 on final decel initial results: dx= 0.049565,dt = 0.065777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.065777 dt = 0.065777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.934000 primary movement = 1.254599737360e-03 time: 1.934000000000e+00 total movement = 1.254599737360e-03 vel = 1.247096094783e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.232089, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.232089, acc = -15.007285,T = 2.453546, P = 2.405221 on final decel initial results: dx= 0.048325,dt = 0.064777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.064777 dt = 0.064777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.935000 primary movement = 1.239592452206e-03 time: 1.935000000000e+00 total movement = 1.239592452206e-03 vel = 1.232088809629e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.217082, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.217082, acc = -15.007285,T = 2.453546, P = 2.406446 on final decel initial results: dx= 0.047101,dt = 0.063777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.063777 dt = 0.063777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.936000 primary movement = 1.224585167052e-03 time: 1.936000000000e+00 total movement = 1.224585167052e-03 vel = 1.217081524475e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.202074, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.202074, acc = -15.007285,T = 2.453546, P = 2.407655 on final decel initial results: dx= 0.045891,dt = 0.062777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.062777 dt = 0.062777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.937000 primary movement = 1.209577881898e-03 time: 1.937000000000e+00 total movement = 1.209577881898e-03 vel = 1.202074239321e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.187067, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.187067, acc = -15.007285,T = 2.453546, P = 2.408850 on final decel initial results: dx= 0.044697,dt = 0.061777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.061777 dt = 0.061777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.938000 primary movement = 1.194570596744e-03 time: 1.938000000000e+00 total movement = 1.194570596744e-03 vel = 1.187066954167e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.172060, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.172060, acc = -15.007285,T = 2.453546, P = 2.410029 on final decel initial results: dx= 0.043517,dt = 0.060777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.060777 dt = 0.060777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.939000 primary movement = 1.179563311590e-03 time: 1.939000000000e+00 total movement = 1.179563311590e-03 vel = 1.172059669014e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.157052, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.157052, acc = -15.007285,T = 2.453546, P = 2.411194 on final decel initial results: dx= 0.042352,dt = 0.059777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.059777 dt = 0.059777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.940000 primary movement = 1.164556026437e-03 time: 1.940000000000e+00 total movement = 1.164556026437e-03 vel = 1.157052383860e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.142045, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.142045, acc = -15.007285,T = 2.453546, P = 2.412343 on final decel initial results: dx= 0.041203,dt = 0.058777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.058777 dt = 0.058777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.941000 primary movement = 1.149548741283e-03 time: 1.941000000000e+00 total movement = 1.149548741283e-03 vel = 1.142045098706e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.127038, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.127038, acc = -15.007285,T = 2.453546, P = 2.413478 on final decel initial results: dx= 0.040068,dt = 0.057777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.057777 dt = 0.057777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.942000 primary movement = 1.134541456129e-03 time: 1.942000000000e+00 total movement = 1.134541456129e-03 vel = 1.127037813552e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.112031, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.112031, acc = -15.007285,T = 2.453546, P = 2.414598 on final decel initial results: dx= 0.038949,dt = 0.056777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.056777 dt = 0.056777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.943000 primary movement = 1.119534170975e-03 time: 1.943000000000e+00 total movement = 1.119534170975e-03 vel = 1.112030528398e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.097023, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.097023, acc = -15.007285,T = 2.453546, P = 2.415702 on final decel initial results: dx= 0.037844,dt = 0.055777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.055777 dt = 0.055777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.944000 primary movement = 1.104526885821e-03 time: 1.944000000000e+00 total movement = 1.104526885821e-03 vel = 1.097023243244e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.082016, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.082016, acc = -15.007285,T = 2.453546, P = 2.416792 on final decel initial results: dx= 0.036755,dt = 0.054777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.054777 dt = 0.054777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.945000 primary movement = 1.089519600667e-03 time: 1.945000000000e+00 total movement = 1.089519600667e-03 vel = 1.082015958090e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.067009, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.067009, acc = -15.007285,T = 2.453546, P = 2.417866 on final decel initial results: dx= 0.035680,dt = 0.053777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.053777 dt = 0.053777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.946000 primary movement = 1.074512315513e-03 time: 1.946000000000e+00 total movement = 1.074512315513e-03 vel = 1.067008672936e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.052001, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.052001, acc = -15.007285,T = 2.453546, P = 2.418926 on final decel initial results: dx= 0.034621,dt = 0.052777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.052777 dt = 0.052777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.947000 primary movement = 1.059505030360e-03 time: 1.947000000000e+00 total movement = 1.059505030360e-03 vel = 1.052001387783e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.036994, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.036994, acc = -15.007285,T = 2.453546, P = 2.419970 on final decel initial results: dx= 0.033576,dt = 0.051777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.051777 dt = 0.051777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.948000 primary movement = 1.044497745206e-03 time: 1.948000000000e+00 total movement = 1.044497745206e-03 vel = 1.036994102629e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.021987, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.021987, acc = -15.007285,T = 2.453546, P = 2.421000 on final decel initial results: dx= 0.032547,dt = 0.050777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.050777 dt = 0.050777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.949000 primary movement = 1.029490460052e-03 time: 1.949000000000e+00 total movement = 1.029490460052e-03 vel = 1.021986817475e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 1.006980, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.006980, acc = -15.007285,T = 2.453546, P = 2.422014 on final decel initial results: dx= 0.031532,dt = 0.049777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.049777 dt = 0.049777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.950000 primary movement = 1.014483174898e-03 time: 1.950000000000e+00 total movement = 1.014483174898e-03 vel = 1.006979532321e+00 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 0.991972, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.991972, acc = -15.007285,T = 2.453546, P = 2.423014 on final decel initial results: dx= 0.030533,dt = 0.048777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.048777 dt = 0.048777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.951000 primary movement = 9.994758897438e-04 time: 1.951000000000e+00 total movement = 9.994758897438e-04 vel = 9.919722471672e-01 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 0.976965, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.976965, acc = -15.007285,T = 2.453546, P = 2.423998 on final decel initial results: dx= 0.029548,dt = 0.047777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.047777 dt = 0.047777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.952000 primary movement = 9.844686045901e-04 time: 1.952000000000e+00 total movement = 9.844686045901e-04 vel = 9.769649620133e-01 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 0.961958, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.961958, acc = -15.007285,T = 2.453546, P = 2.424967 on final decel initial results: dx= 0.028579,dt = 0.046777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.046777 dt = 0.046777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.953000 primary movement = 9.694613194368e-04 time: 1.953000000000e+00 total movement = 9.694613194368e-04 vel = 9.619576768594e-01 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 0.946950, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.946950, acc = -15.007285,T = 2.453546, P = 2.425922 on final decel initial results: dx= 0.027624,dt = 0.045777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.045777 dt = 0.045777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.954000 primary movement = 9.544540342822e-04 time: 1.954000000000e+00 total movement = 9.544540342822e-04 vel = 9.469503917056e-01 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 0.931943, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.931943, acc = -15.007285,T = 2.453546, P = 2.426861 on final decel initial results: dx= 0.026685,dt = 0.044777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.044777 dt = 0.044777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.955000 primary movement = 9.394467491284e-04 time: 1.955000000000e+00 total movement = 9.394467491284e-04 vel = 9.319431065517e-01 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 0.916936, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.916936, acc = -15.007285,T = 2.453546, P = 2.427786 on final decel initial results: dx= 0.025761,dt = 0.043777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.043777 dt = 0.043777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.956000 primary movement = 9.244394639751e-04 time: 1.956000000000e+00 total movement = 9.244394639751e-04 vel = 9.169358213978e-01 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 0.901929, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.901929, acc = -15.007285,T = 2.453546, P = 2.428695 on final decel initial results: dx= 0.024851,dt = 0.042777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.042777 dt = 0.042777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.957000 primary movement = 9.094321788205e-04 time: 1.957000000000e+00 total movement = 9.094321788205e-04 vel = 9.019285362440e-01 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 0.886921, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.886921, acc = -15.007285,T = 2.453546, P = 2.429590 on final decel initial results: dx= 0.023957,dt = 0.041777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.041777 dt = 0.041777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.958000 primary movement = 8.944248936672e-04 time: 1.958000000000e+00 total movement = 8.944248936672e-04 vel = 8.869212510901e-01 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 0.871914, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.871914, acc = -15.007285,T = 2.453546, P = 2.430469 on final decel initial results: dx= 0.023077,dt = 0.040777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.040777 dt = 0.040777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.959000 primary movement = 8.794176085130e-04 time: 1.959000000000e+00 total movement = 8.794176085130e-04 vel = 8.719139659362e-01 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 0.856907, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.856907, acc = -15.007285,T = 2.453546, P = 2.431333 on final decel initial results: dx= 0.022213,dt = 0.039777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.039777 dt = 0.039777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.960000 primary movement = 8.644103233593e-04 time: 1.960000000000e+00 total movement = 8.644103233593e-04 vel = 8.569066807824e-01 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 0.841899, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.841899, acc = -15.007285,T = 2.453546, P = 2.432183 on final decel initial results: dx= 0.021363,dt = 0.038777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.038777 dt = 0.038777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.961000 primary movement = 8.494030382055e-04 time: 1.961000000000e+00 total movement = 8.494030382055e-04 vel = 8.418993956285e-01 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 0.826892, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.826892, acc = -15.007285,T = 2.453546, P = 2.433017 on final decel initial results: dx= 0.020529,dt = 0.037777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.037777 dt = 0.037777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.962000 primary movement = 8.343957530513e-04 time: 1.962000000000e+00 total movement = 8.343957530513e-04 vel = 8.268921104746e-01 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 0.811885, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.811885, acc = -15.007285,T = 2.453546, P = 2.433837 on final decel initial results: dx= 0.019710,dt = 0.036777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.036777 dt = 0.036777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.963000 primary movement = 8.193884678980e-04 time: 1.963000000000e+00 total movement = 8.193884678980e-04 vel = 8.118848253208e-01 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 0.796878, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.796878, acc = -15.007285,T = 2.453546, P = 2.434641 on final decel initial results: dx= 0.018905,dt = 0.035777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.035777 dt = 0.035777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.964000 primary movement = 8.043811827434e-04 time: 1.964000000000e+00 total movement = 8.043811827434e-04 vel = 7.968775401669e-01 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 0.781870, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.781870, acc = -15.007285,T = 2.453546, P = 2.435430 on final decel initial results: dx= 0.018116,dt = 0.034777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.034777 dt = 0.034777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.965000 primary movement = 7.893738975901e-04 time: 1.965000000000e+00 total movement = 7.893738975901e-04 vel = 7.818702550130e-01 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 0.766863, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.766863, acc = -15.007285,T = 2.453546, P = 2.436205 on final decel initial results: dx= 0.017342,dt = 0.033777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.033777 dt = 0.033777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.966000 primary movement = 7.743666124359e-04 time: 1.966000000000e+00 total movement = 7.743666124359e-04 vel = 7.668629698592e-01 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 0.751856, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.751856, acc = -15.007285,T = 2.453546, P = 2.436964 on final decel initial results: dx= 0.016582,dt = 0.032777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.032777 dt = 0.032777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.967000 primary movement = 7.593593272822e-04 time: 1.967000000000e+00 total movement = 7.593593272822e-04 vel = 7.518556847053e-01 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 0.736848, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.736848, acc = -15.007285,T = 2.453546, P = 2.437709 on final decel initial results: dx= 0.015838,dt = 0.031777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.031777 dt = 0.031777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.968000 primary movement = 7.443520421284e-04 time: 1.968000000000e+00 total movement = 7.443520421284e-04 vel = 7.368483995514e-01 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 0.721841, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.721841, acc = -15.007285,T = 2.453546, P = 2.438438 on final decel initial results: dx= 0.015108,dt = 0.030777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.030777 dt = 0.030777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.969000 primary movement = 7.293447569743e-04 time: 1.969000000000e+00 total movement = 7.293447569743e-04 vel = 7.218411143976e-01 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 0.706834, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.706834, acc = -15.007285,T = 2.453546, P = 2.439152 on final decel initial results: dx= 0.014394,dt = 0.029777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.029777 dt = 0.029777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.970000 primary movement = 7.143374718205e-04 time: 1.970000000000e+00 total movement = 7.143374718205e-04 vel = 7.068338292437e-01 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 0.691827, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.691827, acc = -15.007285,T = 2.453546, P = 2.439852 on final decel initial results: dx= 0.013695,dt = 0.028777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.028777 dt = 0.028777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.971000 primary movement = 6.993301866672e-04 time: 1.971000000000e+00 total movement = 6.993301866672e-04 vel = 6.918265440898e-01 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 0.676819, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.676819, acc = -15.007285,T = 2.453546, P = 2.440536 on final decel initial results: dx= 0.013010,dt = 0.027777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.027777 dt = 0.027777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.972000 primary movement = 6.843229015126e-04 time: 1.972000000000e+00 total movement = 6.843229015126e-04 vel = 6.768192589360e-01 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 0.661812, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.661812, acc = -15.007285,T = 2.453546, P = 2.441205 on final decel initial results: dx= 0.012341,dt = 0.026777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.026777 dt = 0.026777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.973000 primary movement = 6.693156163593e-04 time: 1.973000000000e+00 total movement = 6.693156163593e-04 vel = 6.618119737821e-01 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 0.646805, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.646805, acc = -15.007285,T = 2.453546, P = 2.441859 on final decel initial results: dx= 0.011687,dt = 0.025777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.025777 dt = 0.025777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.974000 primary movement = 6.543083312047e-04 time: 1.974000000000e+00 total movement = 6.543083312047e-04 vel = 6.468046886282e-01 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 0.631797, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.631797, acc = -15.007285,T = 2.453546, P = 2.442499 on final decel initial results: dx= 0.011048,dt = 0.024777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.024777 dt = 0.024777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.975000 primary movement = 6.393010460514e-04 time: 1.975000000000e+00 total movement = 6.393010460514e-04 vel = 6.317974034744e-01 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 0.616790, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.616790, acc = -15.007285,T = 2.453546, P = 2.443123 on final decel initial results: dx= 0.010423,dt = 0.023777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.023777 dt = 0.023777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.976000 primary movement = 6.242937608976e-04 time: 1.976000000000e+00 total movement = 6.242937608976e-04 vel = 6.167901183205e-01 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 0.601783, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.601783, acc = -15.007285,T = 2.453546, P = 2.443732 on final decel initial results: dx= 0.009814,dt = 0.022777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.022777 dt = 0.022777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.977000 primary movement = 6.092864757434e-04 time: 1.977000000000e+00 total movement = 6.092864757434e-04 vel = 6.017828331666e-01 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 0.586776, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.586776, acc = -15.007285,T = 2.453546, P = 2.444327 on final decel initial results: dx= 0.009220,dt = 0.021777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.021777 dt = 0.021777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.978000 primary movement = 5.942791905897e-04 time: 1.978000000000e+00 total movement = 5.942791905897e-04 vel = 5.867755480128e-01 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 0.571768, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.571768, acc = -15.007285,T = 2.453546, P = 2.444906 on final decel initial results: dx= 0.008640,dt = 0.020777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.020777 dt = 0.020777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.979000 primary movement = 5.792719054355e-04 time: 1.979000000000e+00 total movement = 5.792719054355e-04 vel = 5.717682628589e-01 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 0.556761, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.556761, acc = -15.007285,T = 2.453546, P = 2.445470 on final decel initial results: dx= 0.008076,dt = 0.019777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.019777 dt = 0.019777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.980000 primary movement = 5.642646202822e-04 time: 1.980000000000e+00 total movement = 5.642646202822e-04 vel = 5.567609777050e-01 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 0.541754, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.541754, acc = -15.007285,T = 2.453546, P = 2.446019 on final decel initial results: dx= 0.007527,dt = 0.018777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.018777 dt = 0.018777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.981000 primary movement = 5.492573351280e-04 time: 1.981000000000e+00 total movement = 5.492573351280e-04 vel = 5.417536925512e-01 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 0.526746, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.526746, acc = -15.007285,T = 2.453546, P = 2.446554 on final decel initial results: dx= 0.006993,dt = 0.017777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.017777 dt = 0.017777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.982000 primary movement = 5.342500499743e-04 time: 1.982000000000e+00 total movement = 5.342500499743e-04 vel = 5.267464073973e-01 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 0.511739, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.511739, acc = -15.007285,T = 2.453546, P = 2.447073 on final decel initial results: dx= 0.006473,dt = 0.016777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.016777 dt = 0.016777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.983000 primary movement = 5.192427648201e-04 time: 1.983000000000e+00 total movement = 5.192427648201e-04 vel = 5.117391222434e-01 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 0.496732, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.496732, acc = -15.007285,T = 2.453546, P = 2.447577 on final decel initial results: dx= 0.005969,dt = 0.015777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.015777 dt = 0.015777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.984000 primary movement = 5.042354796668e-04 time: 1.984000000000e+00 total movement = 5.042354796668e-04 vel = 4.967318370896e-01 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 0.481725, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.481725, acc = -15.007285,T = 2.453546, P = 2.448066 on final decel initial results: dx= 0.005480,dt = 0.014777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.014777 dt = 0.014777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.985000 primary movement = 4.892281945126e-04 time: 1.985000000000e+00 total movement = 4.892281945126e-04 vel = 4.817245519357e-01 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 0.466717, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.466717, acc = -15.007285,T = 2.453546, P = 2.448541 on final decel initial results: dx= 0.005006,dt = 0.013777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.013777 dt = 0.013777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.986000 primary movement = 4.742209093589e-04 time: 1.986000000000e+00 total movement = 4.742209093589e-04 vel = 4.667172667818e-01 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 0.451710, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.451710, acc = -15.007285,T = 2.453546, P = 2.449000 on final decel initial results: dx= 0.004546,dt = 0.012777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.012777 dt = 0.012777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.987000 primary movement = 4.592136242047e-04 time: 1.987000000000e+00 total movement = 4.592136242047e-04 vel = 4.517099816280e-01 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 0.436703, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.436703, acc = -15.007285,T = 2.453546, P = 2.449444 on final decel initial results: dx= 0.004102,dt = 0.011777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.011777 dt = 0.011777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.988000 primary movement = 4.442063390514e-04 time: 1.988000000000e+00 total movement = 4.442063390514e-04 vel = 4.367026964741e-01 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 0.421695, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.421695, acc = -15.007285,T = 2.453546, P = 2.449873 on final decel initial results: dx= 0.003673,dt = 0.010777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.010777 dt = 0.010777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.989000 primary movement = 4.291990538972e-04 time: 1.989000000000e+00 total movement = 4.291990538972e-04 vel = 4.216954113202e-01 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 0.406688, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.406688, acc = -15.007285,T = 2.453546, P = 2.450287 on final decel initial results: dx= 0.003259,dt = 0.009777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.009777 dt = 0.009777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.990000 primary movement = 4.141917687434e-04 time: 1.990000000000e+00 total movement = 4.141917687434e-04 vel = 4.066881261664e-01 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 0.391681, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.391681, acc = -15.007285,T = 2.453546, P = 2.450687 on final decel initial results: dx= 0.002860,dt = 0.008777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.008777 dt = 0.008777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.991000 primary movement = 3.991844835893e-04 time: 1.991000000000e+00 total movement = 3.991844835893e-04 vel = 3.916808410125e-01 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 0.376674, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.376674, acc = -15.007285,T = 2.453546, P = 2.451071 on final decel initial results: dx= 0.002476,dt = 0.007777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.007777 dt = 0.007777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.992000 primary movement = 3.841771984355e-04 time: 1.992000000000e+00 total movement = 3.841771984355e-04 vel = 3.766735558586e-01 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 0.361666, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.361666, acc = -15.007285,T = 2.453546, P = 2.451440 on final decel initial results: dx= 0.002106,dt = 0.006777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.006777 dt = 0.006777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.993000 primary movement = 3.691699132818e-04 time: 1.993000000000e+00 total movement = 3.691699132818e-04 vel = 3.616662707048e-01 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 0.346659, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.346659, acc = -15.007285,T = 2.453546, P = 2.451794 on final decel initial results: dx= 0.001752,dt = 0.005777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.005777 dt = 0.005777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.994000 primary movement = 3.541626281280e-04 time: 1.994000000000e+00 total movement = 3.541626281280e-04 vel = 3.466589855509e-01 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 0.331652, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.331652, acc = -15.007285,T = 2.453546, P = 2.452133 on final decel initial results: dx= 0.001413,dt = 0.004777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.004777 dt = 0.004777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.995000 primary movement = 3.391553429738e-04 time: 1.995000000000e+00 total movement = 3.391553429738e-04 vel = 3.316517003970e-01 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 0.316644, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.316644, acc = -15.007285,T = 2.453546, P = 2.452457 on final decel initial results: dx= 0.001089,dt = 0.003777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.003777 dt = 0.003777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.996000 primary movement = 3.241480578201e-04 time: 1.996000000000e+00 total movement = 3.241480578201e-04 vel = 3.166444152432e-01 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 0.301637, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.301637, acc = -15.007285,T = 2.453546, P = 2.452767 on final decel initial results: dx= 0.000780,dt = 0.002777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.002777 dt = 0.002777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.997000 primary movement = 3.091407726664e-04 time: 1.997000000000e+00 total movement = 3.091407726664e-04 vel = 3.016371300893e-01 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 0.286630, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.286630, acc = -15.007285,T = 2.453546, P = 2.453061 on final decel initial results: dx= 0.000486,dt = 0.001777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.001777 dt = 0.001777, not at end yet tc id = 15, canon_type = 2, mot type = 1 time: 1.998000 primary movement = 2.941334875122e-04 time: 1.998000000000e+00 total movement = 2.941334875122e-04 vel = 2.866298449354e-01 ------------------- tc state : vr = 8.337347, vf = 0.259963, maxvel = 8.337347, current_vel = 0.271623, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.271623, acc = -15.007285,T = 2.453546, P = 2.453340 on final decel initial results: dx= 0.000206,dt = 0.000777, a_f = -15.007285, v_f = 0.259963 recalculating with a_f = -15.007285, a = -15.007285 revised dt = 0.000777 actual v_f = 0.259963, a = -15.007285 split time is 0.000776908 tc id = 15, canon_type = 2, mot type = 1 time: 1.999000 primary movement = 2.791262023589e-04 time: 1.999000000000e+00 total movement = 2.791262023589e-04 vel = 2.716225597816e-01 ------------------- tc id 15 done Finishing split-cycle on id 16 tc state : vr = 0.259963, vf = 0.259963, maxvel = 0.259963, current_vel = 0.259963, fs = 1.000000, tc = 0.000223, term = 3 tc result: v = 0.259963, acc = -0.000000,T = 0.002934, P = 0.000058 initial results: dx= 0.002876,dt = 0.011065, a_f = 0.000000, v_f = 0.259963 dt = 0.011065, not at end yet secondary movement = 0.000058 tc id = 16, canon_type = 3, mot type = 2 time: 2.000000 primary movement = 2.064965516517e-04 time: 2.000000000000e+00 total movement = 2.644911737654e-04 vel = 2.599632853201e-01 Finished tc id 15 ------------------- Activate tc id = 16 target_vel = 0.259963 final_vel = 0.259963 length = 0.002934 tc state : vr = 0.259963, vf = 0.259963, maxvel = 0.259963, current_vel = 0.259963, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.259963, acc = 0.000000,T = 0.002934, P = 0.000318 initial results: dx= 0.002616,dt = 0.010065, a_f = 0.000000, v_f = 0.259963 dt = 0.010065, not at end yet tc id = 16, canon_type = 3, mot type = 2 time: 2.001000 primary movement = 2.598551104723e-04 time: 2.001000000000e+00 total movement = 2.598551104723e-04 vel = 2.599632853201e-01 ------------------- tc state : vr = 0.259963, vf = 0.259963, maxvel = 0.259963, current_vel = 0.259963, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.259963, acc = 0.000000,T = 0.002934, P = 0.000578 initial results: dx= 0.002356,dt = 0.009065, a_f = 0.000000, v_f = 0.259963 dt = 0.009065, not at end yet tc id = 16, canon_type = 3, mot type = 2 time: 2.002000 primary movement = 2.598551104725e-04 time: 2.002000000000e+00 total movement = 2.598551104725e-04 vel = 2.599632853201e-01 ------------------- tc state : vr = 0.259963, vf = 0.259963, maxvel = 0.259963, current_vel = 0.259963, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.259963, acc = 0.000000,T = 0.002934, P = 0.000838 initial results: dx= 0.002097,dt = 0.008065, a_f = 0.000000, v_f = 0.259963 dt = 0.008065, not at end yet tc id = 16, canon_type = 3, mot type = 2 time: 2.003000 primary movement = 2.598551104723e-04 time: 2.003000000000e+00 total movement = 2.598551104723e-04 vel = 2.599632853201e-01 ------------------- tc state : vr = 0.259963, vf = 0.259963, maxvel = 0.259963, current_vel = 0.259963, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.259963, acc = 0.000000,T = 0.002934, P = 0.001098 initial results: dx= 0.001837,dt = 0.007065, a_f = 0.000000, v_f = 0.259963 dt = 0.007065, not at end yet tc id = 16, canon_type = 3, mot type = 2 time: 2.004000 primary movement = 2.598551104724e-04 time: 2.004000000000e+00 total movement = 2.598551104724e-04 vel = 2.599632853201e-01 ------------------- tc state : vr = 0.259963, vf = 0.259963, maxvel = 0.259963, current_vel = 0.259963, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.259963, acc = 0.000000,T = 0.002934, P = 0.001358 initial results: dx= 0.001577,dt = 0.006065, a_f = 0.000000, v_f = 0.259963 dt = 0.006065, not at end yet tc id = 16, canon_type = 3, mot type = 2 time: 2.005000 primary movement = 2.598551104724e-04 time: 2.005000000000e+00 total movement = 2.598551104724e-04 vel = 2.599632853201e-01 ------------------- tc state : vr = 0.259963, vf = 0.259963, maxvel = 0.259963, current_vel = 0.259963, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.259963, acc = 0.000000,T = 0.002934, P = 0.001618 initial results: dx= 0.001317,dt = 0.005065, a_f = 0.000000, v_f = 0.259963 dt = 0.005065, not at end yet tc id = 16, canon_type = 3, mot type = 2 time: 2.006000 primary movement = 2.598551104724e-04 time: 2.006000000000e+00 total movement = 2.598551104724e-04 vel = 2.599632853201e-01 ------------------- tc state : vr = 0.259963, vf = 0.259963, maxvel = 0.259963, current_vel = 0.259963, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.259963, acc = 0.000000,T = 0.002934, P = 0.001878 initial results: dx= 0.001057,dt = 0.004065, a_f = 0.000000, v_f = 0.259963 dt = 0.004065, not at end yet tc id = 16, canon_type = 3, mot type = 2 time: 2.007000 primary movement = 2.598551104724e-04 time: 2.007000000000e+00 total movement = 2.598551104724e-04 vel = 2.599632853201e-01 ------------------- tc state : vr = 0.259963, vf = 0.259963, maxvel = 0.259963, current_vel = 0.259963, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.259963, acc = 0.000000,T = 0.002934, P = 0.002138 initial results: dx= 0.000797,dt = 0.003065, a_f = 0.000000, v_f = 0.259963 dt = 0.003065, not at end yet tc id = 16, canon_type = 3, mot type = 2 time: 2.008000 primary movement = 2.598551104724e-04 time: 2.008000000000e+00 total movement = 2.598551104724e-04 vel = 2.599632853201e-01 ------------------- tc state : vr = 0.259963, vf = 0.259963, maxvel = 0.259963, current_vel = 0.259963, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.259963, acc = 0.000000,T = 0.002934, P = 0.002398 initial results: dx= 0.000537,dt = 0.002065, a_f = 0.000000, v_f = 0.259963 dt = 0.002065, not at end yet tc id = 16, canon_type = 3, mot type = 2 time: 2.009000 primary movement = 2.598551104724e-04 time: 2.009000000000e+00 total movement = 2.598551104724e-04 vel = 2.599632853201e-01 ------------------- tc state : vr = 0.259963, vf = 0.259963, maxvel = 0.259963, current_vel = 0.259963, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.259963, acc = 0.000000,T = 0.002934, P = 0.002658 initial results: dx= 0.000277,dt = 0.001065, a_f = 0.000000, v_f = 0.259963 dt = 0.001065, not at end yet tc id = 16, canon_type = 3, mot type = 2 time: 2.010000 primary movement = 2.598551104724e-04 time: 2.010000000000e+00 total movement = 2.598551104724e-04 vel = 2.599632853201e-01 ------------------- tc state : vr = 0.259963, vf = 0.259963, maxvel = 0.259963, current_vel = 0.259963, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.259963, acc = 0.000000,T = 0.002934, P = 0.002918 initial results: dx= 0.000017,dt = 0.000065, a_f = 0.000000, v_f = 0.259963 actual v_f = 0.259963, a = 0.000000 split time is 6.47191e-05 tc id = 16, canon_type = 3, mot type = 2 time: 2.011000 primary movement = 2.598551104724e-04 time: 2.011000000000e+00 total movement = 2.598551104724e-04 vel = 2.599632853201e-01 ------------------- tc id 16 done Finishing split-cycle on id 16 tc state : vr = 0.276119, vf = 0.276119, maxvel = 9.365216, current_vel = 0.276119, fs = 1.000000, tc = 0.000935, term = 3 tc result: v = 0.276119, acc = 17.273796,T = 0.001131, P = 0.000251 initial results: dx= 0.000880,dt = 0.003187, a_f = 0.000000, v_f = 0.276119 dt = 0.003187, not at end yet secondary movement = 0.000251 tc id = 16, canon_type = 2, mot type = 1 time: 2.012000 primary movement = 1.682454857701e-05 time: 2.012000000000e+00 total movement = 2.675183862107e-04 vel = 2.761191372075e-01 Finished tc id 16 ------------------- Activate tc id = 16 target_vel = 0.276119 final_vel = 0.276119 length = 0.001131 tc state : vr = 0.276119, vf = 0.276119, maxvel = 9.365216, current_vel = 0.276119, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.276119, acc = 0.000000,T = 0.001131, P = 0.000527 initial results: dx= 0.000604,dt = 0.002187, a_f = 0.000000, v_f = 0.276119 dt = 0.002187, not at end yet tc id = 16, canon_type = 2, mot type = 1 time: 2.013000 primary movement = 2.761191372075e-04 time: 2.013000000000e+00 total movement = 2.761191372075e-04 vel = 2.761191372075e-01 ------------------- tc state : vr = 0.276119, vf = 0.276119, maxvel = 9.365216, current_vel = 0.276119, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.276119, acc = 0.000000,T = 0.001131, P = 0.000803 initial results: dx= 0.000328,dt = 0.001187, a_f = 0.000000, v_f = 0.276119 dt = 0.001187, not at end yet tc id = 16, canon_type = 2, mot type = 1 time: 2.014000 primary movement = 2.761191372075e-04 time: 2.014000000000e+00 total movement = 2.761191372075e-04 vel = 2.761191372075e-01 ------------------- tc state : vr = 0.276119, vf = 0.276119, maxvel = 9.365216, current_vel = 0.276119, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.276119, acc = 0.000000,T = 0.001131, P = 0.001079 initial results: dx= 0.000052,dt = 0.000187, a_f = 0.000000, v_f = 0.276119 actual v_f = 0.276119, a = 0.000000 split time is 0.000187008 tc id = 16, canon_type = 2, mot type = 1 time: 2.015000 primary movement = 2.761191372075e-04 time: 2.015000000000e+00 total movement = 2.761191372075e-04 vel = 2.761191372075e-01 ------------------- tc id 16 done Finishing split-cycle on id 17 tc state : vr = 0.276119, vf = 0.000000, maxvel = 0.425383, current_vel = 0.276119, fs = 1.000000, tc = 0.000813, term = 3 tc result: v = 0.276119, acc = 0.000000,T = 0.003158, P = 0.000224 initial results: dx= 0.002934,dt = 0.021249, a_f = -12.994309, v_f = 0.000000 dt = 0.021249, not at end yet secondary movement = 0.000224 tc id = 17, canon_type = 3, mot type = 2 time: 2.016000 primary movement = 5.163650741000e-05 time: 2.016000000000e+00 total movement = 2.761094205952e-04 vel = 2.761191372075e-01 Finished tc id 16 ------------------- Activate tc id = 17 target_vel = 0.276119 final_vel = 0.000000 length = 0.003158 tc state : vr = 0.276119, vf = 0.000000, maxvel = 0.425383, current_vel = 0.276119, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.276119, acc = 0.000000,T = 0.003158, P = 0.000501 initial results: dx= 0.002658,dt = 0.019249, a_f = -14.344421, v_f = 0.000000 dt = 0.019249, not at end yet tc id = 17, canon_type = 3, mot type = 2 time: 2.017000 primary movement = 2.761010549237e-04 time: 2.017000000000e+00 total movement = 2.761010549237e-04 vel = 2.761191372075e-01 ------------------- tc state : vr = 0.276119, vf = 0.000000, maxvel = 0.425383, current_vel = 0.267529, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.267529, acc = -8.590597,T = 0.003158, P = 0.000772 on final decel initial results: dx= 0.002386,dt = 0.017835, a_f = -15.000000, v_f = 0.000000 dt = 0.017835, not at end yet tc id = 17, canon_type = 3, mot type = 2 time: 2.018000 primary movement = 2.718065870122e-04 time: 2.018000000000e+00 total movement = 2.718065870122e-04 vel = 2.675285397996e-01 ------------------- tc state : vr = 0.276119, vf = 0.000000, maxvel = 0.425383, current_vel = 0.252529, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.252529, acc = -15.000000,T = 0.003158, P = 0.001032 on final decel initial results: dx= 0.002126,dt = 0.016835, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.016835 dt = 0.016835, not at end yet tc id = 17, canon_type = 3, mot type = 2 time: 2.019000 primary movement = 2.600134380323e-04 time: 2.019000000000e+00 total movement = 2.600134380323e-04 vel = 2.525285397996e-01 ------------------- tc state : vr = 0.276119, vf = 0.000000, maxvel = 0.425383, current_vel = 0.237529, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.237529, acc = -15.000000,T = 0.003158, P = 0.001277 on final decel initial results: dx= 0.001881,dt = 0.015835, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.015835 dt = 0.015835, not at end yet tc id = 17, canon_type = 3, mot type = 2 time: 2.020000 primary movement = 2.450159036259e-04 time: 2.020000000000e+00 total movement = 2.450159036259e-04 vel = 2.375285397996e-01 ------------------- tc state : vr = 0.276119, vf = 0.000000, maxvel = 0.425383, current_vel = 0.222529, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.222529, acc = -15.000000,T = 0.003158, P = 0.001508 on final decel initial results: dx= 0.001651,dt = 0.014835, a_f = -15.000000, v_f = 0.000000 dt = 0.014835, not at end yet tc id = 17, canon_type = 3, mot type = 2 time: 2.021000 primary movement = 2.300180851005e-04 time: 2.021000000000e+00 total movement = 2.300180851005e-04 vel = 2.225285397996e-01 ------------------- tc state : vr = 0.276119, vf = 0.000000, maxvel = 0.425383, current_vel = 0.207529, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.207529, acc = -15.000000,T = 0.003158, P = 0.001723 on final decel initial results: dx= 0.001436,dt = 0.013835, a_f = -15.000000, v_f = 0.000000 dt = 0.013835, not at end yet tc id = 17, canon_type = 3, mot type = 2 time: 2.022000 primary movement = 2.150199998475e-04 time: 2.022000000000e+00 total movement = 2.150199998475e-04 vel = 2.075285397996e-01 ------------------- tc state : vr = 0.276119, vf = 0.000000, maxvel = 0.425383, current_vel = 0.192529, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.192529, acc = -15.000000,T = 0.003158, P = 0.001923 on final decel initial results: dx= 0.001236,dt = 0.012835, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.012835 dt = 0.012835, not at end yet tc id = 17, canon_type = 3, mot type = 2 time: 2.023000 primary movement = 2.000216652586e-04 time: 2.023000000000e+00 total movement = 2.000216652586e-04 vel = 1.925285397996e-01 ------------------- tc state : vr = 0.276119, vf = 0.000000, maxvel = 0.425383, current_vel = 0.177529, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.177529, acc = -15.000000,T = 0.003158, P = 0.002108 on final decel initial results: dx= 0.001051,dt = 0.011835, a_f = -15.000000, v_f = 0.000000 dt = 0.011835, not at end yet tc id = 17, canon_type = 3, mot type = 2 time: 2.024000 primary movement = 1.850230987257e-04 time: 2.024000000000e+00 total movement = 1.850230987257e-04 vel = 1.775285397996e-01 ------------------- tc state : vr = 0.276119, vf = 0.000000, maxvel = 0.425383, current_vel = 0.162529, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.162529, acc = -15.000000,T = 0.003158, P = 0.002278 on final decel initial results: dx= 0.000881,dt = 0.010835, a_f = -15.000000, v_f = 0.000000 dt = 0.010835, not at end yet tc id = 17, canon_type = 3, mot type = 2 time: 2.025000 primary movement = 1.700243176411e-04 time: 2.025000000000e+00 total movement = 1.700243176411e-04 vel = 1.625285397996e-01 ------------------- tc state : vr = 0.276119, vf = 0.000000, maxvel = 0.425383, current_vel = 0.147529, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.147529, acc = -15.000000,T = 0.003158, P = 0.002433 on final decel initial results: dx= 0.000725,dt = 0.009835, a_f = -15.000000, v_f = 0.000000 dt = 0.009835, not at end yet tc id = 17, canon_type = 3, mot type = 2 time: 2.026000 primary movement = 1.550253393973e-04 time: 2.026000000000e+00 total movement = 1.550253393973e-04 vel = 1.475285397996e-01 ------------------- tc state : vr = 0.276119, vf = 0.000000, maxvel = 0.425383, current_vel = 0.132529, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.132529, acc = -15.000000,T = 0.003158, P = 0.002573 on final decel initial results: dx= 0.000585,dt = 0.008835, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.008835 dt = 0.008835, not at end yet tc id = 17, canon_type = 3, mot type = 2 time: 2.027000 primary movement = 1.400261813870e-04 time: 2.027000000000e+00 total movement = 1.400261813870e-04 vel = 1.325285397996e-01 ------------------- tc state : vr = 0.276119, vf = 0.000000, maxvel = 0.425383, current_vel = 0.117529, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.117529, acc = -15.000000,T = 0.003158, P = 0.002698 on final decel initial results: dx= 0.000460,dt = 0.007835, a_f = -15.000000, v_f = 0.000000 dt = 0.007835, not at end yet tc id = 17, canon_type = 3, mot type = 2 time: 2.028000 primary movement = 1.250268610031e-04 time: 2.028000000000e+00 total movement = 1.250268610031e-04 vel = 1.175285397996e-01 ------------------- tc state : vr = 0.276119, vf = 0.000000, maxvel = 0.425383, current_vel = 0.102529, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.102529, acc = -15.000000,T = 0.003158, P = 0.002808 on final decel initial results: dx= 0.000350,dt = 0.006835, a_f = -15.000000, v_f = 0.000000 dt = 0.006835, not at end yet tc id = 17, canon_type = 3, mot type = 2 time: 2.029000 primary movement = 1.100273956390e-04 time: 2.029000000000e+00 total movement = 1.100273956390e-04 vel = 1.025285397996e-01 ------------------- tc state : vr = 0.276119, vf = 0.000000, maxvel = 0.425383, current_vel = 0.087529, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.087529, acc = -15.000000,T = 0.003158, P = 0.002903 on final decel initial results: dx= 0.000255,dt = 0.005835, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.005835 dt = 0.005835, not at end yet tc id = 17, canon_type = 3, mot type = 2 time: 2.030000 primary movement = 9.502780268764e-05 time: 2.030000000000e+00 total movement = 9.502780268764e-05 vel = 8.752853979956e-02 ------------------- tc state : vr = 0.276119, vf = 0.000000, maxvel = 0.425383, current_vel = 0.072529, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.072529, acc = -15.000000,T = 0.003158, P = 0.002983 on final decel initial results: dx= 0.000175,dt = 0.004835, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.004835 dt = 0.004835, not at end yet tc id = 17, canon_type = 3, mot type = 2 time: 2.031000 primary movement = 8.002809954255e-05 time: 2.031000000000e+00 total movement = 8.002809954255e-05 vel = 7.252853979956e-02 ------------------- tc state : vr = 0.276119, vf = 0.000000, maxvel = 0.425383, current_vel = 0.057529, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.057529, acc = -15.000000,T = 0.003158, P = 0.003048 on final decel initial results: dx= 0.000110,dt = 0.003835, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.003835 dt = 0.003835, not at end yet tc id = 17, canon_type = 3, mot type = 2 time: 2.032000 primary movement = 6.502830359741e-05 time: 2.032000000000e+00 total movement = 6.502830359741e-05 vel = 5.752853979956e-02 ------------------- tc state : vr = 0.276119, vf = 0.000000, maxvel = 0.425383, current_vel = 0.042529, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.042529, acc = -15.000000,T = 0.003158, P = 0.003098 on final decel initial results: dx= 0.000060,dt = 0.002835, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.002835 dt = 0.002835, not at end yet tc id = 17, canon_type = 3, mot type = 2 time: 2.033000 primary movement = 5.002843224587e-05 time: 2.033000000000e+00 total movement = 5.002843224587e-05 vel = 4.252853979956e-02 ------------------- tc state : vr = 0.276119, vf = 0.000000, maxvel = 0.425383, current_vel = 0.027529, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.027529, acc = -15.000000,T = 0.003158, P = 0.003133 on final decel initial results: dx= 0.000025,dt = 0.001835, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.001835 dt = 0.001835, not at end yet tc id = 17, canon_type = 3, mot type = 2 time: 2.034000 primary movement = 3.502850288155e-05 time: 2.034000000000e+00 total movement = 3.502850288155e-05 vel = 2.752853979956e-02 ------------------- tc state : vr = 0.276119, vf = 0.000000, maxvel = 0.425383, current_vel = 0.012529, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.012529, acc = -15.000000,T = 0.003158, P = 0.003153 on final decel initial results: dx= 0.000005,dt = 0.000835, a_f = -15.000000, v_f = 0.000000 actual v_f = 0.000000, a = -15.000000 split time is 0.000835236 tc id = 17, canon_type = 3, mot type = 2 time: 2.035000 primary movement = 2.002853289842e-05 time: 2.035000000000e+00 total movement = 2.002853289842e-05 vel = 1.252853979956e-02 ------------------- tc id 17 done Finishing split-cycle on id 17 tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.003089, fs = 1.000000, tc = 0.000165, term = 2 tc result: v = 0.003089, acc = 18.750000,T = 0.003393, P = 0.000000 secondary movement = 0.000000 tc id = 17, canon_type = 2, mot type = 1 time: 2.036000 primary movement = 5.232143527250e-06 time: 2.036000000000e+00 total movement = 5.486648340707e-06 vel = 3.089325250556e-03 Finished tc id 17 ------------------- Activate tc id = 17 target_vel = 10.416625 final_vel = 0.000000 length = 0.003393 Activate nexttc id 18 tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.021839, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.021839, acc = 18.750000,T = 0.003393, P = 0.000013 tc id = 17, canon_type = 2, mot type = 1 time: 2.037000 primary movement = 1.246432525055e-05 time: 2.037000000000e+00 total movement = 1.246432525055e-05 vel = 2.183932525056e-02 ------------------- tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.040589, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.040589, acc = 18.750000,T = 0.003393, P = 0.000044 tc id = 17, canon_type = 2, mot type = 1 time: 2.038000 primary movement = 3.121432525053e-05 time: 2.038000000000e+00 total movement = 3.121432525053e-05 vel = 4.058932525056e-02 ------------------- tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.059339, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.059339, acc = 18.750000,T = 0.003393, P = 0.000094 tc id = 17, canon_type = 2, mot type = 1 time: 2.039000 primary movement = 4.996432525052e-05 time: 2.039000000000e+00 total movement = 4.996432525052e-05 vel = 5.933932525056e-02 ------------------- tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.078089, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.078089, acc = 18.750000,T = 0.003393, P = 0.000163 tc id = 17, canon_type = 2, mot type = 1 time: 2.040000 primary movement = 6.871432525060e-05 time: 2.040000000000e+00 total movement = 6.871432525060e-05 vel = 7.808932525056e-02 ------------------- tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.096839, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.096839, acc = 18.750000,T = 0.003393, P = 0.000250 tc id = 17, canon_type = 2, mot type = 1 time: 2.041000 primary movement = 8.746432525051e-05 time: 2.041000000000e+00 total movement = 8.746432525051e-05 vel = 9.683932525056e-02 ------------------- tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.115589, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.115589, acc = 18.750000,T = 0.003393, P = 0.000356 tc id = 17, canon_type = 2, mot type = 1 time: 2.042000 primary movement = 1.062143252506e-04 time: 2.042000000000e+00 total movement = 1.062143252506e-04 vel = 1.155893252506e-01 ------------------- tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.134339, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.134339, acc = 18.750000,T = 0.003393, P = 0.000481 tc id = 17, canon_type = 2, mot type = 1 time: 2.043000 primary movement = 1.249643252506e-04 time: 2.043000000000e+00 total movement = 1.249643252506e-04 vel = 1.343393252506e-01 ------------------- tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.153089, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.153089, acc = 18.750000,T = 0.003393, P = 0.000625 tc id = 17, canon_type = 2, mot type = 1 time: 2.044000 primary movement = 1.437143252506e-04 time: 2.044000000000e+00 total movement = 1.437143252506e-04 vel = 1.530893252506e-01 ------------------- tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.171839, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.171839, acc = 18.750000,T = 0.003393, P = 0.000787 tc id = 17, canon_type = 2, mot type = 1 time: 2.045000 primary movement = 1.624643252505e-04 time: 2.045000000000e+00 total movement = 1.624643252505e-04 vel = 1.718393252506e-01 ------------------- tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.190589, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.190589, acc = 18.750000,T = 0.003393, P = 0.000969 tc id = 17, canon_type = 2, mot type = 1 time: 2.046000 primary movement = 1.812143252505e-04 time: 2.046000000000e+00 total movement = 1.812143252505e-04 vel = 1.905893252506e-01 ------------------- tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.209339, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.209339, acc = 18.750000,T = 0.003393, P = 0.001169 tc id = 17, canon_type = 2, mot type = 1 time: 2.047000 primary movement = 1.999643252505e-04 time: 2.047000000000e+00 total movement = 1.999643252505e-04 vel = 2.093393252506e-01 ------------------- tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.228089, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.228089, acc = 18.750000,T = 0.003393, P = 0.001387 tc id = 17, canon_type = 2, mot type = 1 time: 2.048000 primary movement = 2.187143252506e-04 time: 2.048000000000e+00 total movement = 2.187143252506e-04 vel = 2.280893252506e-01 ------------------- tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.246839, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.246839, acc = 18.750000,T = 0.003393, P = 0.001625 tc id = 17, canon_type = 2, mot type = 1 time: 2.049000 primary movement = 2.374643252505e-04 time: 2.049000000000e+00 total movement = 2.374643252505e-04 vel = 2.468393252506e-01 ------------------- tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.239179, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.239179, acc = -7.660696,T = 0.003393, P = 0.001868 on final decel tc id = 17, canon_type = 2, mot type = 1 tc state : vr = 0.007661, vf = 0.007661, maxvel = 9.282907, current_vel = 0.007661, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.007661, acc = 7.660696,T = 0.014478, P = 0.000004 initial results: dx= 0.014474,dt = 0.041164, a_f = 16.711629, v_f = 0.695582 recalculating with a_f = 16.711629, a = 16.709234 revised dt = 0.041167 dt = 0.041167, not at end yet tc id = 17, canon_type = 2, mot type = 1 secondary movement = 0.000004 time: 2.050000 primary movement = 2.430089773268e-04 time: 2.050000000000e+00 total movement = 2.468393252506e-04 vel = 2.468393252506e-01 ------------------- tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.220429, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.220429, acc = -18.750000,T = 0.003393, P = 0.002098 on final decel tc id = 17, canon_type = 2, mot type = 1 tc state : vr = 0.026411, vf = 0.026411, maxvel = 9.282907, current_vel = 0.024370, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.024370, acc = 16.709234,T = 0.014478, P = 0.000020 initial results: dx= 0.014458,dt = 0.040164, a_f = 16.711631, v_f = 0.695582 recalculating with a_f = 16.711631, a = 16.709234 revised dt = 0.040167 dt = 0.040167, not at end yet tc id = 17, canon_type = 2, mot type = 1 secondary movement = 0.000016 time: 2.051000 primary movement = 2.298036294030e-04 time: 2.051000000000e+00 total movement = 2.458189422677e-04 vel = 2.447985592849e-01 ------------------- tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.201679, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.201679, acc = -18.750000,T = 0.003393, P = 0.002309 on final decel tc id = 17, canon_type = 2, mot type = 1 tc state : vr = 0.045161, vf = 0.045161, maxvel = 9.282907, current_vel = 0.041079, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.041079, acc = 16.709234,T = 0.014478, P = 0.000053 initial results: dx= 0.014425,dt = 0.039165, a_f = 16.711637, v_f = 0.695582 recalculating with a_f = 16.711637, a = 16.709234 revised dt = 0.039167 dt = 0.039167, not at end yet tc id = 17, canon_type = 2, mot type = 1 secondary movement = 0.000033 time: 2.052000 primary movement = 2.110536294030e-04 time: 2.052000000000e+00 total movement = 2.437781763021e-04 vel = 2.427577933192e-01 ------------------- tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.182929, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.182929, acc = -18.750000,T = 0.003393, P = 0.002501 on final decel tc id = 17, canon_type = 2, mot type = 1 tc state : vr = 0.063911, vf = 0.063911, maxvel = 9.282907, current_vel = 0.057788, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.057788, acc = 16.709234,T = 0.014478, P = 0.000102 initial results: dx= 0.014376,dt = 0.038165, a_f = 16.711645, v_f = 0.695582 recalculating with a_f = 16.711645, a = 16.709234 revised dt = 0.038167 dt = 0.038167, not at end yet tc id = 17, canon_type = 2, mot type = 1 secondary movement = 0.000049 time: 2.053000 primary movement = 1.923036294030e-04 time: 2.053000000000e+00 total movement = 2.417374103363e-04 vel = 2.407170273535e-01 ------------------- tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.164179, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.164179, acc = -18.750000,T = 0.003393, P = 0.002675 on final decel tc id = 17, canon_type = 2, mot type = 1 tc state : vr = 0.082661, vf = 0.082661, maxvel = 9.282907, current_vel = 0.074498, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.074498, acc = 16.709234,T = 0.014478, P = 0.000168 initial results: dx= 0.014310,dt = 0.037165, a_f = 16.711656, v_f = 0.695582 recalculating with a_f = 16.711656, a = 16.709234 revised dt = 0.037167 dt = 0.037167, not at end yet tc id = 17, canon_type = 2, mot type = 1 secondary movement = 0.000066 time: 2.054000 primary movement = 1.735536294030e-04 time: 2.054000000000e+00 total movement = 2.396966443707e-04 vel = 2.386762613878e-01 ------------------- tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.145429, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.145429, acc = -18.750000,T = 0.003393, P = 0.002829 on final decel tc id = 17, canon_type = 2, mot type = 1 tc state : vr = 0.101411, vf = 0.101411, maxvel = 9.282907, current_vel = 0.091207, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.091207, acc = 16.709234,T = 0.014478, P = 0.000251 initial results: dx= 0.014227,dt = 0.036165, a_f = 16.711670, v_f = 0.695582 recalculating with a_f = 16.711670, a = 16.709234 revised dt = 0.036167 dt = 0.036167, not at end yet tc id = 17, canon_type = 2, mot type = 1 secondary movement = 0.000083 time: 2.055000 primary movement = 1.548036294030e-04 time: 2.055000000000e+00 total movement = 2.376558784050e-04 vel = 2.366354954221e-01 ------------------- tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.126679, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.126679, acc = -18.750000,T = 0.003393, P = 0.002965 on final decel tc id = 17, canon_type = 2, mot type = 1 tc state : vr = 0.120161, vf = 0.120161, maxvel = 9.282907, current_vel = 0.107916, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.107916, acc = 16.709234,T = 0.014478, P = 0.000351 initial results: dx= 0.014128,dt = 0.035165, a_f = 16.711687, v_f = 0.695582 recalculating with a_f = 16.711687, a = 16.709234 revised dt = 0.035167 dt = 0.035167, not at end yet tc id = 17, canon_type = 2, mot type = 1 secondary movement = 0.000100 time: 2.056000 primary movement = 1.360536294029e-04 time: 2.056000000000e+00 total movement = 2.356151124393e-04 vel = 2.345947294565e-01 ------------------- tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.107929, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.107929, acc = -18.750000,T = 0.003393, P = 0.003083 on final decel tc id = 17, canon_type = 2, mot type = 1 tc state : vr = 0.138911, vf = 0.138911, maxvel = 9.282907, current_vel = 0.124625, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.124625, acc = 16.709234,T = 0.014478, P = 0.000467 initial results: dx= 0.014011,dt = 0.034165, a_f = 16.711708, v_f = 0.695582 recalculating with a_f = 16.711708, a = 16.709234 revised dt = 0.034167 dt = 0.034167, not at end yet tc id = 18, canon_type = 2, mot type = 1 secondary movement = 0.000116 time: 2.057000 primary movement = 1.173036294030e-04 time: 2.057000000000e+00 total movement = 2.335743464736e-04 vel = 2.325539634908e-01 ------------------- tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.089179, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.089179, acc = -18.750000,T = 0.003393, P = 0.003181 on final decel tc id = 17, canon_type = 2, mot type = 1 tc state : vr = 0.157661, vf = 0.157661, maxvel = 9.282907, current_vel = 0.141335, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.141335, acc = 16.709234,T = 0.014478, P = 0.000600 initial results: dx= 0.013878,dt = 0.033165, a_f = 16.711731, v_f = 0.695582 recalculating with a_f = 16.711731, a = 16.709234 revised dt = 0.033167 dt = 0.033167, not at end yet tc id = 18, canon_type = 2, mot type = 1 secondary movement = 0.000133 time: 2.058000 primary movement = 9.855362940294e-05 time: 2.058000000000e+00 total movement = 2.315335805079e-04 vel = 2.305131975251e-01 ------------------- tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.070429, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.070429, acc = -18.750000,T = 0.003393, P = 0.003261 on final decel tc id = 17, canon_type = 2, mot type = 1 tc state : vr = 0.176411, vf = 0.176411, maxvel = 9.282907, current_vel = 0.158044, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.158044, acc = 16.709234,T = 0.014478, P = 0.000750 initial results: dx= 0.013729,dt = 0.032165, a_f = 16.711759, v_f = 0.695582 recalculating with a_f = 16.711759, a = 16.709234 revised dt = 0.032167 dt = 0.032167, not at end yet tc id = 18, canon_type = 2, mot type = 1 secondary movement = 0.000150 time: 2.059000 primary movement = 7.980362940295e-05 time: 2.059000000000e+00 total movement = 2.294928145422e-04 vel = 2.284724315594e-01 ------------------- tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.051679, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.051679, acc = -18.750000,T = 0.003393, P = 0.003322 on final decel tc id = 17, canon_type = 2, mot type = 1 tc state : vr = 0.195161, vf = 0.195161, maxvel = 9.282907, current_vel = 0.174753, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.174753, acc = 16.709234,T = 0.014478, P = 0.000916 initial results: dx= 0.013562,dt = 0.031165, a_f = 16.711790, v_f = 0.695582 recalculating with a_f = 16.711790, a = 16.709234 revised dt = 0.031167 dt = 0.031167, not at end yet tc id = 18, canon_type = 2, mot type = 1 secondary movement = 0.000166 time: 2.060000 primary movement = 6.105362940295e-05 time: 2.060000000000e+00 total movement = 2.274520485766e-04 vel = 2.264316655937e-01 ------------------- tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.032929, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.032929, acc = -18.750000,T = 0.003393, P = 0.003364 on final decel tc id = 17, canon_type = 2, mot type = 1 tc state : vr = 0.213911, vf = 0.213911, maxvel = 9.282907, current_vel = 0.191462, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.191462, acc = 16.709234,T = 0.014478, P = 0.001099 initial results: dx= 0.013379,dt = 0.030165, a_f = 16.711825, v_f = 0.695582 recalculating with a_f = 16.711825, a = 16.709234 revised dt = 0.030167 dt = 0.030167, not at end yet tc id = 18, canon_type = 2, mot type = 1 secondary movement = 0.000183 time: 2.061000 primary movement = 4.230362940298e-05 time: 2.061000000000e+00 total movement = 2.254112826109e-04 vel = 2.243908996281e-01 ------------------- tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.014179, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.014179, acc = -18.750000,T = 0.003393, P = 0.003388 on final decel tc id = 17, canon_type = 2, mot type = 1 tc state : vr = 0.232661, vf = 0.232661, maxvel = 9.282907, current_vel = 0.208172, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.208172, acc = 16.709234,T = 0.014478, P = 0.001299 initial results: dx= 0.013179,dt = 0.029166, a_f = 16.711864, v_f = 0.695582 recalculating with a_f = 16.711864, a = 16.709234 revised dt = 0.029167 dt = 0.029167, not at end yet tc id = 18, canon_type = 2, mot type = 1 secondary movement = 0.000200 time: 2.062000 primary movement = 2.355362940298e-05 time: 2.062000000000e+00 total movement = 2.233705166452e-04 vel = 2.223501336624e-01 ------------------- Found newvel = -0.004571, assuming segment is done segment 17 at target in runcycle tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.003393, P = 0.003393 tc id = 17, canon_type = 2, mot type = 1 tc state : vr = 0.246839, vf = 0.246839, maxvel = 9.282907, current_vel = 0.224881, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.224881, acc = 16.709234,T = 0.014478, P = 0.001515 initial results: dx= 0.012963,dt = 0.028166, a_f = 16.711908, v_f = 0.695582 recalculating with a_f = 16.711908, a = 16.709234 revised dt = 0.028167 dt = 0.028167, not at end yet tc id = 18, canon_type = 2, mot type = 1 secondary movement = 0.000217 time: 2.063000 primary movement = 5.360894179945e-06 time: 2.063000000000e+00 total movement = 2.218870154565e-04 vel = 2.248807382937e-01 Finished tc id 17 ------------------- tc state : vr = 6.894316, vf = 0.695582, maxvel = 9.282907, current_vel = 0.241590, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.241590, acc = 16.709234,T = 0.014478, P = 0.001749 initial results: dx= 0.012729,dt = 0.027166, a_f = 16.711957, v_f = 0.695582 recalculating with a_f = 16.711957, a = 16.709234 revised dt = 0.027167 dt = 0.027167, not at end yet tc id = 18, canon_type = 2, mot type = 1 time: 2.064000 primary movement = 2.332353553109e-04 time: 2.064000000000e+00 total movement = 2.332353553109e-04 vel = 2.415899723280e-01 ------------------- tc state : vr = 6.894316, vf = 0.695582, maxvel = 9.282907, current_vel = 0.258299, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.258299, acc = 16.709234,T = 0.014478, P = 0.001999 initial results: dx= 0.012480,dt = 0.026166, a_f = 16.712011, v_f = 0.695582 recalculating with a_f = 16.712011, a = 16.709234 revised dt = 0.026167 dt = 0.026167, not at end yet tc id = 18, canon_type = 2, mot type = 1 time: 2.065000 primary movement = 2.499445893452e-04 time: 2.065000000000e+00 total movement = 2.499445893452e-04 vel = 2.582992063624e-01 ------------------- tc state : vr = 6.894316, vf = 0.695582, maxvel = 9.282907, current_vel = 0.275008, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.275008, acc = 16.709234,T = 0.014478, P = 0.002265 initial results: dx= 0.012213,dt = 0.025166, a_f = 16.712072, v_f = 0.695582 recalculating with a_f = 16.712072, a = 16.709234 revised dt = 0.025167 dt = 0.025167, not at end yet tc id = 18, canon_type = 2, mot type = 1 time: 2.066000 primary movement = 2.666538233795e-04 time: 2.066000000000e+00 total movement = 2.666538233795e-04 vel = 2.750084403967e-01 ------------------- tc state : vr = 6.894316, vf = 0.695582, maxvel = 9.282907, current_vel = 0.291718, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.291718, acc = 16.709234,T = 0.014478, P = 0.002549 initial results: dx= 0.011930,dt = 0.024166, a_f = 16.712139, v_f = 0.695582 recalculating with a_f = 16.712139, a = 16.709234 revised dt = 0.024167 dt = 0.024167, not at end yet tc id = 18, canon_type = 2, mot type = 1 time: 2.067000 primary movement = 2.833630574139e-04 time: 2.067000000000e+00 total movement = 2.833630574139e-04 vel = 2.917176744310e-01 ------------------- tc state : vr = 6.894316, vf = 0.695582, maxvel = 9.282907, current_vel = 0.308427, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.308427, acc = 16.709234,T = 0.014478, P = 0.002849 initial results: dx= 0.011629,dt = 0.023166, a_f = 16.712214, v_f = 0.695582 recalculating with a_f = 16.712214, a = 16.709234 revised dt = 0.023167 dt = 0.023167, not at end yet tc id = 18, canon_type = 2, mot type = 1 time: 2.068000 primary movement = 3.000722914481e-04 time: 2.068000000000e+00 total movement = 3.000722914481e-04 vel = 3.084269084653e-01 ------------------- tc state : vr = 6.894316, vf = 0.695582, maxvel = 9.282907, current_vel = 0.325136, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.325136, acc = 16.709234,T = 0.014478, P = 0.003165 initial results: dx= 0.011313,dt = 0.022166, a_f = 16.712298, v_f = 0.695582 recalculating with a_f = 16.712298, a = 16.709234 revised dt = 0.022167 dt = 0.022167, not at end yet tc id = 18, canon_type = 2, mot type = 1 time: 2.069000 primary movement = 3.167815254825e-04 time: 2.069000000000e+00 total movement = 3.167815254825e-04 vel = 3.251361424996e-01 ------------------- tc state : vr = 6.894316, vf = 0.695582, maxvel = 9.282907, current_vel = 0.341845, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.341845, acc = 16.709234,T = 0.014478, P = 0.003499 initial results: dx= 0.010979,dt = 0.021166, a_f = 16.712391, v_f = 0.695582 recalculating with a_f = 16.712391, a = 16.709234 revised dt = 0.021167 dt = 0.021167, not at end yet tc id = 18, canon_type = 2, mot type = 1 time: 2.070000 primary movement = 3.334907595168e-04 time: 2.070000000000e+00 total movement = 3.334907595168e-04 vel = 3.418453765340e-01 ------------------- tc state : vr = 6.894316, vf = 0.695582, maxvel = 9.282907, current_vel = 0.358555, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.358555, acc = 16.709234,T = 0.014478, P = 0.003849 initial results: dx= 0.010629,dt = 0.020166, a_f = 16.712495, v_f = 0.695582 recalculating with a_f = 16.712495, a = 16.709234 revised dt = 0.020167 dt = 0.020167, not at end yet tc id = 18, canon_type = 2, mot type = 1 time: 2.071000 primary movement = 3.501999935511e-04 time: 2.071000000000e+00 total movement = 3.501999935511e-04 vel = 3.585546105683e-01 ------------------- tc state : vr = 6.894316, vf = 0.695582, maxvel = 9.282907, current_vel = 0.375264, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.375264, acc = 16.709234,T = 0.014478, P = 0.004216 initial results: dx= 0.010262,dt = 0.019166, a_f = 16.712611, v_f = 0.695582 recalculating with a_f = 16.712611, a = 16.709234 revised dt = 0.019167 dt = 0.019167, not at end yet tc id = 18, canon_type = 2, mot type = 1 time: 2.072000 primary movement = 3.669092275854e-04 time: 2.072000000000e+00 total movement = 3.669092275854e-04 vel = 3.752638446026e-01 ------------------- tc state : vr = 6.894316, vf = 0.695582, maxvel = 9.282907, current_vel = 0.391973, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.391973, acc = 16.709234,T = 0.014478, P = 0.004600 initial results: dx= 0.009878,dt = 0.018166, a_f = 16.712743, v_f = 0.695582 recalculating with a_f = 16.712743, a = 16.709234 revised dt = 0.018167 dt = 0.018167, not at end yet tc id = 18, canon_type = 2, mot type = 1 time: 2.073000 primary movement = 3.836184616197e-04 time: 2.073000000000e+00 total movement = 3.836184616197e-04 vel = 3.919730786369e-01 ------------------- tc state : vr = 6.894316, vf = 0.695582, maxvel = 9.282907, current_vel = 0.408682, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.408682, acc = 16.709234,T = 0.014478, P = 0.005000 initial results: dx= 0.009478,dt = 0.017166, a_f = 16.712891, v_f = 0.695582 recalculating with a_f = 16.712891, a = 16.709234 revised dt = 0.017167 dt = 0.017167, not at end yet tc id = 18, canon_type = 2, mot type = 1 time: 2.074000 primary movement = 4.003276956541e-04 time: 2.074000000000e+00 total movement = 4.003276956541e-04 vel = 4.086823126712e-01 ------------------- tc state : vr = 6.894316, vf = 0.695582, maxvel = 9.282907, current_vel = 0.425392, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.425392, acc = 16.709234,T = 0.014478, P = 0.005417 initial results: dx= 0.009061,dt = 0.016166, a_f = 16.713059, v_f = 0.695582 recalculating with a_f = 16.713059, a = 16.709234 revised dt = 0.016167 dt = 0.016167, not at end yet tc id = 18, canon_type = 2, mot type = 1 time: 2.075000 primary movement = 4.170369296884e-04 time: 2.075000000000e+00 total movement = 4.170369296884e-04 vel = 4.253915467055e-01 ------------------- tc state : vr = 6.894316, vf = 0.695582, maxvel = 9.282907, current_vel = 0.442101, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.442101, acc = 16.709234,T = 0.014478, P = 0.005851 initial results: dx= 0.008627,dt = 0.015166, a_f = 16.713251, v_f = 0.695582 recalculating with a_f = 16.713251, a = 16.709234 revised dt = 0.015167 dt = 0.015167, not at end yet tc id = 18, canon_type = 2, mot type = 1 time: 2.076000 primary movement = 4.337461637227e-04 time: 2.076000000000e+00 total movement = 4.337461637227e-04 vel = 4.421007807399e-01 ------------------- tc state : vr = 6.894316, vf = 0.695582, maxvel = 9.282907, current_vel = 0.458810, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.458810, acc = 16.709234,T = 0.014478, P = 0.006301 initial results: dx= 0.008177,dt = 0.014167, a_f = 16.713473, v_f = 0.695582 recalculating with a_f = 16.713473, a = 16.709234 revised dt = 0.014167 dt = 0.014167, not at end yet tc id = 18, canon_type = 2, mot type = 1 time: 2.077000 primary movement = 4.504553977570e-04 time: 2.077000000000e+00 total movement = 4.504553977570e-04 vel = 4.588100147742e-01 ------------------- tc state : vr = 6.894316, vf = 0.695582, maxvel = 9.282907, current_vel = 0.475519, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.475519, acc = 16.709234,T = 0.014478, P = 0.006768 initial results: dx= 0.007710,dt = 0.013167, a_f = 16.713730, v_f = 0.695582 recalculating with a_f = 16.713730, a = 16.709234 revised dt = 0.013167 dt = 0.013167, not at end yet tc id = 18, canon_type = 2, mot type = 1 time: 2.078000 primary movement = 4.671646317913e-04 time: 2.078000000000e+00 total movement = 4.671646317913e-04 vel = 4.755192488085e-01 ------------------- tc state : vr = 6.894316, vf = 0.695582, maxvel = 9.282907, current_vel = 0.492228, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.492228, acc = 16.709234,T = 0.014478, P = 0.007252 initial results: dx= 0.007226,dt = 0.012167, a_f = 16.714031, v_f = 0.695582 recalculating with a_f = 16.714031, a = 16.709234 revised dt = 0.012167 dt = 0.012167, not at end yet tc id = 18, canon_type = 2, mot type = 1 time: 2.079000 primary movement = 4.838738658257e-04 time: 2.079000000000e+00 total movement = 4.838738658257e-04 vel = 4.922284828428e-01 ------------------- tc state : vr = 6.894316, vf = 0.695582, maxvel = 9.282907, current_vel = 0.508938, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.508938, acc = 16.709234,T = 0.014478, P = 0.007753 initial results: dx= 0.006725,dt = 0.011167, a_f = 16.714388, v_f = 0.695582 recalculating with a_f = 16.714388, a = 16.709234 revised dt = 0.011167 dt = 0.011167, not at end yet tc id = 18, canon_type = 2, mot type = 1 time: 2.080000 primary movement = 5.005830998600e-04 time: 2.080000000000e+00 total movement = 5.005830998600e-04 vel = 5.089377168771e-01 ------------------- tc state : vr = 6.894316, vf = 0.695582, maxvel = 9.282907, current_vel = 0.525647, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.525647, acc = 16.709234,T = 0.014478, P = 0.008270 initial results: dx= 0.006208,dt = 0.010167, a_f = 16.714817, v_f = 0.695582 recalculating with a_f = 16.714817, a = 16.709234 revised dt = 0.010167 dt = 0.010167, not at end yet tc id = 18, canon_type = 2, mot type = 1 time: 2.081000 primary movement = 5.172923338943e-04 time: 2.081000000000e+00 total movement = 5.172923338943e-04 vel = 5.256469509115e-01 ------------------- tc state : vr = 6.894316, vf = 0.695582, maxvel = 9.282907, current_vel = 0.542356, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.542356, acc = 16.709234,T = 0.014478, P = 0.008804 initial results: dx= 0.005674,dt = 0.009167, a_f = 16.715342, v_f = 0.695582 recalculating with a_f = 16.715342, a = 16.709234 revised dt = 0.009167 dt = 0.009167, not at end yet tc id = 18, canon_type = 2, mot type = 1 time: 2.082000 primary movement = 5.340015679286e-04 time: 2.082000000000e+00 total movement = 5.340015679286e-04 vel = 5.423561849458e-01 ------------------- tc state : vr = 6.894316, vf = 0.695582, maxvel = 9.282907, current_vel = 0.559065, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.559065, acc = 16.709234,T = 0.014478, P = 0.009355 initial results: dx= 0.005123,dt = 0.008167, a_f = 16.715999, v_f = 0.695582 recalculating with a_f = 16.715999, a = 16.709234 revised dt = 0.008167 dt = 0.008167, not at end yet tc id = 18, canon_type = 2, mot type = 1 time: 2.083000 primary movement = 5.507108019629e-04 time: 2.083000000000e+00 total movement = 5.507108019629e-04 vel = 5.590654189801e-01 ------------------- tc state : vr = 6.894316, vf = 0.695582, maxvel = 9.282907, current_vel = 0.575775, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.575775, acc = 16.709234,T = 0.014478, P = 0.009922 initial results: dx= 0.004556,dt = 0.007167, a_f = 16.716842, v_f = 0.695582 recalculating with a_f = 16.716842, a = 16.709234 revised dt = 0.007167 dt = 0.007167, not at end yet tc id = 18, canon_type = 2, mot type = 1 time: 2.084000 primary movement = 5.674200359973e-04 time: 2.084000000000e+00 total movement = 5.674200359973e-04 vel = 5.757746530144e-01 ------------------- tc state : vr = 6.894316, vf = 0.695582, maxvel = 9.282907, current_vel = 0.592484, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.592484, acc = 16.709234,T = 0.014478, P = 0.010506 initial results: dx= 0.003972,dt = 0.006167, a_f = 16.717961, v_f = 0.695582 recalculating with a_f = 16.717961, a = 16.709234 revised dt = 0.006167 dt = 0.006167, not at end yet tc id = 18, canon_type = 2, mot type = 1 time: 2.085000 primary movement = 5.841292700316e-04 time: 2.085000000000e+00 total movement = 5.841292700316e-04 vel = 5.924838870487e-01 ------------------- tc state : vr = 6.894316, vf = 0.695582, maxvel = 9.282907, current_vel = 0.609193, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.609193, acc = 16.709234,T = 0.014478, P = 0.011107 initial results: dx= 0.003371,dt = 0.005167, a_f = 16.719516, v_f = 0.695582 recalculating with a_f = 16.719516, a = 16.709234 revised dt = 0.005167 dt = 0.005167, not at end yet tc id = 18, canon_type = 2, mot type = 1 time: 2.086000 primary movement = 6.008385040659e-04 time: 2.086000000000e+00 total movement = 6.008385040659e-04 vel = 6.091931210830e-01 ------------------- tc state : vr = 6.894316, vf = 0.695582, maxvel = 9.282907, current_vel = 0.625902, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.625902, acc = 16.709234,T = 0.014478, P = 0.011725 initial results: dx= 0.002753,dt = 0.004167, a_f = 16.721822, v_f = 0.695582 recalculating with a_f = 16.721822, a = 16.709234 revised dt = 0.004167 dt = 0.004167, not at end yet tc id = 18, canon_type = 2, mot type = 1 time: 2.087000 primary movement = 6.175477381002e-04 time: 2.087000000000e+00 total movement = 6.175477381002e-04 vel = 6.259023551174e-01 ------------------- tc state : vr = 6.894316, vf = 0.695582, maxvel = 9.282907, current_vel = 0.642612, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.642612, acc = 16.709234,T = 0.014478, P = 0.012359 initial results: dx= 0.002119,dt = 0.003167, a_f = 16.725590, v_f = 0.695582 recalculating with a_f = 16.725590, a = 16.709234 revised dt = 0.003167 dt = 0.003167, not at end yet tc id = 18, canon_type = 2, mot type = 1 time: 2.088000 primary movement = 6.342569721345e-04 time: 2.088000000000e+00 total movement = 6.342569721345e-04 vel = 6.426115891517e-01 ------------------- tc state : vr = 6.894316, vf = 0.695582, maxvel = 9.282907, current_vel = 0.659321, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.659321, acc = 16.709234,T = 0.014478, P = 0.013010 initial results: dx= 0.001468,dt = 0.002167, a_f = 16.732842, v_f = 0.695582 recalculating with a_f = 16.732842, a = 16.709234 revised dt = 0.002167 dt = 0.002167, not at end yet tc id = 18, canon_type = 2, mot type = 1 time: 2.089000 primary movement = 6.509662061688e-04 time: 2.089000000000e+00 total movement = 6.509662061688e-04 vel = 6.593208231860e-01 ------------------- tc state : vr = 6.894316, vf = 0.695582, maxvel = 9.282907, current_vel = 0.676030, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.676030, acc = 16.709234,T = 0.014478, P = 0.013678 initial results: dx= 0.000800,dt = 0.001167, a_f = 16.752535, v_f = 0.695582 recalculating with a_f = 16.752535, a = 16.709234 revised dt = 0.001167 dt = 0.001167, not at end yet tc id = 18, canon_type = 2, mot type = 1 time: 2.090000 primary movement = 6.676754402032e-04 time: 2.090000000000e+00 total movement = 6.676754402032e-04 vel = 6.760300572203e-01 ------------------- tc state : vr = 6.894316, vf = 0.695582, maxvel = 9.282907, current_vel = 0.692739, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.692739, acc = 16.709234,T = 0.014478, P = 0.014362 initial results: dx= 0.000116,dt = 0.000167, a_f = 17.007934, v_f = 0.695582 recalculating with a_f = 17.007934, a = 16.709234 revised dt = 0.000167 actual v_f = 0.695532, a = 16.709234 split time is 0.000167162 tc id = 18, canon_type = 2, mot type = 1 time: 2.091000 primary movement = 6.843846742375e-04 time: 2.091000000000e+00 total movement = 6.843846742375e-04 vel = 6.927392912546e-01 ------------------- tc id 18 done Finishing split-cycle on id 19 tc state : vr = 1.214506, vf = 0.611945, maxvel = 1.214506, current_vel = 0.708025, fs = 1.000000, tc = 0.000833, term = 3 tc result: v = 0.708025, acc = 15.000000,T = 0.007348, P = 0.000584 initial results: dx= 0.006764,dt = 0.010249, a_f = -9.375051, v_f = 0.611945 dt = 0.010249, not at end yet secondary movement = 0.000584 tc id = 19, canon_type = 3, mot type = 2 time: 2.092000 primary movement = 1.160328963926e-04 time: 2.092000000000e+00 total movement = 7.004985481296e-04 vel = 7.080250096366e-01 Finished tc id 18 ------------------- Activate tc id = 19 target_vel = 1.214506 final_vel = 0.611945 length = 0.007348 tc state : vr = 1.214506, vf = 0.611945, maxvel = 1.214506, current_vel = 0.723025, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.723025, acc = 15.000000,T = 0.007348, P = 0.001300 initial results: dx= 0.006048,dt = 0.009061, a_f = -12.258645, v_f = 0.611945 dt = 0.009061, not at end yet tc id = 19, canon_type = 3, mot type = 2 time: 2.093000 primary movement = 7.155202741188e-04 time: 2.093000000000e+00 total movement = 7.155202741188e-04 vel = 7.230250096366e-01 ------------------- tc state : vr = 1.214506, vf = 0.611945, maxvel = 1.214506, current_vel = 0.730834, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.730834, acc = 7.809149,T = 0.007348, P = 0.002027 initial results: dx= 0.005321,dt = 0.007926, a_f = -15.000000, v_f = 0.611945 dt = 0.007926, not at end yet tc id = 19, canon_type = 3, mot type = 2 time: 2.094000 primary movement = 7.269246185500e-04 time: 2.094000000000e+00 total movement = 7.269246185500e-04 vel = 7.308341586242e-01 ------------------- tc state : vr = 1.214506, vf = 0.611945, maxvel = 1.214506, current_vel = 0.715834, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.715834, acc = -15.000000,T = 0.007348, P = 0.002750 on final decel initial results: dx= 0.004598,dt = 0.006926, a_f = -15.000000, v_f = 0.611945 dt = 0.006926, not at end yet tc id = 19, canon_type = 3, mot type = 2 time: 2.095000 primary movement = 7.233292663597e-04 time: 2.095000000000e+00 total movement = 7.233292663597e-04 vel = 7.158341586242e-01 ------------------- tc state : vr = 1.214506, vf = 0.611945, maxvel = 1.214506, current_vel = 0.700834, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.700834, acc = -15.000000,T = 0.007348, P = 0.003459 on final decel initial results: dx= 0.003890,dt = 0.005926, a_f = -15.000000, v_f = 0.611945 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.005926 dt = 0.005926, not at end yet tc id = 19, canon_type = 3, mot type = 2 time: 2.096000 primary movement = 7.083295644485e-04 time: 2.096000000000e+00 total movement = 7.083295644485e-04 vel = 7.008341586242e-01 ------------------- tc state : vr = 1.214506, vf = 0.611945, maxvel = 1.214506, current_vel = 0.685834, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.685834, acc = -15.000000,T = 0.007348, P = 0.004152 on final decel initial results: dx= 0.003196,dt = 0.004926, a_f = -15.000000, v_f = 0.611945 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.004926 dt = 0.004926, not at end yet tc id = 19, canon_type = 3, mot type = 2 time: 2.097000 primary movement = 6.933298501761e-04 time: 2.097000000000e+00 total movement = 6.933298501761e-04 vel = 6.858341586242e-01 ------------------- tc state : vr = 1.214506, vf = 0.611945, maxvel = 1.214506, current_vel = 0.670834, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.670834, acc = -15.000000,T = 0.007348, P = 0.004830 on final decel initial results: dx= 0.002518,dt = 0.003926, a_f = -15.000000, v_f = 0.611945 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.003926 dt = 0.003926, not at end yet tc id = 19, canon_type = 3, mot type = 2 time: 2.098000 primary movement = 6.783301238041e-04 time: 2.098000000000e+00 total movement = 6.783301238041e-04 vel = 6.708341586242e-01 ------------------- tc state : vr = 1.214506, vf = 0.611945, maxvel = 1.214506, current_vel = 0.655834, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.655834, acc = -15.000000,T = 0.007348, P = 0.005494 on final decel initial results: dx= 0.001855,dt = 0.002926, a_f = -15.000000, v_f = 0.611945 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.002926 dt = 0.002926, not at end yet tc id = 19, canon_type = 3, mot type = 2 time: 2.099000 primary movement = 6.633303855945e-04 time: 2.099000000000e+00 total movement = 6.633303855945e-04 vel = 6.558341586242e-01 ------------------- tc state : vr = 1.214506, vf = 0.611945, maxvel = 1.214506, current_vel = 0.640834, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.640834, acc = -15.000000,T = 0.007348, P = 0.006142 on final decel initial results: dx= 0.001206,dt = 0.001926, a_f = -15.000000, v_f = 0.611945 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.001926 dt = 0.001926, not at end yet tc id = 19, canon_type = 3, mot type = 2 time: 2.100000 primary movement = 6.483306358088e-04 time: 2.100000000000e+00 total movement = 6.483306358088e-04 vel = 6.408341586242e-01 ------------------- tc state : vr = 1.214506, vf = 0.611945, maxvel = 1.214506, current_vel = 0.625834, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.625834, acc = -15.000000,T = 0.007348, P = 0.006775 on final decel initial results: dx= 0.000573,dt = 0.000926, a_f = -15.000000, v_f = 0.611945 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.000926 actual v_f = 0.611945, a = -15.000000 split time is 0.000925968 tc id = 19, canon_type = 3, mot type = 2 time: 2.101000 primary movement = 6.333308747090e-04 time: 2.101000000000e+00 total movement = 6.333308747090e-04 vel = 6.258341586242e-01 ------------------- tc id 19 done Finishing split-cycle on id 19 tc state : vr = 0.611945, vf = 0.432710, maxvel = 8.799106, current_vel = 0.609600, fs = 1.000000, tc = 0.000074, term = 3 tc result: v = 0.609600, acc = -31.676783,T = 0.002955, P = 0.000045 on final decel initial results: dx= 0.002910,dt = 0.005584, a_f = -31.676783, v_f = 0.432710 recalculating with a_f = -31.676783, a = -31.676783 revised dt = 0.005584 dt = 0.005584, not at end yet secondary movement = 0.000045 tc id = 19, canon_type = 2, mot type = 1 time: 2.102000 primary movement = 5.730691009993e-04 time: 2.102000000000e+00 total movement = 6.182860247251e-04 vel = 6.095995363814e-01 Finished tc id 19 ------------------- Activate tc id = 19 target_vel = 0.611945 final_vel = 0.432710 length = 0.002955 tc state : vr = 0.611945, vf = 0.432710, maxvel = 8.799106, current_vel = 0.577923, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.577923, acc = -31.676783,T = 0.002955, P = 0.000639 on final decel initial results: dx= 0.002316,dt = 0.004584, a_f = -31.676783, v_f = 0.432710 recalculating with a_f = -31.676783, a = -31.676783 revised dt = 0.004584 dt = 0.004584, not at end yet tc id = 19, canon_type = 2, mot type = 1 time: 2.103000 primary movement = 5.937611450656e-04 time: 2.103000000000e+00 total movement = 5.937611450656e-04 vel = 5.779227537499e-01 ------------------- tc state : vr = 0.611945, vf = 0.432710, maxvel = 8.799106, current_vel = 0.546246, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.546246, acc = -31.676783,T = 0.002955, P = 0.001201 on final decel initial results: dx= 0.001754,dt = 0.003584, a_f = -31.676783, v_f = 0.432710 dt = 0.003584, not at end yet tc id = 19, canon_type = 2, mot type = 1 time: 2.104000 primary movement = 5.620843624341e-04 time: 2.104000000000e+00 total movement = 5.620843624341e-04 vel = 5.462459711183e-01 ------------------- tc state : vr = 0.611945, vf = 0.432710, maxvel = 8.799106, current_vel = 0.514569, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.514569, acc = -31.676783,T = 0.002955, P = 0.001731 on final decel initial results: dx= 0.001224,dt = 0.002584, a_f = -31.676783, v_f = 0.432710 dt = 0.002584, not at end yet tc id = 19, canon_type = 2, mot type = 1 time: 2.105000 primary movement = 5.304075798025e-04 time: 2.105000000000e+00 total movement = 5.304075798025e-04 vel = 5.145691884868e-01 ------------------- tc state : vr = 0.611945, vf = 0.432710, maxvel = 8.799106, current_vel = 0.482892, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.482892, acc = -31.676783,T = 0.002955, P = 0.002230 on final decel initial results: dx= 0.000725,dt = 0.001584, a_f = -31.676783, v_f = 0.432710 dt = 0.001584, not at end yet tc id = 19, canon_type = 2, mot type = 1 time: 2.106000 primary movement = 4.987307971710e-04 time: 2.106000000000e+00 total movement = 4.987307971710e-04 vel = 4.828924058552e-01 ------------------- tc state : vr = 0.611945, vf = 0.432710, maxvel = 8.799106, current_vel = 0.451216, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.451216, acc = -31.676783,T = 0.002955, P = 0.002697 on final decel initial results: dx= 0.000258,dt = 0.000584, a_f = -31.676783, v_f = 0.432710 recalculating with a_f = -31.676783, a = -31.676783 revised dt = 0.000584 actual v_f = 0.432710, a = -31.676783 split time is 0.000584195 tc id = 19, canon_type = 2, mot type = 1 time: 2.107000 primary movement = 4.670540145395e-04 time: 2.107000000000e+00 total movement = 4.670540145395e-04 vel = 4.512156232237e-01 ------------------- tc id 19 done Finishing split-cycle on id 20 tc state : vr = 0.432710, vf = 0.000000, maxvel = 1.207258, current_vel = 0.432710, fs = 1.000000, tc = 0.000416, term = 3 tc result: v = 0.432710, acc = 0.000000,T = 0.011608, P = 0.000180 initial results: dx= 0.011428,dt = 0.052821, a_f = -8.192045, v_f = 0.000000 dt = 0.052821, not at end yet secondary movement = 0.000180 tc id = 20, canon_type = 3, mot type = 2 time: 2.108000 primary movement = 2.581924873668e-04 time: 2.108000000000e+00 total movement = 4.381155155550e-04 vel = 4.327102079248e-01 Finished tc id 19 ------------------- Activate tc id = 20 target_vel = 0.432710 final_vel = 0.000000 length = 0.011608 tc state : vr = 0.432710, vf = 0.000000, maxvel = 1.207258, current_vel = 0.432710, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.432710, acc = 0.000000,T = 0.011608, P = 0.000613 initial results: dx= 0.010995,dt = 0.050821, a_f = -8.514434, v_f = 0.000000 dt = 0.050821, not at end yet tc id = 20, canon_type = 3, mot type = 2 time: 2.109000 primary movement = 4.327091352118e-04 time: 2.109000000000e+00 total movement = 4.327091352118e-04 vel = 4.327102079248e-01 ------------------- tc state : vr = 0.432710, vf = 0.000000, maxvel = 1.207258, current_vel = 0.432710, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.432710, acc = 0.000000,T = 0.011608, P = 0.001045 initial results: dx= 0.010563,dt = 0.048821, a_f = -8.863238, v_f = 0.000000 dt = 0.048821, not at end yet tc id = 20, canon_type = 3, mot type = 2 time: 2.110000 primary movement = 4.327091352118e-04 time: 2.110000000000e+00 total movement = 4.327091352118e-04 vel = 4.327102079248e-01 ------------------- tc state : vr = 0.432710, vf = 0.000000, maxvel = 1.207258, current_vel = 0.432710, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.432710, acc = 0.000000,T = 0.011608, P = 0.001478 initial results: dx= 0.010130,dt = 0.046821, a_f = -9.241841, v_f = 0.000000 dt = 0.046821, not at end yet tc id = 20, canon_type = 3, mot type = 2 time: 2.111000 primary movement = 4.327091352119e-04 time: 2.111000000000e+00 total movement = 4.327091352119e-04 vel = 4.327102079248e-01 ------------------- tc state : vr = 0.432710, vf = 0.000000, maxvel = 1.207258, current_vel = 0.432710, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.432710, acc = 0.000000,T = 0.011608, P = 0.001911 initial results: dx= 0.009697,dt = 0.044821, a_f = -9.654232, v_f = 0.000000 dt = 0.044821, not at end yet tc id = 20, canon_type = 3, mot type = 2 time: 2.112000 primary movement = 4.327091352118e-04 time: 2.112000000000e+00 total movement = 4.327091352118e-04 vel = 4.327102079248e-01 ------------------- tc state : vr = 0.432710, vf = 0.000000, maxvel = 1.207258, current_vel = 0.432710, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.432710, acc = 0.000000,T = 0.011608, P = 0.002343 initial results: dx= 0.009264,dt = 0.042821, a_f = -10.105145, v_f = 0.000000 dt = 0.042821, not at end yet tc id = 20, canon_type = 3, mot type = 2 time: 2.113000 primary movement = 4.327091352118e-04 time: 2.113000000000e+00 total movement = 4.327091352118e-04 vel = 4.327102079248e-01 ------------------- tc state : vr = 0.432710, vf = 0.000000, maxvel = 1.207258, current_vel = 0.432710, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.432710, acc = 0.000000,T = 0.011608, P = 0.002776 initial results: dx= 0.008832,dt = 0.040821, a_f = -10.600243, v_f = 0.000000 dt = 0.040821, not at end yet tc id = 20, canon_type = 3, mot type = 2 time: 2.114000 primary movement = 4.327091352119e-04 time: 2.114000000000e+00 total movement = 4.327091352119e-04 vel = 4.327102079248e-01 ------------------- tc state : vr = 0.432710, vf = 0.000000, maxvel = 1.207258, current_vel = 0.432710, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.432710, acc = 0.000000,T = 0.011608, P = 0.003209 initial results: dx= 0.008399,dt = 0.038821, a_f = -11.146355, v_f = 0.000000 dt = 0.038821, not at end yet tc id = 20, canon_type = 3, mot type = 2 time: 2.115000 primary movement = 4.327091352118e-04 time: 2.115000000000e+00 total movement = 4.327091352118e-04 vel = 4.327102079248e-01 ------------------- tc state : vr = 0.432710, vf = 0.000000, maxvel = 1.207258, current_vel = 0.432710, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.432710, acc = 0.000000,T = 0.011608, P = 0.003642 initial results: dx= 0.007966,dt = 0.036821, a_f = -11.751793, v_f = 0.000000 dt = 0.036821, not at end yet tc id = 20, canon_type = 3, mot type = 2 time: 2.116000 primary movement = 4.327091352118e-04 time: 2.116000000000e+00 total movement = 4.327091352118e-04 vel = 4.327102079248e-01 ------------------- tc state : vr = 0.432710, vf = 0.000000, maxvel = 1.207258, current_vel = 0.432710, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.432710, acc = 0.000000,T = 0.011608, P = 0.004074 initial results: dx= 0.007534,dt = 0.034821, a_f = -12.426781, v_f = 0.000000 dt = 0.034821, not at end yet tc id = 20, canon_type = 3, mot type = 2 time: 2.117000 primary movement = 4.327091352118e-04 time: 2.117000000000e+00 total movement = 4.327091352118e-04 vel = 4.327102079248e-01 ------------------- tc state : vr = 0.432710, vf = 0.000000, maxvel = 1.207258, current_vel = 0.432710, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.432710, acc = 0.000000,T = 0.011608, P = 0.004507 initial results: dx= 0.007101,dt = 0.032821, a_f = -13.184031, v_f = 0.000000 dt = 0.032821, not at end yet tc id = 20, canon_type = 3, mot type = 2 time: 2.118000 primary movement = 4.327091352118e-04 time: 2.118000000000e+00 total movement = 4.327091352118e-04 vel = 4.327102079248e-01 ------------------- tc state : vr = 0.432710, vf = 0.000000, maxvel = 1.207258, current_vel = 0.432710, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.432710, acc = 0.000000,T = 0.011608, P = 0.004940 initial results: dx= 0.006668,dt = 0.030821, a_f = -14.039560, v_f = 0.000000 dt = 0.030821, not at end yet tc id = 20, canon_type = 3, mot type = 2 time: 2.119000 primary movement = 4.327091352118e-04 time: 2.119000000000e+00 total movement = 4.327091352118e-04 vel = 4.327102079248e-01 ------------------- tc state : vr = 0.432710, vf = 0.000000, maxvel = 1.207258, current_vel = 0.432514, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.432514, acc = -0.195893,T = 0.011608, P = 0.005372 on final decel initial results: dx= 0.006236,dt = 0.028834, a_f = -15.000000, v_f = 0.000000 dt = 0.028834, not at end yet tc id = 20, canon_type = 3, mot type = 2 time: 2.120000 primary movement = 4.326111894125e-04 time: 2.120000000000e+00 total movement = 4.326111894125e-04 vel = 4.325143148696e-01 ------------------- tc state : vr = 0.432710, vf = 0.000000, maxvel = 1.207258, current_vel = 0.417514, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.417514, acc = -15.000000,T = 0.011608, P = 0.005797 on final decel initial results: dx= 0.005811,dt = 0.027834, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.027834 dt = 0.027834, not at end yet tc id = 20, canon_type = 3, mot type = 2 time: 2.121000 primary movement = 4.250132983803e-04 time: 2.121000000000e+00 total movement = 4.250132983803e-04 vel = 4.175143148696e-01 ------------------- tc state : vr = 0.432710, vf = 0.000000, maxvel = 1.207258, current_vel = 0.402514, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.402514, acc = -15.000000,T = 0.011608, P = 0.006207 on final decel initial results: dx= 0.005401,dt = 0.026834, a_f = -15.000000, v_f = 0.000000 dt = 0.026834, not at end yet tc id = 20, canon_type = 3, mot type = 2 time: 2.122000 primary movement = 4.100134022512e-04 time: 2.122000000000e+00 total movement = 4.100134022512e-04 vel = 4.025143148696e-01 ------------------- tc state : vr = 0.432710, vf = 0.000000, maxvel = 1.207258, current_vel = 0.387514, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.387514, acc = -15.000000,T = 0.011608, P = 0.006602 on final decel initial results: dx= 0.005006,dt = 0.025834, a_f = -15.000000, v_f = 0.000000 dt = 0.025834, not at end yet tc id = 20, canon_type = 3, mot type = 2 time: 2.123000 primary movement = 3.950134987935e-04 time: 2.123000000000e+00 total movement = 3.950134987935e-04 vel = 3.875143148696e-01 ------------------- tc state : vr = 0.432710, vf = 0.000000, maxvel = 1.207258, current_vel = 0.372514, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.372514, acc = -15.000000,T = 0.011608, P = 0.006982 on final decel initial results: dx= 0.004626,dt = 0.024834, a_f = -15.000000, v_f = 0.000000 dt = 0.024834, not at end yet tc id = 20, canon_type = 3, mot type = 2 time: 2.124000 primary movement = 3.800135882752e-04 time: 2.124000000000e+00 total movement = 3.800135882752e-04 vel = 3.725143148696e-01 ------------------- tc state : vr = 0.432710, vf = 0.000000, maxvel = 1.207258, current_vel = 0.357514, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.357514, acc = -15.000000,T = 0.011608, P = 0.007347 on final decel initial results: dx= 0.004261,dt = 0.023834, a_f = -15.000000, v_f = 0.000000 dt = 0.023834, not at end yet tc id = 20, canon_type = 3, mot type = 2 time: 2.125000 primary movement = 3.650136709645e-04 time: 2.125000000000e+00 total movement = 3.650136709645e-04 vel = 3.575143148696e-01 ------------------- tc state : vr = 0.432710, vf = 0.000000, maxvel = 1.207258, current_vel = 0.342514, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.342514, acc = -15.000000,T = 0.011608, P = 0.007697 on final decel initial results: dx= 0.003911,dt = 0.022834, a_f = -15.000000, v_f = 0.000000 dt = 0.022834, not at end yet tc id = 20, canon_type = 3, mot type = 2 time: 2.126000 primary movement = 3.500137471294e-04 time: 2.126000000000e+00 total movement = 3.500137471294e-04 vel = 3.425143148696e-01 ------------------- tc state : vr = 0.432710, vf = 0.000000, maxvel = 1.207258, current_vel = 0.327514, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.327514, acc = -15.000000,T = 0.011608, P = 0.008032 on final decel initial results: dx= 0.003576,dt = 0.021834, a_f = -15.000000, v_f = 0.000000 dt = 0.021834, not at end yet tc id = 20, canon_type = 3, mot type = 2 time: 2.127000 primary movement = 3.350138170381e-04 time: 2.127000000000e+00 total movement = 3.350138170381e-04 vel = 3.275143148696e-01 ------------------- tc state : vr = 0.432710, vf = 0.000000, maxvel = 1.207258, current_vel = 0.312514, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.312514, acc = -15.000000,T = 0.011608, P = 0.008352 on final decel initial results: dx= 0.003256,dt = 0.020834, a_f = -15.000000, v_f = 0.000000 dt = 0.020834, not at end yet tc id = 20, canon_type = 3, mot type = 2 time: 2.128000 primary movement = 3.200138809588e-04 time: 2.128000000000e+00 total movement = 3.200138809588e-04 vel = 3.125143148696e-01 ------------------- tc state : vr = 0.432710, vf = 0.000000, maxvel = 1.207258, current_vel = 0.297514, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.297514, acc = -15.000000,T = 0.011608, P = 0.008657 on final decel initial results: dx= 0.002950,dt = 0.019834, a_f = -15.000000, v_f = 0.000000 dt = 0.019834, not at end yet tc id = 20, canon_type = 3, mot type = 2 time: 2.129000 primary movement = 3.050139391594e-04 time: 2.129000000000e+00 total movement = 3.050139391594e-04 vel = 2.975143148696e-01 ------------------- tc state : vr = 0.432710, vf = 0.000000, maxvel = 1.207258, current_vel = 0.282514, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.282514, acc = -15.000000,T = 0.011608, P = 0.008947 on final decel initial results: dx= 0.002660,dt = 0.018834, a_f = -15.000000, v_f = 0.000000 dt = 0.018834, not at end yet tc id = 20, canon_type = 3, mot type = 2 time: 2.130000 primary movement = 2.900139919082e-04 time: 2.130000000000e+00 total movement = 2.900139919082e-04 vel = 2.825143148696e-01 ------------------- tc state : vr = 0.432710, vf = 0.000000, maxvel = 1.207258, current_vel = 0.267514, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.267514, acc = -15.000000,T = 0.011608, P = 0.009223 on final decel initial results: dx= 0.002385,dt = 0.017834, a_f = -15.000000, v_f = 0.000000 dt = 0.017834, not at end yet tc id = 20, canon_type = 3, mot type = 2 time: 2.131000 primary movement = 2.750140394732e-04 time: 2.131000000000e+00 total movement = 2.750140394732e-04 vel = 2.675143148696e-01 ------------------- tc state : vr = 0.432710, vf = 0.000000, maxvel = 1.207258, current_vel = 0.252514, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.252514, acc = -15.000000,T = 0.011608, P = 0.009483 on final decel initial results: dx= 0.002125,dt = 0.016834, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.016834 dt = 0.016834, not at end yet tc id = 20, canon_type = 3, mot type = 2 time: 2.132000 primary movement = 2.600140821226e-04 time: 2.132000000000e+00 total movement = 2.600140821226e-04 vel = 2.525143148696e-01 ------------------- tc state : vr = 0.432710, vf = 0.000000, maxvel = 1.207258, current_vel = 0.237514, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.237514, acc = -15.000000,T = 0.011608, P = 0.009728 on final decel initial results: dx= 0.001880,dt = 0.015834, a_f = -15.000000, v_f = 0.000000 dt = 0.015834, not at end yet tc id = 20, canon_type = 3, mot type = 2 time: 2.133000 primary movement = 2.450141201244e-04 time: 2.133000000000e+00 total movement = 2.450141201244e-04 vel = 2.375143148696e-01 ------------------- tc state : vr = 0.432710, vf = 0.000000, maxvel = 1.207258, current_vel = 0.222514, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.222514, acc = -15.000000,T = 0.011608, P = 0.009958 on final decel initial results: dx= 0.001650,dt = 0.014834, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.014834 dt = 0.014834, not at end yet tc id = 20, canon_type = 3, mot type = 2 time: 2.134000 primary movement = 2.300141537468e-04 time: 2.134000000000e+00 total movement = 2.300141537468e-04 vel = 2.225143148696e-01 ------------------- tc state : vr = 0.432710, vf = 0.000000, maxvel = 1.207258, current_vel = 0.207514, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.207514, acc = -15.000000,T = 0.011608, P = 0.010173 on final decel initial results: dx= 0.001435,dt = 0.013834, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.013834 dt = 0.013834, not at end yet tc id = 20, canon_type = 3, mot type = 2 time: 2.135000 primary movement = 2.150141832579e-04 time: 2.135000000000e+00 total movement = 2.150141832579e-04 vel = 2.075143148696e-01 ------------------- tc state : vr = 0.432710, vf = 0.000000, maxvel = 1.207258, current_vel = 0.192514, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.192514, acc = -15.000000,T = 0.011608, P = 0.010373 on final decel initial results: dx= 0.001235,dt = 0.012834, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.012834 dt = 0.012834, not at end yet tc id = 20, canon_type = 3, mot type = 2 time: 2.136000 primary movement = 2.000142089258e-04 time: 2.136000000000e+00 total movement = 2.000142089258e-04 vel = 1.925143148696e-01 ------------------- tc state : vr = 0.432710, vf = 0.000000, maxvel = 1.207258, current_vel = 0.177514, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.177514, acc = -15.000000,T = 0.011608, P = 0.010558 on final decel initial results: dx= 0.001050,dt = 0.011834, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.011834 dt = 0.011834, not at end yet tc id = 20, canon_type = 3, mot type = 2 time: 2.137000 primary movement = 1.850142310186e-04 time: 2.137000000000e+00 total movement = 1.850142310186e-04 vel = 1.775143148696e-01 ------------------- tc state : vr = 0.432710, vf = 0.000000, maxvel = 1.207258, current_vel = 0.162514, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.162514, acc = -15.000000,T = 0.011608, P = 0.010728 on final decel initial results: dx= 0.000880,dt = 0.010834, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.010834 dt = 0.010834, not at end yet tc id = 20, canon_type = 3, mot type = 2 time: 2.138000 primary movement = 1.700142498044e-04 time: 2.138000000000e+00 total movement = 1.700142498044e-04 vel = 1.625143148696e-01 ------------------- tc state : vr = 0.432710, vf = 0.000000, maxvel = 1.207258, current_vel = 0.147514, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.147514, acc = -15.000000,T = 0.011608, P = 0.010883 on final decel initial results: dx= 0.000725,dt = 0.009834, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.009834 dt = 0.009834, not at end yet tc id = 20, canon_type = 3, mot type = 2 time: 2.139000 primary movement = 1.550142655513e-04 time: 2.139000000000e+00 total movement = 1.550142655513e-04 vel = 1.475143148696e-01 ------------------- tc state : vr = 0.432710, vf = 0.000000, maxvel = 1.207258, current_vel = 0.132514, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.132514, acc = -15.000000,T = 0.011608, P = 0.011023 on final decel initial results: dx= 0.000585,dt = 0.008834, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.008834 dt = 0.008834, not at end yet tc id = 20, canon_type = 3, mot type = 2 time: 2.140000 primary movement = 1.400142785275e-04 time: 2.140000000000e+00 total movement = 1.400142785275e-04 vel = 1.325143148696e-01 ------------------- tc state : vr = 0.432710, vf = 0.000000, maxvel = 1.207258, current_vel = 0.117514, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.117514, acc = -15.000000,T = 0.011608, P = 0.011148 on final decel initial results: dx= 0.000460,dt = 0.007834, a_f = -15.000000, v_f = 0.000000 dt = 0.007834, not at end yet tc id = 20, canon_type = 3, mot type = 2 time: 2.141000 primary movement = 1.250142890011e-04 time: 2.141000000000e+00 total movement = 1.250142890011e-04 vel = 1.175143148696e-01 ------------------- tc state : vr = 0.432710, vf = 0.000000, maxvel = 1.207258, current_vel = 0.102514, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.102514, acc = -15.000000,T = 0.011608, P = 0.011258 on final decel initial results: dx= 0.000350,dt = 0.006834, a_f = -15.000000, v_f = 0.000000 dt = 0.006834, not at end yet tc id = 20, canon_type = 3, mot type = 2 time: 2.142000 primary movement = 1.100142972401e-04 time: 2.142000000000e+00 total movement = 1.100142972401e-04 vel = 1.025143148696e-01 ------------------- tc state : vr = 0.432710, vf = 0.000000, maxvel = 1.207258, current_vel = 0.087514, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.087514, acc = -15.000000,T = 0.011608, P = 0.011353 on final decel initial results: dx= 0.000255,dt = 0.005834, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.005834 dt = 0.005834, not at end yet tc id = 20, canon_type = 3, mot type = 2 time: 2.143000 primary movement = 9.501430351270e-05 time: 2.143000000000e+00 total movement = 9.501430351270e-05 vel = 8.751431486960e-02 ------------------- tc state : vr = 0.432710, vf = 0.000000, maxvel = 1.207258, current_vel = 0.072514, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.072514, acc = -15.000000,T = 0.011608, P = 0.011433 on final decel initial results: dx= 0.000175,dt = 0.004834, a_f = -15.000000, v_f = 0.000000 dt = 0.004834, not at end yet tc id = 20, canon_type = 3, mot type = 2 time: 2.144000 primary movement = 8.001430808701e-05 time: 2.144000000000e+00 total movement = 8.001430808701e-05 vel = 7.251431486960e-02 ------------------- tc state : vr = 0.432710, vf = 0.000000, maxvel = 1.207258, current_vel = 0.057514, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.057514, acc = -15.000000,T = 0.011608, P = 0.011498 on final decel initial results: dx= 0.000110,dt = 0.003834, a_f = -15.000000, v_f = 0.000000 dt = 0.003834, not at end yet tc id = 20, canon_type = 3, mot type = 2 time: 2.145000 primary movement = 6.501431123112e-05 time: 2.145000000000e+00 total movement = 6.501431123112e-05 vel = 5.751431486960e-02 ------------------- tc state : vr = 0.432710, vf = 0.000000, maxvel = 1.207258, current_vel = 0.042514, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.042514, acc = -15.000000,T = 0.011608, P = 0.011548 on final decel initial results: dx= 0.000060,dt = 0.002834, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.002834 dt = 0.002834, not at end yet tc id = 20, canon_type = 3, mot type = 2 time: 2.146000 primary movement = 5.001431321314e-05 time: 2.146000000000e+00 total movement = 5.001431321314e-05 vel = 4.251431486960e-02 ------------------- tc state : vr = 0.432710, vf = 0.000000, maxvel = 1.207258, current_vel = 0.027514, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.027514, acc = -15.000000,T = 0.011608, P = 0.011583 on final decel initial results: dx= 0.000025,dt = 0.001834, a_f = -15.000000, v_f = 0.000000 dt = 0.001834, not at end yet tc id = 20, canon_type = 3, mot type = 2 time: 2.147000 primary movement = 3.501431430124e-05 time: 2.147000000000e+00 total movement = 3.501431430124e-05 vel = 2.751431486960e-02 ------------------- tc state : vr = 0.432710, vf = 0.000000, maxvel = 1.207258, current_vel = 0.012514, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.012514, acc = -15.000000,T = 0.011608, P = 0.011603 on final decel initial results: dx= 0.000005,dt = 0.000834, a_f = -15.000000, v_f = 0.000000 actual v_f = 0.000000, a = -15.000000 split time is 0.000834288 tc id = 20, canon_type = 3, mot type = 2 time: 2.148000 primary movement = 2.001431476344e-05 time: 2.148000000000e+00 total movement = 2.001431476344e-05 vel = 1.251431486960e-02 ------------------- tc id 20 done Finishing split-cycle on id 20 tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.002504, fs = 1.000000, tc = 0.000166, term = 2 tc result: v = 0.002504, acc = 15.108477,T = 0.010895, P = 0.000000 secondary movement = 0.000000 tc id = 20, canon_type = 2, mot type = 1 time: 2.149000 primary movement = 5.220269219971e-06 time: 2.149000000000e+00 total movement = 5.427712992495e-06 vel = 2.503661103160e-03 Finished tc id 20 ------------------- Activate tc id = 20 target_vel = 8.393598 final_vel = 0.000000 length = 0.010895 Activate nexttc id 21 tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.017612, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.017612, acc = 15.108477,T = 0.010895, P = 0.000010 tc id = 20, canon_type = 2, mot type = 1 time: 2.150000 primary movement = 1.005789958817e-05 time: 2.150000000000e+00 total movement = 1.005789958817e-05 vel = 1.761213807318e-02 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.032721, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.032721, acc = 15.108477,T = 0.010895, P = 0.000035 tc id = 20, canon_type = 2, mot type = 1 time: 2.151000 primary movement = 2.516637655819e-05 time: 2.151000000000e+00 total movement = 2.516637655819e-05 vel = 3.272061504320e-02 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.047829, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.047829, acc = 15.108477,T = 0.010895, P = 0.000076 tc id = 20, canon_type = 2, mot type = 1 time: 2.152000 primary movement = 4.027485352821e-05 time: 2.152000000000e+00 total movement = 4.027485352821e-05 vel = 4.782909201322e-02 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.062938, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.062938, acc = 15.108477,T = 0.010895, P = 0.000131 tc id = 20, canon_type = 2, mot type = 1 time: 2.153000 primary movement = 5.538333049824e-05 time: 2.153000000000e+00 total movement = 5.538333049824e-05 vel = 6.293756898324e-02 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.078046, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.078046, acc = 15.108477,T = 0.010895, P = 0.000202 tc id = 20, canon_type = 2, mot type = 1 time: 2.154000 primary movement = 7.049180746824e-05 time: 2.154000000000e+00 total movement = 7.049180746824e-05 vel = 7.804604595326e-02 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.093155, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.093155, acc = 15.108477,T = 0.010895, P = 0.000287 tc id = 20, canon_type = 2, mot type = 1 time: 2.155000 primary movement = 8.560028443827e-05 time: 2.155000000000e+00 total movement = 8.560028443827e-05 vel = 9.315452292328e-02 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.108263, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.108263, acc = 15.108477,T = 0.010895, P = 0.000388 tc id = 20, canon_type = 2, mot type = 1 time: 2.156000 primary movement = 1.007087614083e-04 time: 2.156000000000e+00 total movement = 1.007087614083e-04 vel = 1.082629998933e-01 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.123371, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.123371, acc = 15.108477,T = 0.010895, P = 0.000504 tc id = 20, canon_type = 2, mot type = 1 time: 2.157000 primary movement = 1.158172383783e-04 time: 2.157000000000e+00 total movement = 1.158172383783e-04 vel = 1.233714768633e-01 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.138480, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.138480, acc = 15.108477,T = 0.010895, P = 0.000635 tc id = 20, canon_type = 2, mot type = 1 time: 2.158000 primary movement = 1.309257153483e-04 time: 2.158000000000e+00 total movement = 1.309257153483e-04 vel = 1.384799538333e-01 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.153588, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.153588, acc = 15.108477,T = 0.010895, P = 0.000781 tc id = 20, canon_type = 2, mot type = 1 time: 2.159000 primary movement = 1.460341923184e-04 time: 2.159000000000e+00 total movement = 1.460341923184e-04 vel = 1.535884308034e-01 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.168697, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.168697, acc = 15.108477,T = 0.010895, P = 0.000942 tc id = 20, canon_type = 2, mot type = 1 time: 2.160000 primary movement = 1.611426692884e-04 time: 2.160000000000e+00 total movement = 1.611426692884e-04 vel = 1.686969077734e-01 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.183805, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.183805, acc = 15.108477,T = 0.010895, P = 0.001118 tc id = 20, canon_type = 2, mot type = 1 time: 2.161000 primary movement = 1.762511462584e-04 time: 2.161000000000e+00 total movement = 1.762511462584e-04 vel = 1.838053847434e-01 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.198914, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.198914, acc = 15.108477,T = 0.010895, P = 0.001309 tc id = 20, canon_type = 2, mot type = 1 time: 2.162000 primary movement = 1.913596232284e-04 time: 2.162000000000e+00 total movement = 1.913596232284e-04 vel = 1.989138617134e-01 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.214022, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.214022, acc = 15.108477,T = 0.010895, P = 0.001516 tc id = 20, canon_type = 2, mot type = 1 time: 2.163000 primary movement = 2.064681001984e-04 time: 2.163000000000e+00 total movement = 2.064681001984e-04 vel = 2.140223386834e-01 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.229131, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.229131, acc = 15.108477,T = 0.010895, P = 0.001737 tc id = 20, canon_type = 2, mot type = 1 time: 2.164000 primary movement = 2.215765771684e-04 time: 2.164000000000e+00 total movement = 2.215765771684e-04 vel = 2.291308156535e-01 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.244239, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.244239, acc = 15.108477,T = 0.010895, P = 0.001974 tc id = 20, canon_type = 2, mot type = 1 time: 2.165000 primary movement = 2.366850541385e-04 time: 2.165000000000e+00 total movement = 2.366850541385e-04 vel = 2.442392926235e-01 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.259348, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.259348, acc = 15.108477,T = 0.010895, P = 0.002226 tc id = 20, canon_type = 2, mot type = 1 time: 2.166000 primary movement = 2.517935311085e-04 time: 2.166000000000e+00 total movement = 2.517935311085e-04 vel = 2.593477695935e-01 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.274456, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.274456, acc = 15.108477,T = 0.010895, P = 0.002493 tc id = 20, canon_type = 2, mot type = 1 time: 2.167000 primary movement = 2.669020080785e-04 time: 2.167000000000e+00 total movement = 2.669020080785e-04 vel = 2.744562465635e-01 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.289565, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.289565, acc = 15.108477,T = 0.010895, P = 0.002775 tc id = 20, canon_type = 2, mot type = 1 time: 2.168000 primary movement = 2.820104850485e-04 time: 2.168000000000e+00 total movement = 2.820104850485e-04 vel = 2.895647235335e-01 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.304673, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.304673, acc = 15.108477,T = 0.010895, P = 0.003072 tc id = 20, canon_type = 2, mot type = 1 time: 2.169000 primary movement = 2.971189620185e-04 time: 2.169000000000e+00 total movement = 2.971189620185e-04 vel = 3.046732005035e-01 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.319782, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.319782, acc = 15.108477,T = 0.010895, P = 0.003384 tc id = 20, canon_type = 2, mot type = 1 time: 2.170000 primary movement = 3.122274389886e-04 time: 2.170000000000e+00 total movement = 3.122274389886e-04 vel = 3.197816774736e-01 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.334890, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.334890, acc = 15.108477,T = 0.010895, P = 0.003712 tc id = 20, canon_type = 2, mot type = 1 time: 2.171000 primary movement = 3.273359159586e-04 time: 2.171000000000e+00 total movement = 3.273359159586e-04 vel = 3.348901544436e-01 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.349999, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.349999, acc = 15.108477,T = 0.010895, P = 0.004054 tc id = 20, canon_type = 2, mot type = 1 time: 2.172000 primary movement = 3.424443929286e-04 time: 2.172000000000e+00 total movement = 3.424443929286e-04 vel = 3.499986314136e-01 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.365107, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.365107, acc = 15.108477,T = 0.010895, P = 0.004412 tc id = 20, canon_type = 2, mot type = 1 time: 2.173000 primary movement = 3.575528698986e-04 time: 2.173000000000e+00 total movement = 3.575528698986e-04 vel = 3.651071083836e-01 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.380216, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.380216, acc = 15.108477,T = 0.010895, P = 0.004784 tc id = 20, canon_type = 2, mot type = 1 time: 2.174000 primary movement = 3.726613468686e-04 time: 2.174000000000e+00 total movement = 3.726613468686e-04 vel = 3.802155853536e-01 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.395324, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.395324, acc = 15.108477,T = 0.010895, P = 0.005172 tc id = 20, canon_type = 2, mot type = 1 time: 2.175000 primary movement = 3.877698238387e-04 time: 2.175000000000e+00 total movement = 3.877698238387e-04 vel = 3.953240623237e-01 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.401133, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.401133, acc = 5.808545,T = 0.010895, P = 0.005570 tc id = 20, canon_type = 2, mot type = 1 time: 2.176000 primary movement = 3.982283350414e-04 time: 2.176000000000e+00 total movement = 3.982283350414e-04 vel = 4.011326077592e-01 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.386024, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.386024, acc = -15.108477,T = 0.010895, P = 0.005964 on final decel tc id = 20, canon_type = 2, mot type = 1 tc state : vr = 0.015108, vf = 0.000000, maxvel = 5.488535, current_vel = 0.007500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.007500, acc = 7.500000,T = 1.857664, P = 0.000004 tc id = 20, canon_type = 2, mot type = 1 secondary movement = 0.000004 time: 2.177000 primary movement = 3.935783692741e-04 time: 2.177000000000e+00 total movement = 3.973283692744e-04 vel = 3.935241307891e-01 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.370916, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.370916, acc = -15.108477,T = 0.010895, P = 0.006342 on final decel tc id = 20, canon_type = 2, mot type = 1 tc state : vr = 0.030217, vf = 0.000000, maxvel = 5.488535, current_vel = 0.015000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.015000, acc = 7.500000,T = 1.857664, P = 0.000015 tc id = 20, canon_type = 2, mot type = 1 secondary movement = 0.000011 time: 2.178000 primary movement = 3.784698923041e-04 time: 2.178000000000e+00 total movement = 3.897198923041e-04 vel = 3.859156538191e-01 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.355807, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.355807, acc = -15.108477,T = 0.010895, P = 0.006706 on final decel tc id = 20, canon_type = 2, mot type = 1 tc state : vr = 0.045325, vf = 0.000000, maxvel = 5.488535, current_vel = 0.022500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.022500, acc = 7.500000,T = 1.857664, P = 0.000034 tc id = 20, canon_type = 2, mot type = 1 secondary movement = 0.000019 time: 2.179000 primary movement = 3.633614153341e-04 time: 2.179000000000e+00 total movement = 3.821114153338e-04 vel = 3.783071768491e-01 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.340699, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.340699, acc = -15.108477,T = 0.010895, P = 0.007054 on final decel tc id = 20, canon_type = 2, mot type = 1 tc state : vr = 0.060434, vf = 0.000000, maxvel = 5.488535, current_vel = 0.030000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.030000, acc = 7.500000,T = 1.857664, P = 0.000060 tc id = 20, canon_type = 2, mot type = 1 secondary movement = 0.000026 time: 2.180000 primary movement = 3.482529383641e-04 time: 2.180000000000e+00 total movement = 3.745029383643e-04 vel = 3.706986998791e-01 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.325590, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.325590, acc = -15.108477,T = 0.010895, P = 0.007387 on final decel tc id = 20, canon_type = 2, mot type = 1 tc state : vr = 0.075542, vf = 0.000000, maxvel = 5.488535, current_vel = 0.037500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.037500, acc = 7.500000,T = 1.857664, P = 0.000094 tc id = 20, canon_type = 2, mot type = 1 secondary movement = 0.000034 time: 2.181000 primary movement = 3.331444613941e-04 time: 2.181000000000e+00 total movement = 3.668944613940e-04 vel = 3.630902229091e-01 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.310482, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.310482, acc = -15.108477,T = 0.010895, P = 0.007705 on final decel tc id = 20, canon_type = 2, mot type = 1 tc state : vr = 0.090651, vf = 0.000000, maxvel = 5.488535, current_vel = 0.045000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.045000, acc = 7.500000,T = 1.857664, P = 0.000135 tc id = 20, canon_type = 2, mot type = 1 secondary movement = 0.000041 time: 2.182000 primary movement = 3.180359844241e-04 time: 2.182000000000e+00 total movement = 3.592859844246e-04 vel = 3.554817459390e-01 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.295373, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.295373, acc = -15.108477,T = 0.010895, P = 0.008008 on final decel tc id = 20, canon_type = 2, mot type = 1 tc state : vr = 0.105759, vf = 0.000000, maxvel = 5.488535, current_vel = 0.052500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.052500, acc = 7.500000,T = 1.857664, P = 0.000184 tc id = 20, canon_type = 2, mot type = 1 secondary movement = 0.000049 time: 2.183000 primary movement = 3.029275074540e-04 time: 2.183000000000e+00 total movement = 3.516775074534e-04 vel = 3.478732689690e-01 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.280265, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.280265, acc = -15.108477,T = 0.010895, P = 0.008296 on final decel tc id = 20, canon_type = 2, mot type = 1 tc state : vr = 0.120868, vf = 0.000000, maxvel = 5.488535, current_vel = 0.060000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.060000, acc = 7.500000,T = 1.857664, P = 0.000240 tc id = 20, canon_type = 2, mot type = 1 secondary movement = 0.000056 time: 2.184000 primary movement = 2.878190304840e-04 time: 2.184000000000e+00 total movement = 3.440690304849e-04 vel = 3.402647919990e-01 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.265156, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.265156, acc = -15.108477,T = 0.010895, P = 0.008568 on final decel tc id = 20, canon_type = 2, mot type = 1 tc state : vr = 0.135976, vf = 0.000000, maxvel = 5.488535, current_vel = 0.067500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.067500, acc = 7.500000,T = 1.857664, P = 0.000304 tc id = 20, canon_type = 2, mot type = 1 secondary movement = 0.000064 time: 2.185000 primary movement = 2.727105535140e-04 time: 2.185000000000e+00 total movement = 3.364605535136e-04 vel = 3.326563150290e-01 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.250048, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.250048, acc = -15.108477,T = 0.010895, P = 0.008826 on final decel tc id = 20, canon_type = 2, mot type = 1 tc state : vr = 0.151085, vf = 0.000000, maxvel = 5.488535, current_vel = 0.075000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.075000, acc = 7.500000,T = 1.857664, P = 0.000375 tc id = 20, canon_type = 2, mot type = 1 secondary movement = 0.000071 time: 2.186000 primary movement = 2.576020765440e-04 time: 2.186000000000e+00 total movement = 3.288520765442e-04 vel = 3.250478380590e-01 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.234939, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.234939, acc = -15.108477,T = 0.010895, P = 0.009069 on final decel tc id = 20, canon_type = 2, mot type = 1 tc state : vr = 0.166193, vf = 0.000000, maxvel = 5.488535, current_vel = 0.082500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.082500, acc = 7.500000,T = 1.857664, P = 0.000454 tc id = 20, canon_type = 2, mot type = 1 secondary movement = 0.000079 time: 2.187000 primary movement = 2.424935995739e-04 time: 2.187000000000e+00 total movement = 3.212435995748e-04 vel = 3.174393610889e-01 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.219831, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.219831, acc = -15.108477,T = 0.010895, P = 0.009296 on final decel tc id = 20, canon_type = 2, mot type = 1 tc state : vr = 0.181302, vf = 0.000000, maxvel = 5.488535, current_vel = 0.090000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.090000, acc = 7.500000,T = 1.857664, P = 0.000540 tc id = 20, canon_type = 2, mot type = 1 secondary movement = 0.000086 time: 2.188000 primary movement = 2.273851226039e-04 time: 2.188000000000e+00 total movement = 3.136351226036e-04 vel = 3.098308841189e-01 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.204722, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.204722, acc = -15.108477,T = 0.010895, P = 0.009508 on final decel tc id = 20, canon_type = 2, mot type = 1 tc state : vr = 0.196410, vf = 0.000000, maxvel = 5.488535, current_vel = 0.097500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.097500, acc = 7.500000,T = 1.857664, P = 0.000634 tc id = 20, canon_type = 2, mot type = 1 secondary movement = 0.000094 time: 2.189000 primary movement = 2.122766456339e-04 time: 2.189000000000e+00 total movement = 3.060266456342e-04 vel = 3.022224071489e-01 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.189614, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.189614, acc = -15.108477,T = 0.010895, P = 0.009705 on final decel tc id = 20, canon_type = 2, mot type = 1 tc state : vr = 0.211519, vf = 0.000000, maxvel = 5.488535, current_vel = 0.105000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.105000, acc = 7.500000,T = 1.857664, P = 0.000735 tc id = 20, canon_type = 2, mot type = 1 secondary movement = 0.000101 time: 2.190000 primary movement = 1.971681686639e-04 time: 2.190000000000e+00 total movement = 2.984181686648e-04 vel = 2.946139301789e-01 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.174505, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.174505, acc = -15.108477,T = 0.010895, P = 0.009887 on final decel tc id = 20, canon_type = 2, mot type = 1 tc state : vr = 0.226627, vf = 0.000000, maxvel = 5.488535, current_vel = 0.112500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.112500, acc = 7.500000,T = 1.857664, P = 0.000844 tc id = 20, canon_type = 2, mot type = 1 secondary movement = 0.000109 time: 2.191000 primary movement = 1.820596916939e-04 time: 2.191000000000e+00 total movement = 2.908096916945e-04 vel = 2.870054532089e-01 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.159397, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.159397, acc = -15.108477,T = 0.010895, P = 0.010054 on final decel tc id = 20, canon_type = 2, mot type = 1 tc state : vr = 0.241736, vf = 0.000000, maxvel = 5.488535, current_vel = 0.120000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.120000, acc = 7.500000,T = 1.857664, P = 0.000960 tc id = 20, canon_type = 2, mot type = 1 secondary movement = 0.000116 time: 2.192000 primary movement = 1.669512147238e-04 time: 2.192000000000e+00 total movement = 2.832012147241e-04 vel = 2.793969762388e-01 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.144288, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.144288, acc = -15.108477,T = 0.010895, P = 0.010206 on final decel tc id = 20, canon_type = 2, mot type = 1 tc state : vr = 0.256844, vf = 0.000000, maxvel = 5.488535, current_vel = 0.127500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.127500, acc = 7.500000,T = 1.857664, P = 0.001084 tc id = 20, canon_type = 2, mot type = 1 secondary movement = 0.000124 time: 2.193000 primary movement = 1.518427377538e-04 time: 2.193000000000e+00 total movement = 2.755927377539e-04 vel = 2.717884992688e-01 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.129180, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.129180, acc = -15.108477,T = 0.010895, P = 0.010343 on final decel tc id = 20, canon_type = 2, mot type = 1 tc state : vr = 0.271953, vf = 0.000000, maxvel = 5.488535, current_vel = 0.135000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.135000, acc = 7.500000,T = 1.857664, P = 0.001215 tc id = 21, canon_type = 3, mot type = 2 secondary movement = 0.000131 time: 2.194000 primary movement = 1.367342607838e-04 time: 2.194000000000e+00 total movement = 2.679842607845e-04 vel = 2.641800222988e-01 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.114072, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.114072, acc = -15.108477,T = 0.010895, P = 0.010465 on final decel tc id = 20, canon_type = 2, mot type = 1 tc state : vr = 0.287061, vf = 0.000000, maxvel = 5.488535, current_vel = 0.142500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.142500, acc = 7.500000,T = 1.857664, P = 0.001354 tc id = 21, canon_type = 3, mot type = 2 secondary movement = 0.000139 time: 2.195000 primary movement = 1.216257838138e-04 time: 2.195000000000e+00 total movement = 2.603757838142e-04 vel = 2.565715453288e-01 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.098963, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.098963, acc = -15.108477,T = 0.010895, P = 0.010571 on final decel tc id = 20, canon_type = 2, mot type = 1 tc state : vr = 0.302170, vf = 0.000000, maxvel = 5.488535, current_vel = 0.150000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.150000, acc = 7.500000,T = 1.857664, P = 0.001500 tc id = 21, canon_type = 3, mot type = 2 secondary movement = 0.000146 time: 2.196000 primary movement = 1.065173068438e-04 time: 2.196000000000e+00 total movement = 2.527673068448e-04 vel = 2.489630683588e-01 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.083855, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.083855, acc = -15.108477,T = 0.010895, P = 0.010663 on final decel tc id = 20, canon_type = 2, mot type = 1 tc state : vr = 0.317278, vf = 0.000000, maxvel = 5.488535, current_vel = 0.157500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.157500, acc = 7.500000,T = 1.857664, P = 0.001654 tc id = 21, canon_type = 3, mot type = 2 secondary movement = 0.000154 time: 2.197000 primary movement = 9.140882987375e-05 time: 2.197000000000e+00 total movement = 2.451588298745e-04 vel = 2.413545913887e-01 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.068746, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.068746, acc = -15.108477,T = 0.010895, P = 0.010739 on final decel tc id = 20, canon_type = 2, mot type = 1 tc state : vr = 0.332386, vf = 0.000000, maxvel = 5.488535, current_vel = 0.165000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.165000, acc = 7.500000,T = 1.857664, P = 0.001815 tc id = 21, canon_type = 3, mot type = 2 secondary movement = 0.000161 time: 2.198000 primary movement = 7.630035290373e-05 time: 2.198000000000e+00 total movement = 2.375503529042e-04 vel = 2.337461144187e-01 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.053638, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.053638, acc = -15.108477,T = 0.010895, P = 0.010800 on final decel tc id = 20, canon_type = 2, mot type = 1 tc state : vr = 0.347495, vf = 0.000000, maxvel = 5.488535, current_vel = 0.172500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.172500, acc = 7.500000,T = 1.857664, P = 0.001984 tc id = 21, canon_type = 3, mot type = 2 secondary movement = 0.000169 time: 2.199000 primary movement = 6.119187593372e-05 time: 2.199000000000e+00 total movement = 2.299418759349e-04 vel = 2.261376374487e-01 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.038529, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.038529, acc = -15.108477,T = 0.010895, P = 0.010846 on final decel tc id = 20, canon_type = 2, mot type = 1 tc state : vr = 0.362603, vf = 0.000000, maxvel = 5.488535, current_vel = 0.180000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.180000, acc = 7.500000,T = 1.857664, P = 0.002160 tc id = 21, canon_type = 3, mot type = 2 secondary movement = 0.000176 time: 2.200000 primary movement = 4.608339896369e-05 time: 2.200000000000e+00 total movement = 2.223333989646e-04 vel = 2.185291604787e-01 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.023421, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.023421, acc = -15.108477,T = 0.010895, P = 0.010877 on final decel tc id = 20, canon_type = 2, mot type = 1 tc state : vr = 0.377712, vf = 0.000000, maxvel = 5.488535, current_vel = 0.187500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.187500, acc = 7.500000,T = 1.857664, P = 0.002344 tc id = 21, canon_type = 3, mot type = 2 secondary movement = 0.000184 time: 2.201000 primary movement = 3.097492199368e-05 time: 2.201000000000e+00 total movement = 2.147249219943e-04 vel = 2.109206835087e-01 ------------------- tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.008312, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.008312, acc = -15.108477,T = 0.010895, P = 0.010893 on final decel tc id = 20, canon_type = 2, mot type = 1 tc state : vr = 0.392820, vf = 0.000000, maxvel = 5.488535, current_vel = 0.195000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.195000, acc = 7.500000,T = 1.857664, P = 0.002535 tc id = 21, canon_type = 3, mot type = 2 secondary movement = 0.000191 time: 2.202000 primary movement = 1.586644502364e-05 time: 2.202000000000e+00 total movement = 2.071164450250e-04 vel = 2.033122065386e-01 ------------------- Found newvel = -0.006796, assuming segment is done segment 20 at target in runcycle tc state : vr = 8.393598, vf = 0.000000, maxvel = 8.393598, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.010895, P = 0.010895 tc id = 20, canon_type = 2, mot type = 1 tc state : vr = 0.401133, vf = 0.000000, maxvel = 5.488535, current_vel = 0.202500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.202500, acc = 7.500000,T = 1.857664, P = 0.002734 tc id = 21, canon_type = 3, mot type = 2 secondary movement = 0.000199 time: 2.203000 primary movement = 2.286556668769e-06 time: 2.203000000000e+00 total movement = 2.010365566699e-04 vel = 2.025000000000e-01 Finished tc id 20 ------------------- Activate nexttc id 22 tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.210000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.210000, acc = 7.500000,T = 1.857664, P = 0.002940 tc id = 21, canon_type = 3, mot type = 2 time: 2.204000 primary movement = 2.062500000018e-04 time: 2.204000000000e+00 total movement = 2.062500000018e-04 vel = 2.100000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.217500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.217500, acc = 7.500000,T = 1.857664, P = 0.003154 tc id = 21, canon_type = 3, mot type = 2 time: 2.205000 primary movement = 2.137500000015e-04 time: 2.205000000000e+00 total movement = 2.137500000015e-04 vel = 2.175000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.225000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.225000, acc = 7.500000,T = 1.857664, P = 0.003375 tc id = 21, canon_type = 3, mot type = 2 time: 2.206000 primary movement = 2.212500000013e-04 time: 2.206000000000e+00 total movement = 2.212500000013e-04 vel = 2.250000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.232500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.232500, acc = 7.500000,T = 1.857664, P = 0.003604 tc id = 21, canon_type = 3, mot type = 2 time: 2.207000 primary movement = 2.287500000020e-04 time: 2.207000000000e+00 total movement = 2.287500000020e-04 vel = 2.325000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.240000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.240000, acc = 7.500000,T = 1.857664, P = 0.003840 tc id = 21, canon_type = 3, mot type = 2 time: 2.208000 primary movement = 2.362500000018e-04 time: 2.208000000000e+00 total movement = 2.362500000018e-04 vel = 2.400000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.247500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.247500, acc = 7.500000,T = 1.857664, P = 0.004084 tc id = 21, canon_type = 3, mot type = 2 time: 2.209000 primary movement = 2.437500000016e-04 time: 2.209000000000e+00 total movement = 2.437500000016e-04 vel = 2.475000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.255000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.255000, acc = 7.500000,T = 1.857664, P = 0.004335 tc id = 21, canon_type = 3, mot type = 2 time: 2.210000 primary movement = 2.512500000023e-04 time: 2.210000000000e+00 total movement = 2.512500000023e-04 vel = 2.550000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.262500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.262500, acc = 7.500000,T = 1.857664, P = 0.004594 tc id = 21, canon_type = 3, mot type = 2 time: 2.211000 primary movement = 2.587500000022e-04 time: 2.211000000000e+00 total movement = 2.587500000022e-04 vel = 2.625000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.270000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.270000, acc = 7.500000,T = 1.857664, P = 0.004860 tc id = 21, canon_type = 3, mot type = 2 time: 2.212000 primary movement = 2.662500000020e-04 time: 2.212000000000e+00 total movement = 2.662500000020e-04 vel = 2.700000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.277500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.277500, acc = 7.500000,T = 1.857664, P = 0.005134 tc id = 21, canon_type = 3, mot type = 2 time: 2.213000 primary movement = 2.737500000027e-04 time: 2.213000000000e+00 total movement = 2.737500000027e-04 vel = 2.775000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.285000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.285000, acc = 7.500000,T = 1.857664, P = 0.005415 tc id = 21, canon_type = 3, mot type = 2 time: 2.214000 primary movement = 2.812500000026e-04 time: 2.214000000000e+00 total movement = 2.812500000026e-04 vel = 2.850000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.292500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.292500, acc = 7.500000,T = 1.857664, P = 0.005704 tc id = 21, canon_type = 3, mot type = 2 time: 2.215000 primary movement = 2.887500000033e-04 time: 2.215000000000e+00 total movement = 2.887500000033e-04 vel = 2.925000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.300000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.300000, acc = 7.500000,T = 1.857664, P = 0.006000 tc id = 21, canon_type = 3, mot type = 2 time: 2.216000 primary movement = 2.962500000032e-04 time: 2.216000000000e+00 total movement = 2.962500000032e-04 vel = 3.000000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.307500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.307500, acc = 7.500000,T = 1.857664, P = 0.006304 tc id = 21, canon_type = 3, mot type = 2 time: 2.217000 primary movement = 3.037500000031e-04 time: 2.217000000000e+00 total movement = 3.037500000031e-04 vel = 3.075000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.315000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.315000, acc = 7.500000,T = 1.857664, P = 0.006615 tc id = 21, canon_type = 3, mot type = 2 time: 2.218000 primary movement = 3.112500000039e-04 time: 2.218000000000e+00 total movement = 3.112500000039e-04 vel = 3.150000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.322500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.322500, acc = 7.500000,T = 1.857664, P = 0.006934 tc id = 21, canon_type = 3, mot type = 2 time: 2.219000 primary movement = 3.187500000038e-04 time: 2.219000000000e+00 total movement = 3.187500000038e-04 vel = 3.225000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.330000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.330000, acc = 7.500000,T = 1.857664, P = 0.007260 tc id = 21, canon_type = 3, mot type = 2 time: 2.220000 primary movement = 3.262500000037e-04 time: 2.220000000000e+00 total movement = 3.262500000037e-04 vel = 3.300000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.337500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.337500, acc = 7.500000,T = 1.857664, P = 0.007594 tc id = 21, canon_type = 3, mot type = 2 time: 2.221000 primary movement = 3.337500000045e-04 time: 2.221000000000e+00 total movement = 3.337500000045e-04 vel = 3.375000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.345000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.345000, acc = 7.500000,T = 1.857664, P = 0.007935 tc id = 21, canon_type = 3, mot type = 2 time: 2.222000 primary movement = 3.412500000044e-04 time: 2.222000000000e+00 total movement = 3.412500000044e-04 vel = 3.450000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.352500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.352500, acc = 7.500000,T = 1.857664, P = 0.008284 tc id = 21, canon_type = 3, mot type = 2 time: 2.223000 primary movement = 3.487500000043e-04 time: 2.223000000000e+00 total movement = 3.487500000043e-04 vel = 3.525000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.360000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.360000, acc = 7.500000,T = 1.857664, P = 0.008640 tc id = 21, canon_type = 3, mot type = 2 time: 2.224000 primary movement = 3.562500000052e-04 time: 2.224000000000e+00 total movement = 3.562500000052e-04 vel = 3.600000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.367500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.367500, acc = 7.500000,T = 1.857664, P = 0.009004 tc id = 21, canon_type = 3, mot type = 2 time: 2.225000 primary movement = 3.637500000051e-04 time: 2.225000000000e+00 total movement = 3.637500000051e-04 vel = 3.675000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.375000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.375000, acc = 7.500000,T = 1.857664, P = 0.009375 tc id = 21, canon_type = 3, mot type = 2 time: 2.226000 primary movement = 3.712500000060e-04 time: 2.226000000000e+00 total movement = 3.712500000060e-04 vel = 3.750000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.382500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.382500, acc = 7.500000,T = 1.857664, P = 0.009754 tc id = 21, canon_type = 3, mot type = 2 time: 2.227000 primary movement = 3.787500000060e-04 time: 2.227000000000e+00 total movement = 3.787500000060e-04 vel = 3.825000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.390000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.390000, acc = 7.500000,T = 1.857664, P = 0.010140 tc id = 21, canon_type = 3, mot type = 2 time: 2.228000 primary movement = 3.862500000059e-04 time: 2.228000000000e+00 total movement = 3.862500000059e-04 vel = 3.900000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.397500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.397500, acc = 7.500000,T = 1.857664, P = 0.010534 tc id = 21, canon_type = 3, mot type = 2 time: 2.229000 primary movement = 3.937500000060e-04 time: 2.229000000000e+00 total movement = 3.937500000060e-04 vel = 3.975000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.405000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.405000, acc = 7.500000,T = 1.857664, P = 0.010935 tc id = 21, canon_type = 3, mot type = 2 time: 2.230000 primary movement = 4.012500000069e-04 time: 2.230000000000e+00 total movement = 4.012500000069e-04 vel = 4.050000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.412500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.412500, acc = 7.500000,T = 1.857664, P = 0.011344 tc id = 21, canon_type = 3, mot type = 2 time: 2.231000 primary movement = 4.087500000078e-04 time: 2.231000000000e+00 total movement = 4.087500000078e-04 vel = 4.125000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.420000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.420000, acc = 7.500000,T = 1.857664, P = 0.011760 tc id = 21, canon_type = 3, mot type = 2 time: 2.232000 primary movement = 4.162500000078e-04 time: 2.232000000000e+00 total movement = 4.162500000078e-04 vel = 4.200000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.427500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.427500, acc = 7.500000,T = 1.857664, P = 0.012184 tc id = 21, canon_type = 3, mot type = 2 time: 2.233000 primary movement = 4.237500000079e-04 time: 2.233000000000e+00 total movement = 4.237500000079e-04 vel = 4.275000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.435000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.435000, acc = 7.500000,T = 1.857664, P = 0.012615 tc id = 21, canon_type = 3, mot type = 2 time: 2.234000 primary movement = 4.312500000079e-04 time: 2.234000000000e+00 total movement = 4.312500000079e-04 vel = 4.350000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.442500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.442500, acc = 7.500000,T = 1.857664, P = 0.013054 tc id = 21, canon_type = 3, mot type = 2 time: 2.235000 primary movement = 4.387500000089e-04 time: 2.235000000000e+00 total movement = 4.387500000089e-04 vel = 4.425000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.450000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.450000, acc = 7.500000,T = 1.857664, P = 0.013500 tc id = 21, canon_type = 3, mot type = 2 time: 2.236000 primary movement = 4.462500000090e-04 time: 2.236000000000e+00 total movement = 4.462500000090e-04 vel = 4.500000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.457500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.457500, acc = 7.500000,T = 1.857664, P = 0.013954 tc id = 21, canon_type = 3, mot type = 2 time: 2.237000 primary movement = 4.537500000100e-04 time: 2.237000000000e+00 total movement = 4.537500000100e-04 vel = 4.575000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.465000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.465000, acc = 7.500000,T = 1.857664, P = 0.014415 tc id = 21, canon_type = 3, mot type = 2 time: 2.238000 primary movement = 4.612500000101e-04 time: 2.238000000000e+00 total movement = 4.612500000101e-04 vel = 4.650000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.472500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.472500, acc = 7.500000,T = 1.857664, P = 0.014884 tc id = 21, canon_type = 3, mot type = 2 time: 2.239000 primary movement = 4.687500000102e-04 time: 2.239000000000e+00 total movement = 4.687500000102e-04 vel = 4.725000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.480000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.480000, acc = 7.500000,T = 1.857664, P = 0.015360 tc id = 21, canon_type = 3, mot type = 2 time: 2.240000 primary movement = 4.762500000113e-04 time: 2.240000000000e+00 total movement = 4.762500000113e-04 vel = 4.800000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.487500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.487500, acc = 7.500000,T = 1.857664, P = 0.015844 tc id = 21, canon_type = 3, mot type = 2 time: 2.241000 primary movement = 4.837500000114e-04 time: 2.241000000000e+00 total movement = 4.837500000114e-04 vel = 4.875000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.495000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.495000, acc = 7.500000,T = 1.857664, P = 0.016335 tc id = 21, canon_type = 3, mot type = 2 time: 2.242000 primary movement = 4.912500000116e-04 time: 2.242000000000e+00 total movement = 4.912500000116e-04 vel = 4.950000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.502500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.502500, acc = 7.500000,T = 1.857664, P = 0.016834 tc id = 21, canon_type = 3, mot type = 2 time: 2.243000 primary movement = 4.987500000127e-04 time: 2.243000000000e+00 total movement = 4.987500000127e-04 vel = 5.025000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.510000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.510000, acc = 7.500000,T = 1.857664, P = 0.017340 tc id = 21, canon_type = 3, mot type = 2 time: 2.244000 primary movement = 5.062500000129e-04 time: 2.244000000000e+00 total movement = 5.062500000129e-04 vel = 5.100000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.517500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.517500, acc = 7.500000,T = 1.857664, P = 0.017854 tc id = 21, canon_type = 3, mot type = 2 time: 2.245000 primary movement = 5.137500000131e-04 time: 2.245000000000e+00 total movement = 5.137500000131e-04 vel = 5.175000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.525000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.525000, acc = 7.500000,T = 1.857664, P = 0.018375 tc id = 21, canon_type = 3, mot type = 2 time: 2.246000 primary movement = 5.212500000142e-04 time: 2.246000000000e+00 total movement = 5.212500000142e-04 vel = 5.250000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.532500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.532500, acc = 7.500000,T = 1.857664, P = 0.018904 tc id = 21, canon_type = 3, mot type = 2 time: 2.247000 primary movement = 5.287500000145e-04 time: 2.247000000000e+00 total movement = 5.287500000145e-04 vel = 5.325000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.540000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.540000, acc = 7.500000,T = 1.857664, P = 0.019440 tc id = 21, canon_type = 3, mot type = 2 time: 2.248000 primary movement = 5.362500000156e-04 time: 2.248000000000e+00 total movement = 5.362500000156e-04 vel = 5.400000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.547500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.547500, acc = 7.500000,T = 1.857664, P = 0.019984 tc id = 21, canon_type = 3, mot type = 2 time: 2.249000 primary movement = 5.437500000159e-04 time: 2.249000000000e+00 total movement = 5.437500000159e-04 vel = 5.475000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.555000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.555000, acc = 7.500000,T = 1.857664, P = 0.020535 tc id = 21, canon_type = 3, mot type = 2 time: 2.250000 primary movement = 5.512500000162e-04 time: 2.250000000000e+00 total movement = 5.512500000162e-04 vel = 5.550000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.562500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.562500, acc = 7.500000,T = 1.857664, P = 0.021094 tc id = 21, canon_type = 3, mot type = 2 time: 2.251000 primary movement = 5.587500000174e-04 time: 2.251000000000e+00 total movement = 5.587500000174e-04 vel = 5.625000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.570000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.570000, acc = 7.500000,T = 1.857664, P = 0.021660 tc id = 21, canon_type = 3, mot type = 2 time: 2.252000 primary movement = 5.662500000178e-04 time: 2.252000000000e+00 total movement = 5.662500000178e-04 vel = 5.700000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.577500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.577500, acc = 7.500000,T = 1.857664, P = 0.022234 tc id = 21, canon_type = 3, mot type = 2 time: 2.253000 primary movement = 5.737500000181e-04 time: 2.253000000000e+00 total movement = 5.737500000181e-04 vel = 5.775000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.585000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.585000, acc = 7.500000,T = 1.857664, P = 0.022815 tc id = 21, canon_type = 3, mot type = 2 time: 2.254000 primary movement = 5.812500000194e-04 time: 2.254000000000e+00 total movement = 5.812500000194e-04 vel = 5.850000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.592500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.592500, acc = 7.500000,T = 1.857664, P = 0.023404 tc id = 21, canon_type = 3, mot type = 2 time: 2.255000 primary movement = 5.887500000198e-04 time: 2.255000000000e+00 total movement = 5.887500000198e-04 vel = 5.925000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.600000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.600000, acc = 7.500000,T = 1.857664, P = 0.024000 tc id = 21, canon_type = 3, mot type = 2 time: 2.256000 primary movement = 5.962500000202e-04 time: 2.256000000000e+00 total movement = 5.962500000202e-04 vel = 6.000000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.607500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.607500, acc = 7.500000,T = 1.857664, P = 0.024604 tc id = 21, canon_type = 3, mot type = 2 time: 2.257000 primary movement = 6.037500000215e-04 time: 2.257000000000e+00 total movement = 6.037500000215e-04 vel = 6.075000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.615000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.615000, acc = 7.500000,T = 1.857664, P = 0.025215 tc id = 21, canon_type = 3, mot type = 2 time: 2.258000 primary movement = 6.112500000228e-04 time: 2.258000000000e+00 total movement = 6.112500000228e-04 vel = 6.150000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.622500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.622500, acc = 7.500000,T = 1.857664, P = 0.025834 tc id = 21, canon_type = 3, mot type = 2 time: 2.259000 primary movement = 6.187500000224e-04 time: 2.259000000000e+00 total movement = 6.187500000224e-04 vel = 6.225000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.630000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.630000, acc = 7.500000,T = 1.857664, P = 0.026460 tc id = 21, canon_type = 3, mot type = 2 time: 2.260000 primary movement = 6.262500000238e-04 time: 2.260000000000e+00 total movement = 6.262500000238e-04 vel = 6.300000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.637500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.637500, acc = 7.500000,T = 1.857664, P = 0.027094 tc id = 21, canon_type = 3, mot type = 2 time: 2.261000 primary movement = 6.337500000243e-04 time: 2.261000000000e+00 total movement = 6.337500000243e-04 vel = 6.375000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.645000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.645000, acc = 7.500000,T = 1.857664, P = 0.027735 tc id = 21, canon_type = 3, mot type = 2 time: 2.262000 primary movement = 6.412500000257e-04 time: 2.262000000000e+00 total movement = 6.412500000257e-04 vel = 6.450000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.652500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.652500, acc = 7.500000,T = 1.857664, P = 0.028384 tc id = 21, canon_type = 3, mot type = 2 time: 2.263000 primary movement = 6.487500000262e-04 time: 2.263000000000e+00 total movement = 6.487500000262e-04 vel = 6.525000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.660000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.660000, acc = 7.500000,T = 1.857664, P = 0.029040 tc id = 21, canon_type = 3, mot type = 2 time: 2.264000 primary movement = 6.562500000268e-04 time: 2.264000000000e+00 total movement = 6.562500000268e-04 vel = 6.600000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.667500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.667500, acc = 7.500000,T = 1.857664, P = 0.029704 tc id = 21, canon_type = 3, mot type = 2 time: 2.265000 primary movement = 6.637500000282e-04 time: 2.265000000000e+00 total movement = 6.637500000282e-04 vel = 6.675000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.675000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.675000, acc = 7.500000,T = 1.857664, P = 0.030375 tc id = 21, canon_type = 3, mot type = 2 time: 2.266000 primary movement = 6.712500000288e-04 time: 2.266000000000e+00 total movement = 6.712500000288e-04 vel = 6.750000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.682500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.682500, acc = 7.500000,T = 1.857664, P = 0.031054 tc id = 21, canon_type = 3, mot type = 2 time: 2.267000 primary movement = 6.787500000303e-04 time: 2.267000000000e+00 total movement = 6.787500000303e-04 vel = 6.825000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.690000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.690000, acc = 7.500000,T = 1.857664, P = 0.031740 tc id = 21, canon_type = 3, mot type = 2 time: 2.268000 primary movement = 6.862500000310e-04 time: 2.268000000000e+00 total movement = 6.862500000310e-04 vel = 6.900000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.697500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.697500, acc = 7.500000,T = 1.857664, P = 0.032434 tc id = 21, canon_type = 3, mot type = 2 time: 2.269000 primary movement = 6.937500000316e-04 time: 2.269000000000e+00 total movement = 6.937500000316e-04 vel = 6.975000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.705000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.705000, acc = 7.500000,T = 1.857664, P = 0.033135 tc id = 21, canon_type = 3, mot type = 2 time: 2.270000 primary movement = 7.012500000323e-04 time: 2.270000000000e+00 total movement = 7.012500000323e-04 vel = 7.050000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.712500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.712500, acc = 7.500000,T = 1.857664, P = 0.033844 tc id = 21, canon_type = 3, mot type = 2 time: 2.271000 primary movement = 7.087500000339e-04 time: 2.271000000000e+00 total movement = 7.087500000339e-04 vel = 7.125000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.720000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.720000, acc = 7.500000,T = 1.857664, P = 0.034560 tc id = 21, canon_type = 3, mot type = 2 time: 2.272000 primary movement = 7.162500000355e-04 time: 2.272000000000e+00 total movement = 7.162500000355e-04 vel = 7.200000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.727500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.727500, acc = 7.500000,T = 1.857664, P = 0.035284 tc id = 21, canon_type = 3, mot type = 2 time: 2.273000 primary movement = 7.237500000354e-04 time: 2.273000000000e+00 total movement = 7.237500000354e-04 vel = 7.275000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.735000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.735000, acc = 7.500000,T = 1.857664, P = 0.036015 tc id = 21, canon_type = 3, mot type = 2 time: 2.274000 primary movement = 7.312500000370e-04 time: 2.274000000000e+00 total movement = 7.312500000370e-04 vel = 7.350000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.742500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.742500, acc = 7.500000,T = 1.857664, P = 0.036754 tc id = 21, canon_type = 3, mot type = 2 time: 2.275000 primary movement = 7.387500000387e-04 time: 2.275000000000e+00 total movement = 7.387500000387e-04 vel = 7.425000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.750000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.750000, acc = 7.500000,T = 1.857664, P = 0.037500 tc id = 21, canon_type = 3, mot type = 2 time: 2.276000 primary movement = 7.462500000395e-04 time: 2.276000000000e+00 total movement = 7.462500000395e-04 vel = 7.500000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.757500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.757500, acc = 7.500000,T = 1.857664, P = 0.038254 tc id = 21, canon_type = 3, mot type = 2 time: 2.277000 primary movement = 7.537500000403e-04 time: 2.277000000000e+00 total movement = 7.537500000403e-04 vel = 7.575000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.765000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.765000, acc = 7.500000,T = 1.857664, P = 0.039015 tc id = 21, canon_type = 3, mot type = 2 time: 2.278000 primary movement = 7.612500000412e-04 time: 2.278000000000e+00 total movement = 7.612500000412e-04 vel = 7.650000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.772500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.772500, acc = 7.500000,T = 1.857664, P = 0.039784 tc id = 21, canon_type = 3, mot type = 2 time: 2.279000 primary movement = 7.687500000430e-04 time: 2.279000000000e+00 total movement = 7.687500000430e-04 vel = 7.725000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.780000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.780000, acc = 7.500000,T = 1.857664, P = 0.040560 tc id = 21, canon_type = 3, mot type = 2 time: 2.280000 primary movement = 7.762500000439e-04 time: 2.280000000000e+00 total movement = 7.762500000439e-04 vel = 7.800000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.787500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.787500, acc = 7.500000,T = 1.857664, P = 0.041344 tc id = 21, canon_type = 3, mot type = 2 time: 2.281000 primary movement = 7.837500000457e-04 time: 2.281000000000e+00 total movement = 7.837500000457e-04 vel = 7.875000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.795000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.795000, acc = 7.500000,T = 1.857664, P = 0.042135 tc id = 21, canon_type = 3, mot type = 2 time: 2.282000 primary movement = 7.912500000466e-04 time: 2.282000000000e+00 total movement = 7.912500000466e-04 vel = 7.950000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.802500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.802500, acc = 7.500000,T = 1.857664, P = 0.042934 tc id = 21, canon_type = 3, mot type = 2 time: 2.283000 primary movement = 7.987500000476e-04 time: 2.283000000000e+00 total movement = 7.987500000476e-04 vel = 8.025000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.810000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.810000, acc = 7.500000,T = 1.857664, P = 0.043740 tc id = 21, canon_type = 3, mot type = 2 time: 2.284000 primary movement = 8.062500000495e-04 time: 2.284000000000e+00 total movement = 8.062500000495e-04 vel = 8.100000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.817500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.817500, acc = 7.500000,T = 1.857664, P = 0.044554 tc id = 21, canon_type = 3, mot type = 2 time: 2.285000 primary movement = 8.137500000505e-04 time: 2.285000000000e+00 total movement = 8.137500000505e-04 vel = 8.175000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.825000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.825000, acc = 7.500000,T = 1.857664, P = 0.045375 tc id = 21, canon_type = 3, mot type = 2 time: 2.286000 primary movement = 8.212500000516e-04 time: 2.286000000000e+00 total movement = 8.212500000516e-04 vel = 8.250000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.832500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.832500, acc = 7.500000,T = 1.857664, P = 0.046204 tc id = 21, canon_type = 3, mot type = 2 time: 2.287000 primary movement = 8.287500000535e-04 time: 2.287000000000e+00 total movement = 8.287500000535e-04 vel = 8.325000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.840000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.840000, acc = 7.500000,T = 1.857664, P = 0.047040 tc id = 21, canon_type = 3, mot type = 2 time: 2.288000 primary movement = 8.362500000546e-04 time: 2.288000000000e+00 total movement = 8.362500000546e-04 vel = 8.400000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.847500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.847500, acc = 7.500000,T = 1.857664, P = 0.047884 tc id = 21, canon_type = 3, mot type = 2 time: 2.289000 primary movement = 8.437500000566e-04 time: 2.289000000000e+00 total movement = 8.437500000566e-04 vel = 8.475000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.855000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.855000, acc = 7.500000,T = 1.857664, P = 0.048735 tc id = 21, canon_type = 3, mot type = 2 time: 2.290000 primary movement = 8.512500000578e-04 time: 2.290000000000e+00 total movement = 8.512500000578e-04 vel = 8.550000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.862500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.862500, acc = 7.500000,T = 1.857664, P = 0.049594 tc id = 21, canon_type = 3, mot type = 2 time: 2.291000 primary movement = 8.587500000589e-04 time: 2.291000000000e+00 total movement = 8.587500000589e-04 vel = 8.625000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.870000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.870000, acc = 7.500000,T = 1.857664, P = 0.050460 tc id = 21, canon_type = 3, mot type = 2 time: 2.292000 primary movement = 8.662500000601e-04 time: 2.292000000000e+00 total movement = 8.662500000601e-04 vel = 8.700000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.877500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.877500, acc = 7.500000,T = 1.857664, P = 0.051334 tc id = 21, canon_type = 3, mot type = 2 time: 2.293000 primary movement = 8.737500000623e-04 time: 2.293000000000e+00 total movement = 8.737500000623e-04 vel = 8.775000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.885000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.885000, acc = 7.500000,T = 1.857664, P = 0.052215 tc id = 21, canon_type = 3, mot type = 2 time: 2.294000 primary movement = 8.812500000644e-04 time: 2.294000000000e+00 total movement = 8.812500000644e-04 vel = 8.850000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.892500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.892500, acc = 7.500000,T = 1.857664, P = 0.053104 tc id = 21, canon_type = 3, mot type = 2 time: 2.295000 primary movement = 8.887500000648e-04 time: 2.295000000000e+00 total movement = 8.887500000648e-04 vel = 8.925000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.900000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.900000, acc = 7.500000,T = 1.857664, P = 0.054000 tc id = 21, canon_type = 3, mot type = 2 time: 2.296000 primary movement = 8.962500000679e-04 time: 2.296000000000e+00 total movement = 8.962500000679e-04 vel = 9.000000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.907500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.907500, acc = 7.500000,T = 1.857664, P = 0.054904 tc id = 21, canon_type = 3, mot type = 2 time: 2.297000 primary movement = 9.037500000683e-04 time: 2.297000000000e+00 total movement = 9.037500000683e-04 vel = 9.075000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.915000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.915000, acc = 7.500000,T = 1.857664, P = 0.055815 tc id = 21, canon_type = 3, mot type = 2 time: 2.298000 primary movement = 9.112500000706e-04 time: 2.298000000000e+00 total movement = 9.112500000706e-04 vel = 9.150000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.922500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.922500, acc = 7.500000,T = 1.857664, P = 0.056734 tc id = 21, canon_type = 3, mot type = 2 time: 2.299000 primary movement = 9.187500000720e-04 time: 2.299000000000e+00 total movement = 9.187500000720e-04 vel = 9.225000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.930000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.930000, acc = 7.500000,T = 1.857664, P = 0.057660 tc id = 21, canon_type = 3, mot type = 2 time: 2.300000 primary movement = 9.262500000734e-04 time: 2.300000000000e+00 total movement = 9.262500000734e-04 vel = 9.300000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.937500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.937500, acc = 7.500000,T = 1.857664, P = 0.058594 tc id = 21, canon_type = 3, mot type = 2 time: 2.301000 primary movement = 9.337500000757e-04 time: 2.301000000000e+00 total movement = 9.337500000757e-04 vel = 9.375000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.945000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.945000, acc = 7.500000,T = 1.857664, P = 0.059535 tc id = 21, canon_type = 3, mot type = 2 time: 2.302000 primary movement = 9.412500000781e-04 time: 2.302000000000e+00 total movement = 9.412500000781e-04 vel = 9.450000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.952500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.952500, acc = 7.500000,T = 1.857664, P = 0.060484 tc id = 21, canon_type = 3, mot type = 2 time: 2.303000 primary movement = 9.487500000787e-04 time: 2.303000000000e+00 total movement = 9.487500000787e-04 vel = 9.525000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.960000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.960000, acc = 7.500000,T = 1.857664, P = 0.061440 tc id = 21, canon_type = 3, mot type = 2 time: 2.304000 primary movement = 9.562500000811e-04 time: 2.304000000000e+00 total movement = 9.562500000811e-04 vel = 9.600000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.967500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.967500, acc = 7.500000,T = 1.857664, P = 0.062404 tc id = 21, canon_type = 3, mot type = 2 time: 2.305000 primary movement = 9.637500000827e-04 time: 2.305000000000e+00 total movement = 9.637500000827e-04 vel = 9.675000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.975000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.975000, acc = 7.500000,T = 1.857664, P = 0.063375 tc id = 21, canon_type = 3, mot type = 2 time: 2.306000 primary movement = 9.712500000851e-04 time: 2.306000000000e+00 total movement = 9.712500000851e-04 vel = 9.750000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.982500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.982500, acc = 7.500000,T = 1.857664, P = 0.064354 tc id = 21, canon_type = 3, mot type = 2 time: 2.307000 primary movement = 9.787500000867e-04 time: 2.307000000000e+00 total movement = 9.787500000867e-04 vel = 9.825000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.990000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.990000, acc = 7.500000,T = 1.857664, P = 0.065340 tc id = 21, canon_type = 3, mot type = 2 time: 2.308000 primary movement = 9.862500000893e-04 time: 2.308000000000e+00 total movement = 9.862500000893e-04 vel = 9.900000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.997500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.997500, acc = 7.500000,T = 1.857664, P = 0.066334 tc id = 21, canon_type = 3, mot type = 2 time: 2.309000 primary movement = 9.937500000901e-04 time: 2.309000000000e+00 total movement = 9.937500000901e-04 vel = 9.975000000000e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.005000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.005000, acc = 7.500000,T = 1.857664, P = 0.067335 tc id = 21, canon_type = 3, mot type = 2 time: 2.310000 primary movement = 1.001250000094e-03 time: 2.310000000000e+00 total movement = 1.001250000094e-03 vel = 1.005000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.012500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.012500, acc = 7.500000,T = 1.857664, P = 0.068344 tc id = 21, canon_type = 3, mot type = 2 time: 2.311000 primary movement = 1.008750000094e-03 time: 2.311000000000e+00 total movement = 1.008750000094e-03 vel = 1.012500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.020000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.020000, acc = 7.500000,T = 1.857664, P = 0.069360 tc id = 21, canon_type = 3, mot type = 2 time: 2.312000 primary movement = 1.016250000097e-03 time: 2.312000000000e+00 total movement = 1.016250000097e-03 vel = 1.020000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.027500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.027500, acc = 7.500000,T = 1.857664, P = 0.070384 tc id = 21, canon_type = 3, mot type = 2 time: 2.313000 primary movement = 1.023750000099e-03 time: 2.313000000000e+00 total movement = 1.023750000099e-03 vel = 1.027500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.035000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.035000, acc = 7.500000,T = 1.857664, P = 0.071415 tc id = 21, canon_type = 3, mot type = 2 time: 2.314000 primary movement = 1.031250000102e-03 time: 2.314000000000e+00 total movement = 1.031250000102e-03 vel = 1.035000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.042500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.042500, acc = 7.500000,T = 1.857664, P = 0.072454 tc id = 21, canon_type = 3, mot type = 2 time: 2.315000 primary movement = 1.038750000103e-03 time: 2.315000000000e+00 total movement = 1.038750000103e-03 vel = 1.042500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.050000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.050000, acc = 7.500000,T = 1.857664, P = 0.073500 tc id = 21, canon_type = 3, mot type = 2 time: 2.316000 primary movement = 1.046250000105e-03 time: 2.316000000000e+00 total movement = 1.046250000105e-03 vel = 1.050000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.057500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.057500, acc = 7.500000,T = 1.857664, P = 0.074554 tc id = 21, canon_type = 3, mot type = 2 time: 2.317000 primary movement = 1.053750000108e-03 time: 2.317000000000e+00 total movement = 1.053750000108e-03 vel = 1.057500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.065000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.065000, acc = 7.500000,T = 1.857664, P = 0.075615 tc id = 21, canon_type = 3, mot type = 2 time: 2.318000 primary movement = 1.061250000110e-03 time: 2.318000000000e+00 total movement = 1.061250000110e-03 vel = 1.065000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.072500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.072500, acc = 7.500000,T = 1.857664, P = 0.076684 tc id = 21, canon_type = 3, mot type = 2 time: 2.319000 primary movement = 1.068750000112e-03 time: 2.319000000000e+00 total movement = 1.068750000112e-03 vel = 1.072500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.080000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.080000, acc = 7.500000,T = 1.857664, P = 0.077760 tc id = 21, canon_type = 3, mot type = 2 time: 2.320000 primary movement = 1.076250000115e-03 time: 2.320000000000e+00 total movement = 1.076250000115e-03 vel = 1.080000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.087500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.087500, acc = 7.500000,T = 1.857664, P = 0.078844 tc id = 21, canon_type = 3, mot type = 2 time: 2.321000 primary movement = 1.083750000117e-03 time: 2.321000000000e+00 total movement = 1.083750000117e-03 vel = 1.087500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.095000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.095000, acc = 7.500000,T = 1.857664, P = 0.079935 tc id = 21, canon_type = 3, mot type = 2 time: 2.322000 primary movement = 1.091250000120e-03 time: 2.322000000000e+00 total movement = 1.091250000120e-03 vel = 1.095000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.102500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.102500, acc = 7.500000,T = 1.857664, P = 0.081034 tc id = 21, canon_type = 3, mot type = 2 time: 2.323000 primary movement = 1.098750000122e-03 time: 2.323000000000e+00 total movement = 1.098750000122e-03 vel = 1.102500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.110000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.110000, acc = 7.500000,T = 1.857664, P = 0.082140 tc id = 21, canon_type = 3, mot type = 2 time: 2.324000 primary movement = 1.106250000124e-03 time: 2.324000000000e+00 total movement = 1.106250000124e-03 vel = 1.110000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.117500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.117500, acc = 7.500000,T = 1.857664, P = 0.083254 tc id = 21, canon_type = 3, mot type = 2 time: 2.325000 primary movement = 1.113750000127e-03 time: 2.325000000000e+00 total movement = 1.113750000127e-03 vel = 1.117500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.125000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.125000, acc = 7.500000,T = 1.857664, P = 0.084375 tc id = 21, canon_type = 3, mot type = 2 time: 2.326000 primary movement = 1.121250000130e-03 time: 2.326000000000e+00 total movement = 1.121250000130e-03 vel = 1.125000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.132500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.132500, acc = 7.500000,T = 1.857664, P = 0.085504 tc id = 21, canon_type = 3, mot type = 2 time: 2.327000 primary movement = 1.128750000132e-03 time: 2.327000000000e+00 total movement = 1.128750000132e-03 vel = 1.132500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.140000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.140000, acc = 7.500000,T = 1.857664, P = 0.086640 tc id = 21, canon_type = 3, mot type = 2 time: 2.328000 primary movement = 1.136250000135e-03 time: 2.328000000000e+00 total movement = 1.136250000135e-03 vel = 1.140000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.147500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.147500, acc = 7.500000,T = 1.857664, P = 0.087784 tc id = 21, canon_type = 3, mot type = 2 time: 2.329000 primary movement = 1.143750000137e-03 time: 2.329000000000e+00 total movement = 1.143750000137e-03 vel = 1.147500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.155000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.155000, acc = 7.500000,T = 1.857664, P = 0.088935 tc id = 21, canon_type = 3, mot type = 2 time: 2.330000 primary movement = 1.151250000140e-03 time: 2.330000000000e+00 total movement = 1.151250000140e-03 vel = 1.155000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.162500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.162500, acc = 7.500000,T = 1.857664, P = 0.090094 tc id = 21, canon_type = 3, mot type = 2 time: 2.331000 primary movement = 1.158750000143e-03 time: 2.331000000000e+00 total movement = 1.158750000143e-03 vel = 1.162500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.170000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.170000, acc = 7.500000,T = 1.857664, P = 0.091260 tc id = 21, canon_type = 3, mot type = 2 time: 2.332000 primary movement = 1.166250000145e-03 time: 2.332000000000e+00 total movement = 1.166250000145e-03 vel = 1.170000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.177500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.177500, acc = 7.500000,T = 1.857664, P = 0.092434 tc id = 21, canon_type = 3, mot type = 2 time: 2.333000 primary movement = 1.173750000149e-03 time: 2.333000000000e+00 total movement = 1.173750000149e-03 vel = 1.177500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.185000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.185000, acc = 7.500000,T = 1.857664, P = 0.093615 tc id = 21, canon_type = 3, mot type = 2 time: 2.334000 primary movement = 1.181250000151e-03 time: 2.334000000000e+00 total movement = 1.181250000151e-03 vel = 1.185000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.192500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.192500, acc = 7.500000,T = 1.857664, P = 0.094804 tc id = 21, canon_type = 3, mot type = 2 time: 2.335000 primary movement = 1.188750000154e-03 time: 2.335000000000e+00 total movement = 1.188750000154e-03 vel = 1.192500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.200000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.200000, acc = 7.500000,T = 1.857664, P = 0.096000 tc id = 21, canon_type = 3, mot type = 2 time: 2.336000 primary movement = 1.196250000157e-03 time: 2.336000000000e+00 total movement = 1.196250000157e-03 vel = 1.200000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.207500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.207500, acc = 7.500000,T = 1.857664, P = 0.097204 tc id = 21, canon_type = 3, mot type = 2 time: 2.337000 primary movement = 1.203750000160e-03 time: 2.337000000000e+00 total movement = 1.203750000160e-03 vel = 1.207500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.215000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.215000, acc = 7.500000,T = 1.857664, P = 0.098415 tc id = 21, canon_type = 3, mot type = 2 time: 2.338000 primary movement = 1.211250000163e-03 time: 2.338000000000e+00 total movement = 1.211250000163e-03 vel = 1.215000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.222500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.222500, acc = 7.500000,T = 1.857664, P = 0.099634 tc id = 21, canon_type = 3, mot type = 2 time: 2.339000 primary movement = 1.218750000166e-03 time: 2.339000000000e+00 total movement = 1.218750000166e-03 vel = 1.222500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.230000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.230000, acc = 7.500000,T = 1.857664, P = 0.100860 tc id = 21, canon_type = 3, mot type = 2 time: 2.340000 primary movement = 1.226250000169e-03 time: 2.340000000000e+00 total movement = 1.226250000169e-03 vel = 1.230000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.237500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.237500, acc = 7.500000,T = 1.857664, P = 0.102094 tc id = 21, canon_type = 3, mot type = 2 time: 2.341000 primary movement = 1.233750000172e-03 time: 2.341000000000e+00 total movement = 1.233750000172e-03 vel = 1.237500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.245000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.245000, acc = 7.500000,T = 1.857664, P = 0.103335 tc id = 21, canon_type = 3, mot type = 2 time: 2.342000 primary movement = 1.241250000175e-03 time: 2.342000000000e+00 total movement = 1.241250000175e-03 vel = 1.245000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.252500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.252500, acc = 7.500000,T = 1.857664, P = 0.104584 tc id = 21, canon_type = 3, mot type = 2 time: 2.343000 primary movement = 1.248750000178e-03 time: 2.343000000000e+00 total movement = 1.248750000178e-03 vel = 1.252500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.260000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.260000, acc = 7.500000,T = 1.857664, P = 0.105840 tc id = 21, canon_type = 3, mot type = 2 time: 2.344000 primary movement = 1.256250000182e-03 time: 2.344000000000e+00 total movement = 1.256250000182e-03 vel = 1.260000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.267500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.267500, acc = 7.500000,T = 1.857664, P = 0.107104 tc id = 21, canon_type = 3, mot type = 2 time: 2.345000 primary movement = 1.263750000185e-03 time: 2.345000000000e+00 total movement = 1.263750000185e-03 vel = 1.267500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.275000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.275000, acc = 7.500000,T = 1.857664, P = 0.108375 tc id = 21, canon_type = 3, mot type = 2 time: 2.346000 primary movement = 1.271250000188e-03 time: 2.346000000000e+00 total movement = 1.271250000188e-03 vel = 1.275000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.282500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.282500, acc = 7.500000,T = 1.857664, P = 0.109654 tc id = 21, canon_type = 3, mot type = 2 time: 2.347000 primary movement = 1.278750000192e-03 time: 2.347000000000e+00 total movement = 1.278750000192e-03 vel = 1.282500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.290000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.290000, acc = 7.500000,T = 1.857664, P = 0.110940 tc id = 21, canon_type = 3, mot type = 2 time: 2.348000 primary movement = 1.286250000195e-03 time: 2.348000000000e+00 total movement = 1.286250000195e-03 vel = 1.290000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.297500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.297500, acc = 7.500000,T = 1.857664, P = 0.112234 tc id = 21, canon_type = 3, mot type = 2 time: 2.349000 primary movement = 1.293750000198e-03 time: 2.349000000000e+00 total movement = 1.293750000198e-03 vel = 1.297500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.305000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.305000, acc = 7.500000,T = 1.857664, P = 0.113535 tc id = 21, canon_type = 3, mot type = 2 time: 2.350000 primary movement = 1.301250000202e-03 time: 2.350000000000e+00 total movement = 1.301250000202e-03 vel = 1.305000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.312500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.312500, acc = 7.500000,T = 1.857664, P = 0.114844 tc id = 21, canon_type = 3, mot type = 2 time: 2.351000 primary movement = 1.308750000205e-03 time: 2.351000000000e+00 total movement = 1.308750000205e-03 vel = 1.312500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.320000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.320000, acc = 7.500000,T = 1.857664, P = 0.116160 tc id = 21, canon_type = 3, mot type = 2 time: 2.352000 primary movement = 1.316250000209e-03 time: 2.352000000000e+00 total movement = 1.316250000209e-03 vel = 1.320000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.327500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.327500, acc = 7.500000,T = 1.857664, P = 0.117484 tc id = 21, canon_type = 3, mot type = 2 time: 2.353000 primary movement = 1.323750000211e-03 time: 2.353000000000e+00 total movement = 1.323750000211e-03 vel = 1.327500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.335000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.335000, acc = 7.500000,T = 1.857664, P = 0.118815 tc id = 21, canon_type = 3, mot type = 2 time: 2.354000 primary movement = 1.331250000216e-03 time: 2.354000000000e+00 total movement = 1.331250000216e-03 vel = 1.335000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.342500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.342500, acc = 7.500000,T = 1.857664, P = 0.120154 tc id = 21, canon_type = 3, mot type = 2 time: 2.355000 primary movement = 1.338750000219e-03 time: 2.355000000000e+00 total movement = 1.338750000219e-03 vel = 1.342500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.350000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.350000, acc = 7.500000,T = 1.857664, P = 0.121500 tc id = 21, canon_type = 3, mot type = 2 time: 2.356000 primary movement = 1.346250000223e-03 time: 2.356000000000e+00 total movement = 1.346250000223e-03 vel = 1.350000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.357500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.357500, acc = 7.500000,T = 1.857664, P = 0.122854 tc id = 21, canon_type = 3, mot type = 2 time: 2.357000 primary movement = 1.353750000226e-03 time: 2.357000000000e+00 total movement = 1.353750000226e-03 vel = 1.357500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.365000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.365000, acc = 7.500000,T = 1.857664, P = 0.124215 tc id = 21, canon_type = 3, mot type = 2 time: 2.358000 primary movement = 1.361250000231e-03 time: 2.358000000000e+00 total movement = 1.361250000231e-03 vel = 1.365000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.372500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.372500, acc = 7.500000,T = 1.857664, P = 0.125584 tc id = 21, canon_type = 3, mot type = 2 time: 2.359000 primary movement = 1.368750000234e-03 time: 2.359000000000e+00 total movement = 1.368750000234e-03 vel = 1.372500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.380000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.380000, acc = 7.500000,T = 1.857664, P = 0.126960 tc id = 21, canon_type = 3, mot type = 2 time: 2.360000 primary movement = 1.376250000237e-03 time: 2.360000000000e+00 total movement = 1.376250000237e-03 vel = 1.380000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.387500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.387500, acc = 7.500000,T = 1.857664, P = 0.128344 tc id = 21, canon_type = 3, mot type = 2 time: 2.361000 primary movement = 1.383750000242e-03 time: 2.361000000000e+00 total movement = 1.383750000242e-03 vel = 1.387500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.395000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.395000, acc = 7.500000,T = 1.857664, P = 0.129735 tc id = 21, canon_type = 3, mot type = 2 time: 2.362000 primary movement = 1.391250000246e-03 time: 2.362000000000e+00 total movement = 1.391250000246e-03 vel = 1.395000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.402500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.402500, acc = 7.500000,T = 1.857664, P = 0.131134 tc id = 21, canon_type = 3, mot type = 2 time: 2.363000 primary movement = 1.398750000250e-03 time: 2.363000000000e+00 total movement = 1.398750000250e-03 vel = 1.402500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.410000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.410000, acc = 7.500000,T = 1.857664, P = 0.132540 tc id = 21, canon_type = 3, mot type = 2 time: 2.364000 primary movement = 1.406250000254e-03 time: 2.364000000000e+00 total movement = 1.406250000254e-03 vel = 1.410000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.417500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.417500, acc = 7.500000,T = 1.857664, P = 0.133954 tc id = 21, canon_type = 3, mot type = 2 time: 2.365000 primary movement = 1.413750000257e-03 time: 2.365000000000e+00 total movement = 1.413750000257e-03 vel = 1.417500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.425000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.425000, acc = 7.500000,T = 1.857664, P = 0.135375 tc id = 21, canon_type = 3, mot type = 2 time: 2.366000 primary movement = 1.421250000261e-03 time: 2.366000000000e+00 total movement = 1.421250000261e-03 vel = 1.425000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.432500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.432500, acc = 7.500000,T = 1.857664, P = 0.136804 tc id = 21, canon_type = 3, mot type = 2 time: 2.367000 primary movement = 1.428750000266e-03 time: 2.367000000000e+00 total movement = 1.428750000266e-03 vel = 1.432500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.440000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.440000, acc = 7.500000,T = 1.857664, P = 0.138240 tc id = 21, canon_type = 3, mot type = 2 time: 2.368000 primary movement = 1.436250000271e-03 time: 2.368000000000e+00 total movement = 1.436250000271e-03 vel = 1.440000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.447500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.447500, acc = 7.500000,T = 1.857664, P = 0.139684 tc id = 21, canon_type = 3, mot type = 2 time: 2.369000 primary movement = 1.443750000274e-03 time: 2.369000000000e+00 total movement = 1.443750000274e-03 vel = 1.447500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.455000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.455000, acc = 7.500000,T = 1.857664, P = 0.141135 tc id = 21, canon_type = 3, mot type = 2 time: 2.370000 primary movement = 1.451250000278e-03 time: 2.370000000000e+00 total movement = 1.451250000278e-03 vel = 1.455000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.462500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.462500, acc = 7.500000,T = 1.857664, P = 0.142594 tc id = 21, canon_type = 3, mot type = 2 time: 2.371000 primary movement = 1.458750000283e-03 time: 2.371000000000e+00 total movement = 1.458750000283e-03 vel = 1.462500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.470000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.470000, acc = 7.500000,T = 1.857664, P = 0.144060 tc id = 21, canon_type = 3, mot type = 2 time: 2.372000 primary movement = 1.466250000287e-03 time: 2.372000000000e+00 total movement = 1.466250000287e-03 vel = 1.470000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.477500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.477500, acc = 7.500000,T = 1.857664, P = 0.145534 tc id = 21, canon_type = 3, mot type = 2 time: 2.373000 primary movement = 1.473750000291e-03 time: 2.373000000000e+00 total movement = 1.473750000291e-03 vel = 1.477500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.485000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.485000, acc = 7.500000,T = 1.857664, P = 0.147015 tc id = 21, canon_type = 3, mot type = 2 time: 2.374000 primary movement = 1.481250000295e-03 time: 2.374000000000e+00 total movement = 1.481250000295e-03 vel = 1.485000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.492500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.492500, acc = 7.500000,T = 1.857664, P = 0.148504 tc id = 21, canon_type = 3, mot type = 2 time: 2.375000 primary movement = 1.488750000301e-03 time: 2.375000000000e+00 total movement = 1.488750000301e-03 vel = 1.492500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.500000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.500000, acc = 7.500000,T = 1.857664, P = 0.150000 tc id = 21, canon_type = 3, mot type = 2 time: 2.376000 primary movement = 1.496250000305e-03 time: 2.376000000000e+00 total movement = 1.496250000305e-03 vel = 1.500000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.507500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.507500, acc = 7.500000,T = 1.857664, P = 0.151504 tc id = 21, canon_type = 3, mot type = 2 time: 2.377000 primary movement = 1.503750000310e-03 time: 2.377000000000e+00 total movement = 1.503750000310e-03 vel = 1.507500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.515000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.515000, acc = 7.500000,T = 1.857664, P = 0.153015 tc id = 21, canon_type = 3, mot type = 2 time: 2.378000 primary movement = 1.511250000314e-03 time: 2.378000000000e+00 total movement = 1.511250000314e-03 vel = 1.515000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.522500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.522500, acc = 7.500000,T = 1.857664, P = 0.154534 tc id = 21, canon_type = 3, mot type = 2 time: 2.379000 primary movement = 1.518750000318e-03 time: 2.379000000000e+00 total movement = 1.518750000318e-03 vel = 1.522500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.530000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.530000, acc = 7.500000,T = 1.857664, P = 0.156060 tc id = 21, canon_type = 3, mot type = 2 time: 2.380000 primary movement = 1.526250000324e-03 time: 2.380000000000e+00 total movement = 1.526250000324e-03 vel = 1.530000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.537500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.537500, acc = 7.500000,T = 1.857664, P = 0.157594 tc id = 21, canon_type = 3, mot type = 2 time: 2.381000 primary movement = 1.533750000328e-03 time: 2.381000000000e+00 total movement = 1.533750000328e-03 vel = 1.537500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.545000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.545000, acc = 7.500000,T = 1.857664, P = 0.159135 tc id = 21, canon_type = 3, mot type = 2 time: 2.382000 primary movement = 1.541250000333e-03 time: 2.382000000000e+00 total movement = 1.541250000333e-03 vel = 1.545000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.552500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.552500, acc = 7.500000,T = 1.857664, P = 0.160684 tc id = 21, canon_type = 3, mot type = 2 time: 2.383000 primary movement = 1.548750000338e-03 time: 2.383000000000e+00 total movement = 1.548750000338e-03 vel = 1.552500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.560000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.560000, acc = 7.500000,T = 1.857664, P = 0.162240 tc id = 21, canon_type = 3, mot type = 2 time: 2.384000 primary movement = 1.556250000343e-03 time: 2.384000000000e+00 total movement = 1.556250000343e-03 vel = 1.560000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.567500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.567500, acc = 7.500000,T = 1.857664, P = 0.163804 tc id = 21, canon_type = 3, mot type = 2 time: 2.385000 primary movement = 1.563750000348e-03 time: 2.385000000000e+00 total movement = 1.563750000348e-03 vel = 1.567500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.575000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.575000, acc = 7.500000,T = 1.857664, P = 0.165375 tc id = 21, canon_type = 3, mot type = 2 time: 2.386000 primary movement = 1.571250000353e-03 time: 2.386000000000e+00 total movement = 1.571250000353e-03 vel = 1.575000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.582500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.582500, acc = 7.500000,T = 1.857664, P = 0.166954 tc id = 21, canon_type = 3, mot type = 2 time: 2.387000 primary movement = 1.578750000358e-03 time: 2.387000000000e+00 total movement = 1.578750000358e-03 vel = 1.582500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.590000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.590000, acc = 7.500000,T = 1.857664, P = 0.168540 tc id = 21, canon_type = 3, mot type = 2 time: 2.388000 primary movement = 1.586250000362e-03 time: 2.388000000000e+00 total movement = 1.586250000362e-03 vel = 1.590000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.597500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.597500, acc = 7.500000,T = 1.857664, P = 0.170134 tc id = 21, canon_type = 3, mot type = 2 time: 2.389000 primary movement = 1.593750000368e-03 time: 2.389000000000e+00 total movement = 1.593750000368e-03 vel = 1.597500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.605000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.605000, acc = 7.500000,T = 1.857664, P = 0.171735 tc id = 21, canon_type = 3, mot type = 2 time: 2.390000 primary movement = 1.601250000374e-03 time: 2.390000000000e+00 total movement = 1.601250000374e-03 vel = 1.605000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.612500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.612500, acc = 7.500000,T = 1.857664, P = 0.173344 tc id = 21, canon_type = 3, mot type = 2 time: 2.391000 primary movement = 1.608750000378e-03 time: 2.391000000000e+00 total movement = 1.608750000378e-03 vel = 1.612500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.620000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.620000, acc = 7.500000,T = 1.857664, P = 0.174960 tc id = 21, canon_type = 3, mot type = 2 time: 2.392000 primary movement = 1.616250000384e-03 time: 2.392000000000e+00 total movement = 1.616250000384e-03 vel = 1.620000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.627500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.627500, acc = 7.500000,T = 1.857664, P = 0.176584 tc id = 21, canon_type = 3, mot type = 2 time: 2.393000 primary movement = 1.623750000389e-03 time: 2.393000000000e+00 total movement = 1.623750000389e-03 vel = 1.627500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.635000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.635000, acc = 7.500000,T = 1.857664, P = 0.178215 tc id = 21, canon_type = 3, mot type = 2 time: 2.394000 primary movement = 1.631250000394e-03 time: 2.394000000000e+00 total movement = 1.631250000394e-03 vel = 1.635000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.642500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.642500, acc = 7.500000,T = 1.857664, P = 0.179854 tc id = 21, canon_type = 3, mot type = 2 time: 2.395000 primary movement = 1.638750000400e-03 time: 2.395000000000e+00 total movement = 1.638750000400e-03 vel = 1.642500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.650000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.650000, acc = 7.500000,T = 1.857664, P = 0.181500 tc id = 21, canon_type = 3, mot type = 2 time: 2.396000 primary movement = 1.646250000405e-03 time: 2.396000000000e+00 total movement = 1.646250000405e-03 vel = 1.650000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.657500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.657500, acc = 7.500000,T = 1.857664, P = 0.183154 tc id = 21, canon_type = 3, mot type = 2 time: 2.397000 primary movement = 1.653750000411e-03 time: 2.397000000000e+00 total movement = 1.653750000411e-03 vel = 1.657500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.665000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.665000, acc = 7.500000,T = 1.857664, P = 0.184815 tc id = 21, canon_type = 3, mot type = 2 time: 2.398000 primary movement = 1.661250000416e-03 time: 2.398000000000e+00 total movement = 1.661250000416e-03 vel = 1.665000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.672500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.672500, acc = 7.500000,T = 1.857664, P = 0.186484 tc id = 21, canon_type = 3, mot type = 2 time: 2.399000 primary movement = 1.668750000422e-03 time: 2.399000000000e+00 total movement = 1.668750000422e-03 vel = 1.672500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.680000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.680000, acc = 7.500000,T = 1.857664, P = 0.188160 tc id = 21, canon_type = 3, mot type = 2 time: 2.400000 primary movement = 1.676250000428e-03 time: 2.400000000000e+00 total movement = 1.676250000428e-03 vel = 1.680000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.687500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.687500, acc = 7.500000,T = 1.857664, P = 0.189844 tc id = 21, canon_type = 3, mot type = 2 time: 2.401000 primary movement = 1.683750000433e-03 time: 2.401000000000e+00 total movement = 1.683750000433e-03 vel = 1.687500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.695000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.695000, acc = 7.500000,T = 1.857664, P = 0.191535 tc id = 21, canon_type = 3, mot type = 2 time: 2.402000 primary movement = 1.691250000439e-03 time: 2.402000000000e+00 total movement = 1.691250000439e-03 vel = 1.695000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.702500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.702500, acc = 7.500000,T = 1.857664, P = 0.193234 tc id = 21, canon_type = 3, mot type = 2 time: 2.403000 primary movement = 1.698750000445e-03 time: 2.403000000000e+00 total movement = 1.698750000445e-03 vel = 1.702500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.710000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.710000, acc = 7.500000,T = 1.857664, P = 0.194940 tc id = 21, canon_type = 3, mot type = 2 time: 2.404000 primary movement = 1.706250000451e-03 time: 2.404000000000e+00 total movement = 1.706250000451e-03 vel = 1.710000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.717500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.717500, acc = 7.500000,T = 1.857664, P = 0.196654 tc id = 21, canon_type = 3, mot type = 2 time: 2.405000 primary movement = 1.713750000456e-03 time: 2.405000000000e+00 total movement = 1.713750000456e-03 vel = 1.717500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.725000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.725000, acc = 7.500000,T = 1.857664, P = 0.198375 tc id = 21, canon_type = 3, mot type = 2 time: 2.406000 primary movement = 1.721250000463e-03 time: 2.406000000000e+00 total movement = 1.721250000463e-03 vel = 1.725000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.732500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.732500, acc = 7.500000,T = 1.857664, P = 0.200104 tc id = 21, canon_type = 3, mot type = 2 time: 2.407000 primary movement = 1.728750000468e-03 time: 2.407000000000e+00 total movement = 1.728750000468e-03 vel = 1.732500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.740000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.740000, acc = 7.500000,T = 1.857664, P = 0.201840 tc id = 21, canon_type = 3, mot type = 2 time: 2.408000 primary movement = 1.736250000475e-03 time: 2.408000000000e+00 total movement = 1.736250000475e-03 vel = 1.740000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.747500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.747500, acc = 7.500000,T = 1.857664, P = 0.203584 tc id = 21, canon_type = 3, mot type = 2 time: 2.409000 primary movement = 1.743750000481e-03 time: 2.409000000000e+00 total movement = 1.743750000481e-03 vel = 1.747500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.755000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.755000, acc = 7.500000,T = 1.857664, P = 0.205335 tc id = 21, canon_type = 3, mot type = 2 time: 2.410000 primary movement = 1.751250000488e-03 time: 2.410000000000e+00 total movement = 1.751250000488e-03 vel = 1.755000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.762500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.762500, acc = 7.500000,T = 1.857664, P = 0.207094 tc id = 21, canon_type = 3, mot type = 2 time: 2.411000 primary movement = 1.758750000493e-03 time: 2.411000000000e+00 total movement = 1.758750000493e-03 vel = 1.762500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.770000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.770000, acc = 7.500000,T = 1.857664, P = 0.208860 tc id = 21, canon_type = 3, mot type = 2 time: 2.412000 primary movement = 1.766250000499e-03 time: 2.412000000000e+00 total movement = 1.766250000499e-03 vel = 1.770000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.777500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.777500, acc = 7.500000,T = 1.857664, P = 0.210634 tc id = 21, canon_type = 3, mot type = 2 time: 2.413000 primary movement = 1.773750000506e-03 time: 2.413000000000e+00 total movement = 1.773750000506e-03 vel = 1.777500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.785000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.785000, acc = 7.500000,T = 1.857664, P = 0.212415 tc id = 21, canon_type = 3, mot type = 2 time: 2.414000 primary movement = 1.781250000512e-03 time: 2.414000000000e+00 total movement = 1.781250000512e-03 vel = 1.785000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.792500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.792500, acc = 7.500000,T = 1.857664, P = 0.214204 tc id = 21, canon_type = 3, mot type = 2 time: 2.415000 primary movement = 1.788750000519e-03 time: 2.415000000000e+00 total movement = 1.788750000519e-03 vel = 1.792500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.800000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.800000, acc = 7.500000,T = 1.857664, P = 0.216000 tc id = 21, canon_type = 3, mot type = 2 time: 2.416000 primary movement = 1.796250000526e-03 time: 2.416000000000e+00 total movement = 1.796250000526e-03 vel = 1.800000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.807500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.807500, acc = 7.500000,T = 1.857664, P = 0.217804 tc id = 21, canon_type = 3, mot type = 2 time: 2.417000 primary movement = 1.803750000532e-03 time: 2.417000000000e+00 total movement = 1.803750000532e-03 vel = 1.807500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.815000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.815000, acc = 7.500000,T = 1.857664, P = 0.219615 tc id = 21, canon_type = 3, mot type = 2 time: 2.418000 primary movement = 1.811250000539e-03 time: 2.418000000000e+00 total movement = 1.811250000539e-03 vel = 1.815000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.822500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.822500, acc = 7.500000,T = 1.857664, P = 0.221434 tc id = 21, canon_type = 3, mot type = 2 time: 2.419000 primary movement = 1.818750000545e-03 time: 2.419000000000e+00 total movement = 1.818750000545e-03 vel = 1.822500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.830000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.830000, acc = 7.500000,T = 1.857664, P = 0.223260 tc id = 21, canon_type = 3, mot type = 2 time: 2.420000 primary movement = 1.826250000552e-03 time: 2.420000000000e+00 total movement = 1.826250000552e-03 vel = 1.830000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.837500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.837500, acc = 7.500000,T = 1.857664, P = 0.225094 tc id = 21, canon_type = 3, mot type = 2 time: 2.421000 primary movement = 1.833750000559e-03 time: 2.421000000000e+00 total movement = 1.833750000559e-03 vel = 1.837500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.845000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.845000, acc = 7.500000,T = 1.857664, P = 0.226935 tc id = 21, canon_type = 3, mot type = 2 time: 2.422000 primary movement = 1.841250000566e-03 time: 2.422000000000e+00 total movement = 1.841250000566e-03 vel = 1.845000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.852500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.852500, acc = 7.500000,T = 1.857664, P = 0.228784 tc id = 21, canon_type = 3, mot type = 2 time: 2.423000 primary movement = 1.848750000572e-03 time: 2.423000000000e+00 total movement = 1.848750000572e-03 vel = 1.852500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.860000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.860000, acc = 7.500000,T = 1.857664, P = 0.230640 tc id = 21, canon_type = 3, mot type = 2 time: 2.424000 primary movement = 1.856250000580e-03 time: 2.424000000000e+00 total movement = 1.856250000580e-03 vel = 1.860000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.867500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.867500, acc = 7.500000,T = 1.857664, P = 0.232504 tc id = 21, canon_type = 3, mot type = 2 time: 2.425000 primary movement = 1.863750000587e-03 time: 2.425000000000e+00 total movement = 1.863750000587e-03 vel = 1.867500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.875000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.875000, acc = 7.500000,T = 1.857664, P = 0.234375 tc id = 21, canon_type = 3, mot type = 2 time: 2.426000 primary movement = 1.871250000593e-03 time: 2.426000000000e+00 total movement = 1.871250000593e-03 vel = 1.875000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.882500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.882500, acc = 7.500000,T = 1.857664, P = 0.236254 tc id = 21, canon_type = 3, mot type = 2 time: 2.427000 primary movement = 1.878750000601e-03 time: 2.427000000000e+00 total movement = 1.878750000601e-03 vel = 1.882500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.890000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.890000, acc = 7.500000,T = 1.857664, P = 0.238140 tc id = 21, canon_type = 3, mot type = 2 time: 2.428000 primary movement = 1.886250000608e-03 time: 2.428000000000e+00 total movement = 1.886250000608e-03 vel = 1.890000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.897500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.897500, acc = 7.500000,T = 1.857664, P = 0.240034 tc id = 21, canon_type = 3, mot type = 2 time: 2.429000 primary movement = 1.893750000616e-03 time: 2.429000000000e+00 total movement = 1.893750000616e-03 vel = 1.897500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.905000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.905000, acc = 7.500000,T = 1.857664, P = 0.241935 tc id = 21, canon_type = 3, mot type = 2 time: 2.430000 primary movement = 1.901250000623e-03 time: 2.430000000000e+00 total movement = 1.901250000623e-03 vel = 1.905000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.912500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.912500, acc = 7.500000,T = 1.857664, P = 0.243844 tc id = 21, canon_type = 3, mot type = 2 time: 2.431000 primary movement = 1.908750000630e-03 time: 2.431000000000e+00 total movement = 1.908750000630e-03 vel = 1.912500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.920000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.920000, acc = 7.500000,T = 1.857664, P = 0.245760 tc id = 21, canon_type = 3, mot type = 2 time: 2.432000 primary movement = 1.916250000638e-03 time: 2.432000000000e+00 total movement = 1.916250000638e-03 vel = 1.920000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.927500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.927500, acc = 7.500000,T = 1.857664, P = 0.247684 tc id = 21, canon_type = 3, mot type = 2 time: 2.433000 primary movement = 1.923750000645e-03 time: 2.433000000000e+00 total movement = 1.923750000645e-03 vel = 1.927500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.935000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.935000, acc = 7.500000,T = 1.857664, P = 0.249615 tc id = 21, canon_type = 3, mot type = 2 time: 2.434000 primary movement = 1.931250000652e-03 time: 2.434000000000e+00 total movement = 1.931250000652e-03 vel = 1.935000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.942500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.942500, acc = 7.500000,T = 1.857664, P = 0.251554 tc id = 21, canon_type = 3, mot type = 2 time: 2.435000 primary movement = 1.938750000660e-03 time: 2.435000000000e+00 total movement = 1.938750000660e-03 vel = 1.942500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.950000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.950000, acc = 7.500000,T = 1.857664, P = 0.253500 tc id = 21, canon_type = 3, mot type = 2 time: 2.436000 primary movement = 1.946250000667e-03 time: 2.436000000000e+00 total movement = 1.946250000667e-03 vel = 1.950000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.957500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.957500, acc = 7.500000,T = 1.857664, P = 0.255454 tc id = 21, canon_type = 3, mot type = 2 time: 2.437000 primary movement = 1.953750000675e-03 time: 2.437000000000e+00 total movement = 1.953750000675e-03 vel = 1.957500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.965000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.965000, acc = 7.500000,T = 1.857664, P = 0.257415 tc id = 21, canon_type = 3, mot type = 2 time: 2.438000 primary movement = 1.961250000683e-03 time: 2.438000000000e+00 total movement = 1.961250000683e-03 vel = 1.965000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.972500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.972500, acc = 7.500000,T = 1.857664, P = 0.259384 tc id = 21, canon_type = 3, mot type = 2 time: 2.439000 primary movement = 1.968750000691e-03 time: 2.439000000000e+00 total movement = 1.968750000691e-03 vel = 1.972500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.980000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.980000, acc = 7.500000,T = 1.857664, P = 0.261360 tc id = 21, canon_type = 3, mot type = 2 time: 2.440000 primary movement = 1.976250000699e-03 time: 2.440000000000e+00 total movement = 1.976250000699e-03 vel = 1.980000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.987500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.987500, acc = 7.500000,T = 1.857664, P = 0.263344 tc id = 21, canon_type = 3, mot type = 2 time: 2.441000 primary movement = 1.983750000707e-03 time: 2.441000000000e+00 total movement = 1.983750000707e-03 vel = 1.987500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.995000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.995000, acc = 7.500000,T = 1.857664, P = 0.265335 tc id = 21, canon_type = 3, mot type = 2 time: 2.442000 primary movement = 1.991250000714e-03 time: 2.442000000000e+00 total movement = 1.991250000714e-03 vel = 1.995000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.002500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.002500, acc = 7.500000,T = 1.857664, P = 0.267334 tc id = 21, canon_type = 3, mot type = 2 time: 2.443000 primary movement = 1.998750000723e-03 time: 2.443000000000e+00 total movement = 1.998750000723e-03 vel = 2.002500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.010000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.010000, acc = 7.500000,T = 1.857664, P = 0.269340 tc id = 21, canon_type = 3, mot type = 2 time: 2.444000 primary movement = 2.006250000731e-03 time: 2.444000000000e+00 total movement = 2.006250000731e-03 vel = 2.010000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.017500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.017500, acc = 7.500000,T = 1.857664, P = 0.271354 tc id = 21, canon_type = 3, mot type = 2 time: 2.445000 primary movement = 2.013750000739e-03 time: 2.445000000000e+00 total movement = 2.013750000739e-03 vel = 2.017500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.025000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.025000, acc = 7.500000,T = 1.857664, P = 0.273375 tc id = 21, canon_type = 3, mot type = 2 time: 2.446000 primary movement = 2.021250000748e-03 time: 2.446000000000e+00 total movement = 2.021250000748e-03 vel = 2.025000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.032500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.032500, acc = 7.500000,T = 1.857664, P = 0.275404 tc id = 21, canon_type = 3, mot type = 2 time: 2.447000 primary movement = 2.028750000756e-03 time: 2.447000000000e+00 total movement = 2.028750000756e-03 vel = 2.032500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.040000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.040000, acc = 7.500000,T = 1.857664, P = 0.277440 tc id = 21, canon_type = 3, mot type = 2 time: 2.448000 primary movement = 2.036250000764e-03 time: 2.448000000000e+00 total movement = 2.036250000764e-03 vel = 2.040000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.047500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.047500, acc = 7.500000,T = 1.857664, P = 0.279484 tc id = 21, canon_type = 3, mot type = 2 time: 2.449000 primary movement = 2.043750000773e-03 time: 2.449000000000e+00 total movement = 2.043750000773e-03 vel = 2.047500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.055000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.055000, acc = 7.500000,T = 1.857664, P = 0.281535 tc id = 21, canon_type = 3, mot type = 2 time: 2.450000 primary movement = 2.051250000782e-03 time: 2.450000000000e+00 total movement = 2.051250000782e-03 vel = 2.055000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.062500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.062500, acc = 7.500000,T = 1.857664, P = 0.283594 tc id = 21, canon_type = 3, mot type = 2 time: 2.451000 primary movement = 2.058750000789e-03 time: 2.451000000000e+00 total movement = 2.058750000789e-03 vel = 2.062500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.070000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.070000, acc = 7.500000,T = 1.857664, P = 0.285660 tc id = 21, canon_type = 3, mot type = 2 time: 2.452000 primary movement = 2.066250000798e-03 time: 2.452000000000e+00 total movement = 2.066250000798e-03 vel = 2.070000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.077500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.077500, acc = 7.500000,T = 1.857664, P = 0.287734 tc id = 21, canon_type = 3, mot type = 2 time: 2.453000 primary movement = 2.073750000807e-03 time: 2.453000000000e+00 total movement = 2.073750000807e-03 vel = 2.077500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.085000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.085000, acc = 7.500000,T = 1.857664, P = 0.289815 tc id = 21, canon_type = 3, mot type = 2 time: 2.454000 primary movement = 2.081250000816e-03 time: 2.454000000000e+00 total movement = 2.081250000816e-03 vel = 2.085000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.092500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.092500, acc = 7.500000,T = 1.857664, P = 0.291904 tc id = 21, canon_type = 3, mot type = 2 time: 2.455000 primary movement = 2.088750000824e-03 time: 2.455000000000e+00 total movement = 2.088750000824e-03 vel = 2.092500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.100000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.100000, acc = 7.500000,T = 1.857664, P = 0.294000 tc id = 21, canon_type = 3, mot type = 2 time: 2.456000 primary movement = 2.096250000833e-03 time: 2.456000000000e+00 total movement = 2.096250000833e-03 vel = 2.100000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.107500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.107500, acc = 7.500000,T = 1.857664, P = 0.296104 tc id = 21, canon_type = 3, mot type = 2 time: 2.457000 primary movement = 2.103750000842e-03 time: 2.457000000000e+00 total movement = 2.103750000842e-03 vel = 2.107500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.115000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.115000, acc = 7.500000,T = 1.857664, P = 0.298215 tc id = 21, canon_type = 3, mot type = 2 time: 2.458000 primary movement = 2.111250000851e-03 time: 2.458000000000e+00 total movement = 2.111250000851e-03 vel = 2.115000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.122500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.122500, acc = 7.500000,T = 1.857664, P = 0.300334 tc id = 21, canon_type = 3, mot type = 2 time: 2.459000 primary movement = 2.118750000861e-03 time: 2.459000000000e+00 total movement = 2.118750000861e-03 vel = 2.122500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.130000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.130000, acc = 7.500000,T = 1.857664, P = 0.302460 tc id = 21, canon_type = 3, mot type = 2 time: 2.460000 primary movement = 2.126250000869e-03 time: 2.460000000000e+00 total movement = 2.126250000869e-03 vel = 2.130000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.137500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.137500, acc = 7.500000,T = 1.857664, P = 0.304594 tc id = 21, canon_type = 3, mot type = 2 time: 2.461000 primary movement = 2.133750000878e-03 time: 2.461000000000e+00 total movement = 2.133750000878e-03 vel = 2.137500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.145000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.145000, acc = 7.500000,T = 1.857664, P = 0.306735 tc id = 21, canon_type = 3, mot type = 2 time: 2.462000 primary movement = 2.141250000887e-03 time: 2.462000000000e+00 total movement = 2.141250000887e-03 vel = 2.145000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.152500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.152500, acc = 7.500000,T = 1.857664, P = 0.308884 tc id = 21, canon_type = 3, mot type = 2 time: 2.463000 primary movement = 2.148750000897e-03 time: 2.463000000000e+00 total movement = 2.148750000897e-03 vel = 2.152500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.160000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.160000, acc = 7.500000,T = 1.857664, P = 0.311040 tc id = 21, canon_type = 3, mot type = 2 time: 2.464000 primary movement = 2.156250000907e-03 time: 2.464000000000e+00 total movement = 2.156250000907e-03 vel = 2.160000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.167500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.167500, acc = 7.500000,T = 1.857664, P = 0.313204 tc id = 21, canon_type = 3, mot type = 2 time: 2.465000 primary movement = 2.163750000915e-03 time: 2.465000000000e+00 total movement = 2.163750000915e-03 vel = 2.167500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.175000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.175000, acc = 7.500000,T = 1.857664, P = 0.315375 tc id = 21, canon_type = 3, mot type = 2 time: 2.466000 primary movement = 2.171250000925e-03 time: 2.466000000000e+00 total movement = 2.171250000925e-03 vel = 2.175000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.182500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.182500, acc = 7.500000,T = 1.857664, P = 0.317554 tc id = 21, canon_type = 3, mot type = 2 time: 2.467000 primary movement = 2.178750000936e-03 time: 2.467000000000e+00 total movement = 2.178750000936e-03 vel = 2.182500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.190000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.190000, acc = 7.500000,T = 1.857664, P = 0.319740 tc id = 21, canon_type = 3, mot type = 2 time: 2.468000 primary movement = 2.186250000944e-03 time: 2.468000000000e+00 total movement = 2.186250000944e-03 vel = 2.190000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.197500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.197500, acc = 7.500000,T = 1.857664, P = 0.321934 tc id = 21, canon_type = 3, mot type = 2 time: 2.469000 primary movement = 2.193750000955e-03 time: 2.469000000000e+00 total movement = 2.193750000955e-03 vel = 2.197500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.205000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.205000, acc = 7.500000,T = 1.857664, P = 0.324135 tc id = 21, canon_type = 3, mot type = 2 time: 2.470000 primary movement = 2.201250000964e-03 time: 2.470000000000e+00 total movement = 2.201250000964e-03 vel = 2.205000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.212500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.212500, acc = 7.500000,T = 1.857664, P = 0.326344 tc id = 21, canon_type = 3, mot type = 2 time: 2.471000 primary movement = 2.208750000974e-03 time: 2.471000000000e+00 total movement = 2.208750000974e-03 vel = 2.212500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.220000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.220000, acc = 7.500000,T = 1.857664, P = 0.328560 tc id = 21, canon_type = 3, mot type = 2 time: 2.472000 primary movement = 2.216250000984e-03 time: 2.472000000000e+00 total movement = 2.216250000984e-03 vel = 2.220000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.227500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.227500, acc = 7.500000,T = 1.857664, P = 0.330784 tc id = 21, canon_type = 3, mot type = 2 time: 2.473000 primary movement = 2.223750000994e-03 time: 2.473000000000e+00 total movement = 2.223750000994e-03 vel = 2.227500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.235000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.235000, acc = 7.500000,T = 1.857664, P = 0.333015 tc id = 21, canon_type = 3, mot type = 2 time: 2.474000 primary movement = 2.231250001004e-03 time: 2.474000000000e+00 total movement = 2.231250001004e-03 vel = 2.235000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.242500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.242500, acc = 7.500000,T = 1.857664, P = 0.335254 tc id = 21, canon_type = 3, mot type = 2 time: 2.475000 primary movement = 2.238750001014e-03 time: 2.475000000000e+00 total movement = 2.238750001014e-03 vel = 2.242500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.250000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.250000, acc = 7.500000,T = 1.857664, P = 0.337500 tc id = 21, canon_type = 3, mot type = 2 time: 2.476000 primary movement = 2.246250001025e-03 time: 2.476000000000e+00 total movement = 2.246250001025e-03 vel = 2.250000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.257500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.257500, acc = 7.500000,T = 1.857664, P = 0.339754 tc id = 21, canon_type = 3, mot type = 2 time: 2.477000 primary movement = 2.253750001034e-03 time: 2.477000000000e+00 total movement = 2.253750001034e-03 vel = 2.257500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.265000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.265000, acc = 7.500000,T = 1.857664, P = 0.342015 tc id = 21, canon_type = 3, mot type = 2 time: 2.478000 primary movement = 2.261250001044e-03 time: 2.478000000000e+00 total movement = 2.261250001044e-03 vel = 2.265000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.272500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.272500, acc = 7.500000,T = 1.857664, P = 0.344284 tc id = 21, canon_type = 3, mot type = 2 time: 2.479000 primary movement = 2.268750001055e-03 time: 2.479000000000e+00 total movement = 2.268750001055e-03 vel = 2.272500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.280000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.280000, acc = 7.500000,T = 1.857664, P = 0.346560 tc id = 21, canon_type = 3, mot type = 2 time: 2.480000 primary movement = 2.276250001066e-03 time: 2.480000000000e+00 total movement = 2.276250001066e-03 vel = 2.280000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.287500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.287500, acc = 7.500000,T = 1.857664, P = 0.348844 tc id = 21, canon_type = 3, mot type = 2 time: 2.481000 primary movement = 2.283750001076e-03 time: 2.481000000000e+00 total movement = 2.283750001076e-03 vel = 2.287500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.295000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.295000, acc = 7.500000,T = 1.857664, P = 0.351135 tc id = 21, canon_type = 3, mot type = 2 time: 2.482000 primary movement = 2.291250001087e-03 time: 2.482000000000e+00 total movement = 2.291250001087e-03 vel = 2.295000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.302500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.302500, acc = 7.500000,T = 1.857664, P = 0.353434 tc id = 21, canon_type = 3, mot type = 2 time: 2.483000 primary movement = 2.298750001098e-03 time: 2.483000000000e+00 total movement = 2.298750001098e-03 vel = 2.302500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.310000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.310000, acc = 7.500000,T = 1.857664, P = 0.355740 tc id = 21, canon_type = 3, mot type = 2 time: 2.484000 primary movement = 2.306250001108e-03 time: 2.484000000000e+00 total movement = 2.306250001108e-03 vel = 2.310000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.317500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.317500, acc = 7.500000,T = 1.857664, P = 0.358054 tc id = 21, canon_type = 3, mot type = 2 time: 2.485000 primary movement = 2.313750001119e-03 time: 2.485000000000e+00 total movement = 2.313750001119e-03 vel = 2.317500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.325000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.325000, acc = 7.500000,T = 1.857664, P = 0.360375 tc id = 21, canon_type = 3, mot type = 2 time: 2.486000 primary movement = 2.321250001130e-03 time: 2.486000000000e+00 total movement = 2.321250001130e-03 vel = 2.325000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.332500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.332500, acc = 7.500000,T = 1.857664, P = 0.362704 tc id = 21, canon_type = 3, mot type = 2 time: 2.487000 primary movement = 2.328750001141e-03 time: 2.487000000000e+00 total movement = 2.328750001141e-03 vel = 2.332500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.340000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.340000, acc = 7.500000,T = 1.857664, P = 0.365040 tc id = 21, canon_type = 3, mot type = 2 time: 2.488000 primary movement = 2.336250001152e-03 time: 2.488000000000e+00 total movement = 2.336250001152e-03 vel = 2.340000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.347500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.347500, acc = 7.500000,T = 1.857664, P = 0.367384 tc id = 21, canon_type = 3, mot type = 2 time: 2.489000 primary movement = 2.343750001164e-03 time: 2.489000000000e+00 total movement = 2.343750001164e-03 vel = 2.347500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.355000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.355000, acc = 7.500000,T = 1.857664, P = 0.369735 tc id = 21, canon_type = 3, mot type = 2 time: 2.490000 primary movement = 2.351250001173e-03 time: 2.490000000000e+00 total movement = 2.351250001173e-03 vel = 2.355000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.362500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.362500, acc = 7.500000,T = 1.857664, P = 0.372094 tc id = 21, canon_type = 3, mot type = 2 time: 2.491000 primary movement = 2.358750001185e-03 time: 2.491000000000e+00 total movement = 2.358750001185e-03 vel = 2.362500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.370000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.370000, acc = 7.500000,T = 1.857664, P = 0.374460 tc id = 21, canon_type = 3, mot type = 2 time: 2.492000 primary movement = 2.366250001197e-03 time: 2.492000000000e+00 total movement = 2.366250001197e-03 vel = 2.370000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.377500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.377500, acc = 7.500000,T = 1.857664, P = 0.376834 tc id = 21, canon_type = 3, mot type = 2 time: 2.493000 primary movement = 2.373750001208e-03 time: 2.493000000000e+00 total movement = 2.373750001208e-03 vel = 2.377500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.385000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.385000, acc = 7.500000,T = 1.857664, P = 0.379215 tc id = 21, canon_type = 3, mot type = 2 time: 2.494000 primary movement = 2.381250001219e-03 time: 2.494000000000e+00 total movement = 2.381250001219e-03 vel = 2.385000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.392500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.392500, acc = 7.500000,T = 1.857664, P = 0.381604 tc id = 21, canon_type = 3, mot type = 2 time: 2.495000 primary movement = 2.388750001231e-03 time: 2.495000000000e+00 total movement = 2.388750001231e-03 vel = 2.392500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.400000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.400000, acc = 7.500000,T = 1.857664, P = 0.384000 tc id = 21, canon_type = 3, mot type = 2 time: 2.496000 primary movement = 2.396250001243e-03 time: 2.496000000000e+00 total movement = 2.396250001243e-03 vel = 2.400000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.407500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.407500, acc = 7.500000,T = 1.857664, P = 0.386404 tc id = 21, canon_type = 3, mot type = 2 time: 2.497000 primary movement = 2.403750001254e-03 time: 2.497000000000e+00 total movement = 2.403750001254e-03 vel = 2.407500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.415000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.415000, acc = 7.500000,T = 1.857664, P = 0.388815 tc id = 21, canon_type = 3, mot type = 2 time: 2.498000 primary movement = 2.411250001266e-03 time: 2.498000000000e+00 total movement = 2.411250001266e-03 vel = 2.415000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.422500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.422500, acc = 7.500000,T = 1.857664, P = 0.391234 tc id = 21, canon_type = 3, mot type = 2 time: 2.499000 primary movement = 2.418750001278e-03 time: 2.499000000000e+00 total movement = 2.418750001278e-03 vel = 2.422500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.430000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.430000, acc = 7.500000,T = 1.857664, P = 0.393660 tc id = 21, canon_type = 3, mot type = 2 time: 2.500000 primary movement = 2.426250001289e-03 time: 2.500000000000e+00 total movement = 2.426250001289e-03 vel = 2.430000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.437500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.437500, acc = 7.500000,T = 1.857664, P = 0.396094 tc id = 21, canon_type = 3, mot type = 2 time: 2.501000 primary movement = 2.433750001302e-03 time: 2.501000000000e+00 total movement = 2.433750001302e-03 vel = 2.437500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.445000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.445000, acc = 7.500000,T = 1.857664, P = 0.398535 tc id = 21, canon_type = 3, mot type = 2 time: 2.502000 primary movement = 2.441250001314e-03 time: 2.502000000000e+00 total movement = 2.441250001314e-03 vel = 2.445000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.452500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.452500, acc = 7.500000,T = 1.857664, P = 0.400984 tc id = 21, canon_type = 3, mot type = 2 time: 2.503000 primary movement = 2.448750001325e-03 time: 2.503000000000e+00 total movement = 2.448750001325e-03 vel = 2.452500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.460000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.460000, acc = 7.500000,T = 1.857664, P = 0.403440 tc id = 21, canon_type = 3, mot type = 2 time: 2.504000 primary movement = 2.456250001338e-03 time: 2.504000000000e+00 total movement = 2.456250001338e-03 vel = 2.460000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.467500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.467500, acc = 7.500000,T = 1.857664, P = 0.405904 tc id = 21, canon_type = 3, mot type = 2 time: 2.505000 primary movement = 2.463750001351e-03 time: 2.505000000000e+00 total movement = 2.463750001351e-03 vel = 2.467500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.475000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.475000, acc = 7.500000,T = 1.857664, P = 0.408375 tc id = 21, canon_type = 3, mot type = 2 time: 2.506000 primary movement = 2.471250001362e-03 time: 2.506000000000e+00 total movement = 2.471250001362e-03 vel = 2.475000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.482500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.482500, acc = 7.500000,T = 1.857664, P = 0.410854 tc id = 21, canon_type = 3, mot type = 2 time: 2.507000 primary movement = 2.478750001375e-03 time: 2.507000000000e+00 total movement = 2.478750001375e-03 vel = 2.482500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.490000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.490000, acc = 7.500000,T = 1.857664, P = 0.413340 tc id = 21, canon_type = 3, mot type = 2 time: 2.508000 primary movement = 2.486250001387e-03 time: 2.508000000000e+00 total movement = 2.486250001387e-03 vel = 2.490000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.497500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.497500, acc = 7.500000,T = 1.857664, P = 0.415834 tc id = 21, canon_type = 3, mot type = 2 time: 2.509000 primary movement = 2.493750001400e-03 time: 2.509000000000e+00 total movement = 2.493750001400e-03 vel = 2.497500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.505000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.505000, acc = 7.500000,T = 1.857664, P = 0.418335 tc id = 21, canon_type = 3, mot type = 2 time: 2.510000 primary movement = 2.501250001413e-03 time: 2.510000000000e+00 total movement = 2.501250001413e-03 vel = 2.505000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.512500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.512500, acc = 7.500000,T = 1.857664, P = 0.420844 tc id = 21, canon_type = 3, mot type = 2 time: 2.511000 primary movement = 2.508750001426e-03 time: 2.511000000000e+00 total movement = 2.508750001426e-03 vel = 2.512500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.520000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.520000, acc = 7.500000,T = 1.857664, P = 0.423360 tc id = 21, canon_type = 3, mot type = 2 time: 2.512000 primary movement = 2.516250001437e-03 time: 2.512000000000e+00 total movement = 2.516250001437e-03 vel = 2.520000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.527500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.527500, acc = 7.500000,T = 1.857664, P = 0.425884 tc id = 21, canon_type = 3, mot type = 2 time: 2.513000 primary movement = 2.523750001452e-03 time: 2.513000000000e+00 total movement = 2.523750001452e-03 vel = 2.527500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.535000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.535000, acc = 7.500000,T = 1.857664, P = 0.428415 tc id = 21, canon_type = 3, mot type = 2 time: 2.514000 primary movement = 2.531250001463e-03 time: 2.514000000000e+00 total movement = 2.531250001463e-03 vel = 2.535000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.542500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.542500, acc = 7.500000,T = 1.857664, P = 0.430954 tc id = 21, canon_type = 3, mot type = 2 time: 2.515000 primary movement = 2.538750001477e-03 time: 2.515000000000e+00 total movement = 2.538750001477e-03 vel = 2.542500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.550000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.550000, acc = 7.500000,T = 1.857664, P = 0.433500 tc id = 21, canon_type = 3, mot type = 2 time: 2.516000 primary movement = 2.546250001490e-03 time: 2.516000000000e+00 total movement = 2.546250001490e-03 vel = 2.550000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.557500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.557500, acc = 7.500000,T = 1.857664, P = 0.436054 tc id = 21, canon_type = 3, mot type = 2 time: 2.517000 primary movement = 2.553750001504e-03 time: 2.517000000000e+00 total movement = 2.553750001504e-03 vel = 2.557500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.565000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.565000, acc = 7.500000,T = 1.857664, P = 0.438615 tc id = 21, canon_type = 3, mot type = 2 time: 2.518000 primary movement = 2.561250001516e-03 time: 2.518000000000e+00 total movement = 2.561250001516e-03 vel = 2.565000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.572500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.572500, acc = 7.500000,T = 1.857664, P = 0.441184 tc id = 21, canon_type = 3, mot type = 2 time: 2.519000 primary movement = 2.568750001529e-03 time: 2.519000000000e+00 total movement = 2.568750001529e-03 vel = 2.572500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.580000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.580000, acc = 7.500000,T = 1.857664, P = 0.443760 tc id = 21, canon_type = 3, mot type = 2 time: 2.520000 primary movement = 2.576250001543e-03 time: 2.520000000000e+00 total movement = 2.576250001543e-03 vel = 2.580000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.587500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.587500, acc = 7.500000,T = 1.857664, P = 0.446344 tc id = 21, canon_type = 3, mot type = 2 time: 2.521000 primary movement = 2.583750001557e-03 time: 2.521000000000e+00 total movement = 2.583750001557e-03 vel = 2.587500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.595000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.595000, acc = 7.500000,T = 1.857664, P = 0.448935 tc id = 21, canon_type = 3, mot type = 2 time: 2.522000 primary movement = 2.591250001570e-03 time: 2.522000000000e+00 total movement = 2.591250001570e-03 vel = 2.595000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.602500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.602500, acc = 7.500000,T = 1.857664, P = 0.451534 tc id = 21, canon_type = 3, mot type = 2 time: 2.523000 primary movement = 2.598750001584e-03 time: 2.523000000000e+00 total movement = 2.598750001584e-03 vel = 2.602500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.610000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.610000, acc = 7.500000,T = 1.857664, P = 0.454140 tc id = 21, canon_type = 3, mot type = 2 time: 2.524000 primary movement = 2.606250001597e-03 time: 2.524000000000e+00 total movement = 2.606250001597e-03 vel = 2.610000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.617500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.617500, acc = 7.500000,T = 1.857664, P = 0.456754 tc id = 21, canon_type = 3, mot type = 2 time: 2.525000 primary movement = 2.613750001612e-03 time: 2.525000000000e+00 total movement = 2.613750001612e-03 vel = 2.617500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.625000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.625000, acc = 7.500000,T = 1.857664, P = 0.459375 tc id = 21, canon_type = 3, mot type = 2 time: 2.526000 primary movement = 2.621250001625e-03 time: 2.526000000000e+00 total movement = 2.621250001625e-03 vel = 2.625000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.632500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.632500, acc = 7.500000,T = 1.857664, P = 0.462004 tc id = 21, canon_type = 3, mot type = 2 time: 2.527000 primary movement = 2.628750001639e-03 time: 2.527000000000e+00 total movement = 2.628750001639e-03 vel = 2.632500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.640000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.640000, acc = 7.500000,T = 1.857664, P = 0.464640 tc id = 21, canon_type = 3, mot type = 2 time: 2.528000 primary movement = 2.636250001653e-03 time: 2.528000000000e+00 total movement = 2.636250001653e-03 vel = 2.640000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.647500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.647500, acc = 7.500000,T = 1.857664, P = 0.467284 tc id = 21, canon_type = 3, mot type = 2 time: 2.529000 primary movement = 2.643750001667e-03 time: 2.529000000000e+00 total movement = 2.643750001667e-03 vel = 2.647500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.655000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.655000, acc = 7.500000,T = 1.857664, P = 0.469935 tc id = 21, canon_type = 3, mot type = 2 time: 2.530000 primary movement = 2.651250001681e-03 time: 2.530000000000e+00 total movement = 2.651250001681e-03 vel = 2.655000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.662500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.662500, acc = 7.500000,T = 1.857664, P = 0.472594 tc id = 21, canon_type = 3, mot type = 2 time: 2.531000 primary movement = 2.658750001696e-03 time: 2.531000000000e+00 total movement = 2.658750001696e-03 vel = 2.662500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.670000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.670000, acc = 7.500000,T = 1.857664, P = 0.475260 tc id = 21, canon_type = 3, mot type = 2 time: 2.532000 primary movement = 2.666250001710e-03 time: 2.532000000000e+00 total movement = 2.666250001710e-03 vel = 2.670000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.677500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.677500, acc = 7.500000,T = 1.857664, P = 0.477934 tc id = 21, canon_type = 3, mot type = 2 time: 2.533000 primary movement = 2.673750001724e-03 time: 2.533000000000e+00 total movement = 2.673750001724e-03 vel = 2.677500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.685000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.685000, acc = 7.500000,T = 1.857664, P = 0.480615 tc id = 21, canon_type = 3, mot type = 2 time: 2.534000 primary movement = 2.681250001739e-03 time: 2.534000000000e+00 total movement = 2.681250001739e-03 vel = 2.685000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.692500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.692500, acc = 7.500000,T = 1.857664, P = 0.483304 tc id = 21, canon_type = 3, mot type = 2 time: 2.535000 primary movement = 2.688750001753e-03 time: 2.535000000000e+00 total movement = 2.688750001753e-03 vel = 2.692500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.700000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.700000, acc = 7.500000,T = 1.857664, P = 0.486000 tc id = 21, canon_type = 3, mot type = 2 time: 2.536000 primary movement = 2.696250001769e-03 time: 2.536000000000e+00 total movement = 2.696250001769e-03 vel = 2.700000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.707500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.707500, acc = 7.500000,T = 1.857664, P = 0.488704 tc id = 21, canon_type = 3, mot type = 2 time: 2.537000 primary movement = 2.703750001783e-03 time: 2.537000000000e+00 total movement = 2.703750001783e-03 vel = 2.707500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.715000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.715000, acc = 7.500000,T = 1.857664, P = 0.491415 tc id = 21, canon_type = 3, mot type = 2 time: 2.538000 primary movement = 2.711250001798e-03 time: 2.538000000000e+00 total movement = 2.711250001798e-03 vel = 2.715000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.722500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.722500, acc = 7.500000,T = 1.857664, P = 0.494134 tc id = 21, canon_type = 3, mot type = 2 time: 2.539000 primary movement = 2.718750001813e-03 time: 2.539000000000e+00 total movement = 2.718750001813e-03 vel = 2.722500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.730000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.730000, acc = 7.500000,T = 1.857664, P = 0.496860 tc id = 21, canon_type = 3, mot type = 2 time: 2.540000 primary movement = 2.726250001828e-03 time: 2.540000000000e+00 total movement = 2.726250001828e-03 vel = 2.730000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.737500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.737500, acc = 7.500000,T = 1.857664, P = 0.499594 tc id = 21, canon_type = 3, mot type = 2 time: 2.541000 primary movement = 2.733750001843e-03 time: 2.541000000000e+00 total movement = 2.733750001843e-03 vel = 2.737500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.745000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.745000, acc = 7.500000,T = 1.857664, P = 0.502335 tc id = 21, canon_type = 3, mot type = 2 time: 2.542000 primary movement = 2.741250001858e-03 time: 2.542000000000e+00 total movement = 2.741250001858e-03 vel = 2.745000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.752500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.752500, acc = 7.500000,T = 1.857664, P = 0.505084 tc id = 21, canon_type = 3, mot type = 2 time: 2.543000 primary movement = 2.748750001873e-03 time: 2.543000000000e+00 total movement = 2.748750001873e-03 vel = 2.752500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.760000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.760000, acc = 7.500000,T = 1.857664, P = 0.507840 tc id = 21, canon_type = 3, mot type = 2 time: 2.544000 primary movement = 2.756250001888e-03 time: 2.544000000000e+00 total movement = 2.756250001888e-03 vel = 2.760000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.767500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.767500, acc = 7.500000,T = 1.857664, P = 0.510604 tc id = 21, canon_type = 3, mot type = 2 time: 2.545000 primary movement = 2.763750001904e-03 time: 2.545000000000e+00 total movement = 2.763750001904e-03 vel = 2.767500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.775000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.775000, acc = 7.500000,T = 1.857664, P = 0.513375 tc id = 21, canon_type = 3, mot type = 2 time: 2.546000 primary movement = 2.771250001919e-03 time: 2.546000000000e+00 total movement = 2.771250001919e-03 vel = 2.775000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.782500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.782500, acc = 7.500000,T = 1.857664, P = 0.516154 tc id = 21, canon_type = 3, mot type = 2 time: 2.547000 primary movement = 2.778750001936e-03 time: 2.547000000000e+00 total movement = 2.778750001936e-03 vel = 2.782500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.790000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.790000, acc = 7.500000,T = 1.857664, P = 0.518940 tc id = 21, canon_type = 3, mot type = 2 time: 2.548000 primary movement = 2.786250001951e-03 time: 2.548000000000e+00 total movement = 2.786250001951e-03 vel = 2.790000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.797500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.797500, acc = 7.500000,T = 1.857664, P = 0.521734 tc id = 21, canon_type = 3, mot type = 2 time: 2.549000 primary movement = 2.793750001966e-03 time: 2.549000000000e+00 total movement = 2.793750001966e-03 vel = 2.797500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.805000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.805000, acc = 7.500000,T = 1.857664, P = 0.524535 tc id = 21, canon_type = 3, mot type = 2 time: 2.550000 primary movement = 2.801250001983e-03 time: 2.550000000000e+00 total movement = 2.801250001983e-03 vel = 2.805000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.812500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.812500, acc = 7.500000,T = 1.857664, P = 0.527344 tc id = 21, canon_type = 3, mot type = 2 time: 2.551000 primary movement = 2.808750001998e-03 time: 2.551000000000e+00 total movement = 2.808750001998e-03 vel = 2.812500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.820000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.820000, acc = 7.500000,T = 1.857664, P = 0.530160 tc id = 21, canon_type = 3, mot type = 2 time: 2.552000 primary movement = 2.816250002014e-03 time: 2.552000000000e+00 total movement = 2.816250002014e-03 vel = 2.820000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.827500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.827500, acc = 7.500000,T = 1.857664, P = 0.532984 tc id = 21, canon_type = 3, mot type = 2 time: 2.553000 primary movement = 2.823750002031e-03 time: 2.553000000000e+00 total movement = 2.823750002031e-03 vel = 2.827500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.835000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.835000, acc = 7.500000,T = 1.857664, P = 0.535815 tc id = 21, canon_type = 3, mot type = 2 time: 2.554000 primary movement = 2.831250002047e-03 time: 2.554000000000e+00 total movement = 2.831250002047e-03 vel = 2.835000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.842500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.842500, acc = 7.500000,T = 1.857664, P = 0.538654 tc id = 21, canon_type = 3, mot type = 2 time: 2.555000 primary movement = 2.838750002063e-03 time: 2.555000000000e+00 total movement = 2.838750002063e-03 vel = 2.842500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.850000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.850000, acc = 7.500000,T = 1.857664, P = 0.541500 tc id = 21, canon_type = 3, mot type = 2 time: 2.556000 primary movement = 2.846250002079e-03 time: 2.556000000000e+00 total movement = 2.846250002079e-03 vel = 2.850000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.857500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.857500, acc = 7.500000,T = 1.857664, P = 0.544354 tc id = 21, canon_type = 3, mot type = 2 time: 2.557000 primary movement = 2.853750002096e-03 time: 2.557000000000e+00 total movement = 2.853750002096e-03 vel = 2.857500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.865000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.865000, acc = 7.500000,T = 1.857664, P = 0.547215 tc id = 21, canon_type = 3, mot type = 2 time: 2.558000 primary movement = 2.861250002113e-03 time: 2.558000000000e+00 total movement = 2.861250002113e-03 vel = 2.865000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.872500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.872500, acc = 7.500000,T = 1.857664, P = 0.550084 tc id = 21, canon_type = 3, mot type = 2 time: 2.559000 primary movement = 2.868750002129e-03 time: 2.559000000000e+00 total movement = 2.868750002129e-03 vel = 2.872500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.880000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.880000, acc = 7.500000,T = 1.857664, P = 0.552960 tc id = 21, canon_type = 3, mot type = 2 time: 2.560000 primary movement = 2.876250002145e-03 time: 2.560000000000e+00 total movement = 2.876250002145e-03 vel = 2.880000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.887500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.887500, acc = 7.500000,T = 1.857664, P = 0.555844 tc id = 21, canon_type = 3, mot type = 2 time: 2.561000 primary movement = 2.883750002162e-03 time: 2.561000000000e+00 total movement = 2.883750002162e-03 vel = 2.887500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.895000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.895000, acc = 7.500000,T = 1.857664, P = 0.558735 tc id = 21, canon_type = 3, mot type = 2 time: 2.562000 primary movement = 2.891250002180e-03 time: 2.562000000000e+00 total movement = 2.891250002180e-03 vel = 2.895000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.902500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.902500, acc = 7.500000,T = 1.857664, P = 0.561634 tc id = 21, canon_type = 3, mot type = 2 time: 2.563000 primary movement = 2.898750002196e-03 time: 2.563000000000e+00 total movement = 2.898750002196e-03 vel = 2.902500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.910000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.910000, acc = 7.500000,T = 1.857664, P = 0.564540 tc id = 21, canon_type = 3, mot type = 2 time: 2.564000 primary movement = 2.906250002213e-03 time: 2.564000000000e+00 total movement = 2.906250002213e-03 vel = 2.910000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.917500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.917500, acc = 7.500000,T = 1.857664, P = 0.567454 tc id = 21, canon_type = 3, mot type = 2 time: 2.565000 primary movement = 2.913750002230e-03 time: 2.565000000000e+00 total movement = 2.913750002230e-03 vel = 2.917500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.925000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.925000, acc = 7.500000,T = 1.857664, P = 0.570375 tc id = 21, canon_type = 3, mot type = 2 time: 2.566000 primary movement = 2.921250002247e-03 time: 2.566000000000e+00 total movement = 2.921250002247e-03 vel = 2.925000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.932500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.932500, acc = 7.500000,T = 1.857664, P = 0.573304 tc id = 21, canon_type = 3, mot type = 2 time: 2.567000 primary movement = 2.928750002265e-03 time: 2.567000000000e+00 total movement = 2.928750002265e-03 vel = 2.932500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.940000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.940000, acc = 7.500000,T = 1.857664, P = 0.576240 tc id = 21, canon_type = 3, mot type = 2 time: 2.568000 primary movement = 2.936250002282e-03 time: 2.568000000000e+00 total movement = 2.936250002282e-03 vel = 2.940000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.947500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.947500, acc = 7.500000,T = 1.857664, P = 0.579184 tc id = 21, canon_type = 3, mot type = 2 time: 2.569000 primary movement = 2.943750002300e-03 time: 2.569000000000e+00 total movement = 2.943750002300e-03 vel = 2.947500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.955000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.955000, acc = 7.500000,T = 1.857664, P = 0.582135 tc id = 21, canon_type = 3, mot type = 2 time: 2.570000 primary movement = 2.951250002317e-03 time: 2.570000000000e+00 total movement = 2.951250002317e-03 vel = 2.955000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.962500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.962500, acc = 7.500000,T = 1.857664, P = 0.585094 tc id = 21, canon_type = 3, mot type = 2 time: 2.571000 primary movement = 2.958750002335e-03 time: 2.571000000000e+00 total movement = 2.958750002335e-03 vel = 2.962500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.970000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.970000, acc = 7.500000,T = 1.857664, P = 0.588060 tc id = 21, canon_type = 3, mot type = 2 time: 2.572000 primary movement = 2.966250002353e-03 time: 2.572000000000e+00 total movement = 2.966250002353e-03 vel = 2.970000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.977500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.977500, acc = 7.500000,T = 1.857664, P = 0.591034 tc id = 21, canon_type = 3, mot type = 2 time: 2.573000 primary movement = 2.973750002371e-03 time: 2.573000000000e+00 total movement = 2.973750002371e-03 vel = 2.977500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.985000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.985000, acc = 7.500000,T = 1.857664, P = 0.594015 tc id = 21, canon_type = 3, mot type = 2 time: 2.574000 primary movement = 2.981250002388e-03 time: 2.574000000000e+00 total movement = 2.981250002388e-03 vel = 2.985000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.992500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.992500, acc = 7.500000,T = 1.857664, P = 0.597004 tc id = 21, canon_type = 3, mot type = 2 time: 2.575000 primary movement = 2.988750002407e-03 time: 2.575000000000e+00 total movement = 2.988750002407e-03 vel = 2.992500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.000000, acc = 7.500000,T = 1.857664, P = 0.600000 tc id = 21, canon_type = 3, mot type = 2 time: 2.576000 primary movement = 2.996250002425e-03 time: 2.576000000000e+00 total movement = 2.996250002425e-03 vel = 3.000000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.007500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.007500, acc = 7.500000,T = 1.857664, P = 0.603004 tc id = 21, canon_type = 3, mot type = 2 time: 2.577000 primary movement = 3.003750002443e-03 time: 2.577000000000e+00 total movement = 3.003750002443e-03 vel = 3.007500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.015000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.015000, acc = 7.500000,T = 1.857664, P = 0.606015 tc id = 21, canon_type = 3, mot type = 2 time: 2.578000 primary movement = 3.011250002461e-03 time: 2.578000000000e+00 total movement = 3.011250002461e-03 vel = 3.015000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.022500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.022500, acc = 7.500000,T = 1.857664, P = 0.609034 tc id = 21, canon_type = 3, mot type = 2 time: 2.579000 primary movement = 3.018750002480e-03 time: 2.579000000000e+00 total movement = 3.018750002480e-03 vel = 3.022500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.030000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.030000, acc = 7.500000,T = 1.857664, P = 0.612060 tc id = 21, canon_type = 3, mot type = 2 time: 2.580000 primary movement = 3.026250002498e-03 time: 2.580000000000e+00 total movement = 3.026250002498e-03 vel = 3.030000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.037500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.037500, acc = 7.500000,T = 1.857664, P = 0.615094 tc id = 21, canon_type = 3, mot type = 2 time: 2.581000 primary movement = 3.033750002517e-03 time: 2.581000000000e+00 total movement = 3.033750002517e-03 vel = 3.037500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.045000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.045000, acc = 7.500000,T = 1.857664, P = 0.618135 tc id = 21, canon_type = 3, mot type = 2 time: 2.582000 primary movement = 3.041250002535e-03 time: 2.582000000000e+00 total movement = 3.041250002535e-03 vel = 3.045000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.052500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.052500, acc = 7.500000,T = 1.857664, P = 0.621184 tc id = 21, canon_type = 3, mot type = 2 time: 2.583000 primary movement = 3.048750002555e-03 time: 2.583000000000e+00 total movement = 3.048750002555e-03 vel = 3.052500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.060000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.060000, acc = 7.500000,T = 1.857664, P = 0.624240 tc id = 21, canon_type = 3, mot type = 2 time: 2.584000 primary movement = 3.056250002573e-03 time: 2.584000000000e+00 total movement = 3.056250002573e-03 vel = 3.060000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.067500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.067500, acc = 7.500000,T = 1.857664, P = 0.627304 tc id = 21, canon_type = 3, mot type = 2 time: 2.585000 primary movement = 3.063750002592e-03 time: 2.585000000000e+00 total movement = 3.063750002592e-03 vel = 3.067500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.075000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.075000, acc = 7.500000,T = 1.857664, P = 0.630375 tc id = 21, canon_type = 3, mot type = 2 time: 2.586000 primary movement = 3.071250002611e-03 time: 2.586000000000e+00 total movement = 3.071250002611e-03 vel = 3.075000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.082500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.082500, acc = 7.500000,T = 1.857664, P = 0.633454 tc id = 21, canon_type = 3, mot type = 2 time: 2.587000 primary movement = 3.078750002630e-03 time: 2.587000000000e+00 total movement = 3.078750002630e-03 vel = 3.082500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.090000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.090000, acc = 7.500000,T = 1.857664, P = 0.636540 tc id = 21, canon_type = 3, mot type = 2 time: 2.588000 primary movement = 3.086250002650e-03 time: 2.588000000000e+00 total movement = 3.086250002650e-03 vel = 3.090000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.097500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.097500, acc = 7.500000,T = 1.857664, P = 0.639634 tc id = 21, canon_type = 3, mot type = 2 time: 2.589000 primary movement = 3.093750002669e-03 time: 2.589000000000e+00 total movement = 3.093750002669e-03 vel = 3.097500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.105000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.105000, acc = 7.500000,T = 1.857664, P = 0.642735 tc id = 21, canon_type = 3, mot type = 2 time: 2.590000 primary movement = 3.101250002688e-03 time: 2.590000000000e+00 total movement = 3.101250002688e-03 vel = 3.105000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.112500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.112500, acc = 7.500000,T = 1.857664, P = 0.645844 tc id = 21, canon_type = 3, mot type = 2 time: 2.591000 primary movement = 3.108750002707e-03 time: 2.591000000000e+00 total movement = 3.108750002707e-03 vel = 3.112500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.120000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.120000, acc = 7.500000,T = 1.857664, P = 0.648960 tc id = 21, canon_type = 3, mot type = 2 time: 2.592000 primary movement = 3.116250002727e-03 time: 2.592000000000e+00 total movement = 3.116250002727e-03 vel = 3.120000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.127500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.127500, acc = 7.500000,T = 1.857664, P = 0.652084 tc id = 21, canon_type = 3, mot type = 2 time: 2.593000 primary movement = 3.123750002747e-03 time: 2.593000000000e+00 total movement = 3.123750002747e-03 vel = 3.127500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.135000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.135000, acc = 7.500000,T = 1.857664, P = 0.655215 tc id = 21, canon_type = 3, mot type = 2 time: 2.594000 primary movement = 3.131250002767e-03 time: 2.594000000000e+00 total movement = 3.131250002767e-03 vel = 3.135000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.142500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.142500, acc = 7.500000,T = 1.857664, P = 0.658354 tc id = 21, canon_type = 3, mot type = 2 time: 2.595000 primary movement = 3.138750002787e-03 time: 2.595000000000e+00 total movement = 3.138750002787e-03 vel = 3.142500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.150000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.150000, acc = 7.500000,T = 1.857664, P = 0.661500 tc id = 21, canon_type = 3, mot type = 2 time: 2.596000 primary movement = 3.146250002807e-03 time: 2.596000000000e+00 total movement = 3.146250002807e-03 vel = 3.150000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.157500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.157500, acc = 7.500000,T = 1.857664, P = 0.664654 tc id = 21, canon_type = 3, mot type = 2 time: 2.597000 primary movement = 3.153750002826e-03 time: 2.597000000000e+00 total movement = 3.153750002826e-03 vel = 3.157500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.165000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.165000, acc = 7.500000,T = 1.857664, P = 0.667815 tc id = 21, canon_type = 3, mot type = 2 time: 2.598000 primary movement = 3.161250002848e-03 time: 2.598000000000e+00 total movement = 3.161250002848e-03 vel = 3.165000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.172500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.172500, acc = 7.500000,T = 1.857664, P = 0.670984 tc id = 21, canon_type = 3, mot type = 2 time: 2.599000 primary movement = 3.168750002867e-03 time: 2.599000000000e+00 total movement = 3.168750002867e-03 vel = 3.172500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.180000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.180000, acc = 7.500000,T = 1.857664, P = 0.674160 tc id = 21, canon_type = 3, mot type = 2 time: 2.600000 primary movement = 3.176250002888e-03 time: 2.600000000000e+00 total movement = 3.176250002888e-03 vel = 3.180000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.187500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.187500, acc = 7.500000,T = 1.857664, P = 0.677344 tc id = 21, canon_type = 3, mot type = 2 time: 2.601000 primary movement = 3.183750002908e-03 time: 2.601000000000e+00 total movement = 3.183750002908e-03 vel = 3.187500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.195000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.195000, acc = 7.500000,T = 1.857664, P = 0.680535 tc id = 21, canon_type = 3, mot type = 2 time: 2.602000 primary movement = 3.191250002928e-03 time: 2.602000000000e+00 total movement = 3.191250002928e-03 vel = 3.195000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.202500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.202500, acc = 7.500000,T = 1.857664, P = 0.683734 tc id = 21, canon_type = 3, mot type = 2 time: 2.603000 primary movement = 3.198750002950e-03 time: 2.603000000000e+00 total movement = 3.198750002950e-03 vel = 3.202500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.210000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.210000, acc = 7.500000,T = 1.857664, P = 0.686940 tc id = 21, canon_type = 3, mot type = 2 time: 2.604000 primary movement = 3.206250002970e-03 time: 2.604000000000e+00 total movement = 3.206250002970e-03 vel = 3.210000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.217500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.217500, acc = 7.500000,T = 1.857664, P = 0.690154 tc id = 21, canon_type = 3, mot type = 2 time: 2.605000 primary movement = 3.213750002991e-03 time: 2.605000000000e+00 total movement = 3.213750002991e-03 vel = 3.217500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.225000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.225000, acc = 7.500000,T = 1.857664, P = 0.693375 tc id = 21, canon_type = 3, mot type = 2 time: 2.606000 primary movement = 3.221250003012e-03 time: 2.606000000000e+00 total movement = 3.221250003012e-03 vel = 3.225000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.232500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.232500, acc = 7.500000,T = 1.857664, P = 0.696604 tc id = 21, canon_type = 3, mot type = 2 time: 2.607000 primary movement = 3.228750003033e-03 time: 2.607000000000e+00 total movement = 3.228750003033e-03 vel = 3.232500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.240000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.240000, acc = 7.500000,T = 1.857664, P = 0.699840 tc id = 21, canon_type = 3, mot type = 2 time: 2.608000 primary movement = 3.236250003054e-03 time: 2.608000000000e+00 total movement = 3.236250003054e-03 vel = 3.240000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.247500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.247500, acc = 7.500000,T = 1.857664, P = 0.703084 tc id = 21, canon_type = 3, mot type = 2 time: 2.609000 primary movement = 3.243750003075e-03 time: 2.609000000000e+00 total movement = 3.243750003075e-03 vel = 3.247500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.255000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.255000, acc = 7.500000,T = 1.857664, P = 0.706335 tc id = 21, canon_type = 3, mot type = 2 time: 2.610000 primary movement = 3.251250003096e-03 time: 2.610000000000e+00 total movement = 3.251250003096e-03 vel = 3.255000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.262500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.262500, acc = 7.500000,T = 1.857664, P = 0.709594 tc id = 21, canon_type = 3, mot type = 2 time: 2.611000 primary movement = 3.258750003118e-03 time: 2.611000000000e+00 total movement = 3.258750003118e-03 vel = 3.262500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.270000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.270000, acc = 7.500000,T = 1.857664, P = 0.712860 tc id = 21, canon_type = 3, mot type = 2 time: 2.612000 primary movement = 3.266250003140e-03 time: 2.612000000000e+00 total movement = 3.266250003140e-03 vel = 3.270000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.277500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.277500, acc = 7.500000,T = 1.857664, P = 0.716134 tc id = 21, canon_type = 3, mot type = 2 time: 2.613000 primary movement = 3.273750003161e-03 time: 2.613000000000e+00 total movement = 3.273750003161e-03 vel = 3.277500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.285000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.285000, acc = 7.500000,T = 1.857664, P = 0.719415 tc id = 21, canon_type = 3, mot type = 2 time: 2.614000 primary movement = 3.281250003183e-03 time: 2.614000000000e+00 total movement = 3.281250003183e-03 vel = 3.285000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.292500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.292500, acc = 7.500000,T = 1.857664, P = 0.722704 tc id = 21, canon_type = 3, mot type = 2 time: 2.615000 primary movement = 3.288750003204e-03 time: 2.615000000000e+00 total movement = 3.288750003204e-03 vel = 3.292500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.300000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.300000, acc = 7.500000,T = 1.857664, P = 0.726000 tc id = 21, canon_type = 3, mot type = 2 time: 2.616000 primary movement = 3.296250003227e-03 time: 2.616000000000e+00 total movement = 3.296250003227e-03 vel = 3.300000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.307500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.307500, acc = 7.500000,T = 1.857664, P = 0.729304 tc id = 21, canon_type = 3, mot type = 2 time: 2.617000 primary movement = 3.303750003249e-03 time: 2.617000000000e+00 total movement = 3.303750003249e-03 vel = 3.307500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.315000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.315000, acc = 7.500000,T = 1.857664, P = 0.732615 tc id = 21, canon_type = 3, mot type = 2 time: 2.618000 primary movement = 3.311250003271e-03 time: 2.618000000000e+00 total movement = 3.311250003271e-03 vel = 3.315000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.322500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.322500, acc = 7.500000,T = 1.857664, P = 0.735934 tc id = 21, canon_type = 3, mot type = 2 time: 2.619000 primary movement = 3.318750003293e-03 time: 2.619000000000e+00 total movement = 3.318750003293e-03 vel = 3.322500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.330000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.330000, acc = 7.500000,T = 1.857664, P = 0.739260 tc id = 21, canon_type = 3, mot type = 2 time: 2.620000 primary movement = 3.326250003315e-03 time: 2.620000000000e+00 total movement = 3.326250003315e-03 vel = 3.330000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.337500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.337500, acc = 7.500000,T = 1.857664, P = 0.742594 tc id = 21, canon_type = 3, mot type = 2 time: 2.621000 primary movement = 3.333750003338e-03 time: 2.621000000000e+00 total movement = 3.333750003338e-03 vel = 3.337500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.345000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.345000, acc = 7.500000,T = 1.857664, P = 0.745935 tc id = 21, canon_type = 3, mot type = 2 time: 2.622000 primary movement = 3.341250003361e-03 time: 2.622000000000e+00 total movement = 3.341250003361e-03 vel = 3.345000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.352500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.352500, acc = 7.500000,T = 1.857664, P = 0.749284 tc id = 21, canon_type = 3, mot type = 2 time: 2.623000 primary movement = 3.348750003383e-03 time: 2.623000000000e+00 total movement = 3.348750003383e-03 vel = 3.352500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.360000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.360000, acc = 7.500000,T = 1.857664, P = 0.752640 tc id = 21, canon_type = 3, mot type = 2 time: 2.624000 primary movement = 3.356250003406e-03 time: 2.624000000000e+00 total movement = 3.356250003406e-03 vel = 3.360000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.367500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.367500, acc = 7.500000,T = 1.857664, P = 0.756004 tc id = 21, canon_type = 3, mot type = 2 time: 2.625000 primary movement = 3.363750003429e-03 time: 2.625000000000e+00 total movement = 3.363750003429e-03 vel = 3.367500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.375000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.375000, acc = 7.500000,T = 1.857664, P = 0.759375 tc id = 21, canon_type = 3, mot type = 2 time: 2.626000 primary movement = 3.371250003451e-03 time: 2.626000000000e+00 total movement = 3.371250003451e-03 vel = 3.375000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.382500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.382500, acc = 7.500000,T = 1.857664, P = 0.762754 tc id = 21, canon_type = 3, mot type = 2 time: 2.627000 primary movement = 3.378750003475e-03 time: 2.627000000000e+00 total movement = 3.378750003475e-03 vel = 3.382500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.390000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.390000, acc = 7.500000,T = 1.857664, P = 0.766140 tc id = 21, canon_type = 3, mot type = 2 time: 2.628000 primary movement = 3.386250003497e-03 time: 2.628000000000e+00 total movement = 3.386250003497e-03 vel = 3.390000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.397500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.397500, acc = 7.500000,T = 1.857664, P = 0.769534 tc id = 21, canon_type = 3, mot type = 2 time: 2.629000 primary movement = 3.393750003522e-03 time: 2.629000000000e+00 total movement = 3.393750003522e-03 vel = 3.397500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.405000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.405000, acc = 7.500000,T = 1.857664, P = 0.772935 tc id = 21, canon_type = 3, mot type = 2 time: 2.630000 primary movement = 3.401250003545e-03 time: 2.630000000000e+00 total movement = 3.401250003545e-03 vel = 3.405000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.412500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.412500, acc = 7.500000,T = 1.857664, P = 0.776344 tc id = 21, canon_type = 3, mot type = 2 time: 2.631000 primary movement = 3.408750003568e-03 time: 2.631000000000e+00 total movement = 3.408750003568e-03 vel = 3.412500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.420000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.420000, acc = 7.500000,T = 1.857664, P = 0.779760 tc id = 21, canon_type = 3, mot type = 2 time: 2.632000 primary movement = 3.416250003591e-03 time: 2.632000000000e+00 total movement = 3.416250003591e-03 vel = 3.420000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.427500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.427500, acc = 7.500000,T = 1.857664, P = 0.783184 tc id = 21, canon_type = 3, mot type = 2 time: 2.633000 primary movement = 3.423750003615e-03 time: 2.633000000000e+00 total movement = 3.423750003615e-03 vel = 3.427500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.435000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.435000, acc = 7.500000,T = 1.857664, P = 0.786615 tc id = 21, canon_type = 3, mot type = 2 time: 2.634000 primary movement = 3.431250003640e-03 time: 2.634000000000e+00 total movement = 3.431250003640e-03 vel = 3.435000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.442500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.442500, acc = 7.500000,T = 1.857664, P = 0.790054 tc id = 21, canon_type = 3, mot type = 2 time: 2.635000 primary movement = 3.438750003662e-03 time: 2.635000000000e+00 total movement = 3.438750003662e-03 vel = 3.442500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.450000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.450000, acc = 7.500000,T = 1.857664, P = 0.793500 tc id = 21, canon_type = 3, mot type = 2 time: 2.636000 primary movement = 3.446250003687e-03 time: 2.636000000000e+00 total movement = 3.446250003687e-03 vel = 3.450000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.457500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.457500, acc = 7.500000,T = 1.857664, P = 0.796954 tc id = 21, canon_type = 3, mot type = 2 time: 2.637000 primary movement = 3.453750003711e-03 time: 2.637000000000e+00 total movement = 3.453750003711e-03 vel = 3.457500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.465000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.465000, acc = 7.500000,T = 1.857664, P = 0.800415 tc id = 21, canon_type = 3, mot type = 2 time: 2.638000 primary movement = 3.461250003735e-03 time: 2.638000000000e+00 total movement = 3.461250003735e-03 vel = 3.465000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.472500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.472500, acc = 7.500000,T = 1.857664, P = 0.803884 tc id = 21, canon_type = 3, mot type = 2 time: 2.639000 primary movement = 3.468750003759e-03 time: 2.639000000000e+00 total movement = 3.468750003759e-03 vel = 3.472500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.480000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.480000, acc = 7.500000,T = 1.857664, P = 0.807360 tc id = 21, canon_type = 3, mot type = 2 time: 2.640000 primary movement = 3.476250003784e-03 time: 2.640000000000e+00 total movement = 3.476250003784e-03 vel = 3.480000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.487500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.487500, acc = 7.500000,T = 1.857664, P = 0.810844 tc id = 21, canon_type = 3, mot type = 2 time: 2.641000 primary movement = 3.483750003807e-03 time: 2.641000000000e+00 total movement = 3.483750003807e-03 vel = 3.487500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.495000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.495000, acc = 7.500000,T = 1.857664, P = 0.814335 tc id = 21, canon_type = 3, mot type = 2 time: 2.642000 primary movement = 3.491250003833e-03 time: 2.642000000000e+00 total movement = 3.491250003833e-03 vel = 3.495000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.502500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.502500, acc = 7.500000,T = 1.857664, P = 0.817834 tc id = 21, canon_type = 3, mot type = 2 time: 2.643000 primary movement = 3.498750003858e-03 time: 2.643000000000e+00 total movement = 3.498750003858e-03 vel = 3.502500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.510000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.510000, acc = 7.500000,T = 1.857664, P = 0.821340 tc id = 21, canon_type = 3, mot type = 2 time: 2.644000 primary movement = 3.506250003882e-03 time: 2.644000000000e+00 total movement = 3.506250003882e-03 vel = 3.510000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.517500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.517500, acc = 7.500000,T = 1.857664, P = 0.824854 tc id = 21, canon_type = 3, mot type = 2 time: 2.645000 primary movement = 3.513750003907e-03 time: 2.645000000000e+00 total movement = 3.513750003907e-03 vel = 3.517500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.525000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.525000, acc = 7.500000,T = 1.857664, P = 0.828375 tc id = 21, canon_type = 3, mot type = 2 time: 2.646000 primary movement = 3.521250003933e-03 time: 2.646000000000e+00 total movement = 3.521250003933e-03 vel = 3.525000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.532500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.532500, acc = 7.500000,T = 1.857664, P = 0.831904 tc id = 21, canon_type = 3, mot type = 2 time: 2.647000 primary movement = 3.528750003957e-03 time: 2.647000000000e+00 total movement = 3.528750003957e-03 vel = 3.532500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.540000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.540000, acc = 7.500000,T = 1.857664, P = 0.835440 tc id = 21, canon_type = 3, mot type = 2 time: 2.648000 primary movement = 3.536250003982e-03 time: 2.648000000000e+00 total movement = 3.536250003982e-03 vel = 3.540000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.547500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.547500, acc = 7.500000,T = 1.857664, P = 0.838984 tc id = 21, canon_type = 3, mot type = 2 time: 2.649000 primary movement = 3.543750004008e-03 time: 2.649000000000e+00 total movement = 3.543750004008e-03 vel = 3.547500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.555000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.555000, acc = 7.500000,T = 1.857664, P = 0.842535 tc id = 21, canon_type = 3, mot type = 2 time: 2.650000 primary movement = 3.551250004033e-03 time: 2.650000000000e+00 total movement = 3.551250004033e-03 vel = 3.555000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.562500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.562500, acc = 7.500000,T = 1.857664, P = 0.846094 tc id = 21, canon_type = 3, mot type = 2 time: 2.651000 primary movement = 3.558750004059e-03 time: 2.651000000000e+00 total movement = 3.558750004059e-03 vel = 3.562500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.570000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.570000, acc = 7.500000,T = 1.857664, P = 0.849660 tc id = 21, canon_type = 3, mot type = 2 time: 2.652000 primary movement = 3.566250004085e-03 time: 2.652000000000e+00 total movement = 3.566250004085e-03 vel = 3.570000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.577500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.577500, acc = 7.500000,T = 1.857664, P = 0.853234 tc id = 21, canon_type = 3, mot type = 2 time: 2.653000 primary movement = 3.573750004110e-03 time: 2.653000000000e+00 total movement = 3.573750004110e-03 vel = 3.577500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.585000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.585000, acc = 7.500000,T = 1.857664, P = 0.856815 tc id = 21, canon_type = 3, mot type = 2 time: 2.654000 primary movement = 3.581250004137e-03 time: 2.654000000000e+00 total movement = 3.581250004137e-03 vel = 3.585000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.592500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.592500, acc = 7.500000,T = 1.857664, P = 0.860404 tc id = 21, canon_type = 3, mot type = 2 time: 2.655000 primary movement = 3.588750004162e-03 time: 2.655000000000e+00 total movement = 3.588750004162e-03 vel = 3.592500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.600000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.600000, acc = 7.500000,T = 1.857664, P = 0.864000 tc id = 21, canon_type = 3, mot type = 2 time: 2.656000 primary movement = 3.596250004189e-03 time: 2.656000000000e+00 total movement = 3.596250004189e-03 vel = 3.600000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.607500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.607500, acc = 7.500000,T = 1.857664, P = 0.867604 tc id = 21, canon_type = 3, mot type = 2 time: 2.657000 primary movement = 3.603750004215e-03 time: 2.657000000000e+00 total movement = 3.603750004215e-03 vel = 3.607500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.615000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.615000, acc = 7.500000,T = 1.857664, P = 0.871215 tc id = 21, canon_type = 3, mot type = 2 time: 2.658000 primary movement = 3.611250004241e-03 time: 2.658000000000e+00 total movement = 3.611250004241e-03 vel = 3.615000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.622500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.622500, acc = 7.500000,T = 1.857664, P = 0.874834 tc id = 21, canon_type = 3, mot type = 2 time: 2.659000 primary movement = 3.618750004268e-03 time: 2.659000000000e+00 total movement = 3.618750004268e-03 vel = 3.622500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.630000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.630000, acc = 7.500000,T = 1.857664, P = 0.878460 tc id = 21, canon_type = 3, mot type = 2 time: 2.660000 primary movement = 3.626250004294e-03 time: 2.660000000000e+00 total movement = 3.626250004294e-03 vel = 3.630000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.637500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.637500, acc = 7.500000,T = 1.857664, P = 0.882094 tc id = 21, canon_type = 3, mot type = 2 time: 2.661000 primary movement = 3.633750004321e-03 time: 2.661000000000e+00 total movement = 3.633750004321e-03 vel = 3.637500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.645000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.645000, acc = 7.500000,T = 1.857664, P = 0.885735 tc id = 21, canon_type = 3, mot type = 2 time: 2.662000 primary movement = 3.641250004347e-03 time: 2.662000000000e+00 total movement = 3.641250004347e-03 vel = 3.645000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.652500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.652500, acc = 7.500000,T = 1.857664, P = 0.889384 tc id = 21, canon_type = 3, mot type = 2 time: 2.663000 primary movement = 3.648750004375e-03 time: 2.663000000000e+00 total movement = 3.648750004375e-03 vel = 3.652500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.660000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.660000, acc = 7.500000,T = 1.857664, P = 0.893040 tc id = 21, canon_type = 3, mot type = 2 time: 2.664000 primary movement = 3.656250004401e-03 time: 2.664000000000e+00 total movement = 3.656250004401e-03 vel = 3.660000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.667500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.667500, acc = 7.500000,T = 1.857664, P = 0.896704 tc id = 21, canon_type = 3, mot type = 2 time: 2.665000 primary movement = 3.663750004428e-03 time: 2.665000000000e+00 total movement = 3.663750004428e-03 vel = 3.667500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.675000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.675000, acc = 7.500000,T = 1.857664, P = 0.900375 tc id = 21, canon_type = 3, mot type = 2 time: 2.666000 primary movement = 3.671250004456e-03 time: 2.666000000000e+00 total movement = 3.671250004456e-03 vel = 3.675000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.682500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.682500, acc = 7.500000,T = 1.857664, P = 0.904054 tc id = 21, canon_type = 3, mot type = 2 time: 2.667000 primary movement = 3.678750004483e-03 time: 2.667000000000e+00 total movement = 3.678750004483e-03 vel = 3.682500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.690000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.690000, acc = 7.500000,T = 1.857664, P = 0.907740 tc id = 21, canon_type = 3, mot type = 2 time: 2.668000 primary movement = 3.686250004510e-03 time: 2.668000000000e+00 total movement = 3.686250004510e-03 vel = 3.690000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.697500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.697500, acc = 7.500000,T = 1.857664, P = 0.911434 tc id = 21, canon_type = 3, mot type = 2 time: 2.669000 primary movement = 3.693750004538e-03 time: 2.669000000000e+00 total movement = 3.693750004538e-03 vel = 3.697500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.705000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.705000, acc = 7.500000,T = 1.857664, P = 0.915135 tc id = 21, canon_type = 3, mot type = 2 time: 2.670000 primary movement = 3.701250004565e-03 time: 2.670000000000e+00 total movement = 3.701250004565e-03 vel = 3.705000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.712500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.712500, acc = 7.500000,T = 1.857664, P = 0.918844 tc id = 21, canon_type = 3, mot type = 2 time: 2.671000 primary movement = 3.708750004594e-03 time: 2.671000000000e+00 total movement = 3.708750004594e-03 vel = 3.712500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.720000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.720000, acc = 7.500000,T = 1.857664, P = 0.922560 tc id = 21, canon_type = 3, mot type = 2 time: 2.672000 primary movement = 3.716250004621e-03 time: 2.672000000000e+00 total movement = 3.716250004621e-03 vel = 3.720000000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.727500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.727500, acc = 7.500000,T = 1.857664, P = 0.926284 tc id = 21, canon_type = 3, mot type = 2 time: 2.673000 primary movement = 3.723750004649e-03 time: 2.673000000000e+00 total movement = 3.723750004649e-03 vel = 3.727500000000e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.730250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.730250, acc = 2.750231,T = 1.857664, P = 0.930013 tc id = 21, canon_type = 3, mot type = 2 time: 2.674000 primary movement = 3.728875119950e-03 time: 2.674000000000e+00 total movement = 3.728875119950e-03 vel = 3.730250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.722750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.722750, acc = -7.500000,T = 1.857664, P = 0.933739 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.675000 primary movement = 3.726500235241e-03 time: 2.675000000000e+00 total movement = 3.726500235241e-03 vel = 3.722750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.715250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.715250, acc = -7.500000,T = 1.857664, P = 0.937458 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.676000 primary movement = 3.719000235250e-03 time: 2.676000000000e+00 total movement = 3.719000235250e-03 vel = 3.715250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.707750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.707750, acc = -7.500000,T = 1.857664, P = 0.941170 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.677000 primary movement = 3.711500235259e-03 time: 2.677000000000e+00 total movement = 3.711500235259e-03 vel = 3.707750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.700250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.700250, acc = -7.500000,T = 1.857664, P = 0.944874 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.678000 primary movement = 3.704000235268e-03 time: 2.678000000000e+00 total movement = 3.704000235268e-03 vel = 3.700250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.692750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.692750, acc = -7.500000,T = 1.857664, P = 0.948570 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.679000 primary movement = 3.696500235277e-03 time: 2.679000000000e+00 total movement = 3.696500235277e-03 vel = 3.692750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.685250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.685250, acc = -7.500000,T = 1.857664, P = 0.952259 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.680000 primary movement = 3.689000235286e-03 time: 2.680000000000e+00 total movement = 3.689000235286e-03 vel = 3.685250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.677750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.677750, acc = -7.500000,T = 1.857664, P = 0.955941 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.681000 primary movement = 3.681500235295e-03 time: 2.681000000000e+00 total movement = 3.681500235295e-03 vel = 3.677750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.670250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.670250, acc = -7.500000,T = 1.857664, P = 0.959615 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.682000 primary movement = 3.674000235303e-03 time: 2.682000000000e+00 total movement = 3.674000235303e-03 vel = 3.670250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.662750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.662750, acc = -7.500000,T = 1.857664, P = 0.963281 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.683000 primary movement = 3.666500235311e-03 time: 2.683000000000e+00 total movement = 3.666500235311e-03 vel = 3.662750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.655250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.655250, acc = -7.500000,T = 1.857664, P = 0.966940 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.684000 primary movement = 3.659000235320e-03 time: 2.684000000000e+00 total movement = 3.659000235320e-03 vel = 3.655250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.647750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.647750, acc = -7.500000,T = 1.857664, P = 0.970592 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.685000 primary movement = 3.651500235328e-03 time: 2.685000000000e+00 total movement = 3.651500235328e-03 vel = 3.647750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.640250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.640250, acc = -7.500000,T = 1.857664, P = 0.974236 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.686000 primary movement = 3.644000235337e-03 time: 2.686000000000e+00 total movement = 3.644000235337e-03 vel = 3.640250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.632750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.632750, acc = -7.500000,T = 1.857664, P = 0.977872 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.687000 primary movement = 3.636500235344e-03 time: 2.687000000000e+00 total movement = 3.636500235344e-03 vel = 3.632750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.625250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.625250, acc = -7.500000,T = 1.857664, P = 0.981501 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.688000 primary movement = 3.629000235352e-03 time: 2.688000000000e+00 total movement = 3.629000235352e-03 vel = 3.625250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.617750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.617750, acc = -7.500000,T = 1.857664, P = 0.985123 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.689000 primary movement = 3.621500235360e-03 time: 2.689000000000e+00 total movement = 3.621500235360e-03 vel = 3.617750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.610250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.610250, acc = -7.500000,T = 1.857664, P = 0.988737 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.690000 primary movement = 3.614000235367e-03 time: 2.690000000000e+00 total movement = 3.614000235367e-03 vel = 3.610250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.602750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.602750, acc = -7.500000,T = 1.857664, P = 0.992343 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.691000 primary movement = 3.606500235375e-03 time: 2.691000000000e+00 total movement = 3.606500235375e-03 vel = 3.602750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.595250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.595250, acc = -7.500000,T = 1.857664, P = 0.995942 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.692000 primary movement = 3.599000235383e-03 time: 2.692000000000e+00 total movement = 3.599000235383e-03 vel = 3.595250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.587750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.587750, acc = -7.500000,T = 1.857664, P = 0.999534 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.693000 primary movement = 3.591500235389e-03 time: 2.693000000000e+00 total movement = 3.591500235389e-03 vel = 3.587750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.580250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.580250, acc = -7.500000,T = 1.857664, P = 1.003118 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.694000 primary movement = 3.584000235397e-03 time: 2.694000000000e+00 total movement = 3.584000235397e-03 vel = 3.580250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.572750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.572750, acc = -7.500000,T = 1.857664, P = 1.006694 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.695000 primary movement = 3.576500235404e-03 time: 2.695000000000e+00 total movement = 3.576500235404e-03 vel = 3.572750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.565250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.565250, acc = -7.500000,T = 1.857664, P = 1.010263 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.696000 primary movement = 3.569000235411e-03 time: 2.696000000000e+00 total movement = 3.569000235411e-03 vel = 3.565250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.557750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.557750, acc = -7.500000,T = 1.857664, P = 1.013825 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.697000 primary movement = 3.561500235418e-03 time: 2.697000000000e+00 total movement = 3.561500235418e-03 vel = 3.557750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.550250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.550250, acc = -7.500000,T = 1.857664, P = 1.017379 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.698000 primary movement = 3.554000235425e-03 time: 2.698000000000e+00 total movement = 3.554000235425e-03 vel = 3.550250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.542750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.542750, acc = -7.500000,T = 1.857664, P = 1.020925 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.699000 primary movement = 3.546500235431e-03 time: 2.699000000000e+00 total movement = 3.546500235431e-03 vel = 3.542750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.535250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.535250, acc = -7.500000,T = 1.857664, P = 1.024464 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.700000 primary movement = 3.539000235439e-03 time: 2.700000000000e+00 total movement = 3.539000235439e-03 vel = 3.535250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.527750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.527750, acc = -7.500000,T = 1.857664, P = 1.027996 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.701000 primary movement = 3.531500235445e-03 time: 2.701000000000e+00 total movement = 3.531500235445e-03 vel = 3.527750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.520250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.520250, acc = -7.500000,T = 1.857664, P = 1.031520 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.702000 primary movement = 3.524000235451e-03 time: 2.702000000000e+00 total movement = 3.524000235451e-03 vel = 3.520250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.512750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.512750, acc = -7.500000,T = 1.857664, P = 1.035036 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.703000 primary movement = 3.516500235457e-03 time: 2.703000000000e+00 total movement = 3.516500235457e-03 vel = 3.512750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.505250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.505250, acc = -7.500000,T = 1.857664, P = 1.038545 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.704000 primary movement = 3.509000235463e-03 time: 2.704000000000e+00 total movement = 3.509000235463e-03 vel = 3.505250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.497750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.497750, acc = -7.500000,T = 1.857664, P = 1.042047 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.705000 primary movement = 3.501500235469e-03 time: 2.705000000000e+00 total movement = 3.501500235469e-03 vel = 3.497750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.490250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.490250, acc = -7.500000,T = 1.857664, P = 1.045541 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.706000 primary movement = 3.494000235476e-03 time: 2.706000000000e+00 total movement = 3.494000235476e-03 vel = 3.490250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.482750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.482750, acc = -7.500000,T = 1.857664, P = 1.049027 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.707000 primary movement = 3.486500235481e-03 time: 2.707000000000e+00 total movement = 3.486500235481e-03 vel = 3.482750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.475250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.475250, acc = -7.500000,T = 1.857664, P = 1.052506 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.708000 primary movement = 3.479000235487e-03 time: 2.708000000000e+00 total movement = 3.479000235487e-03 vel = 3.475250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.467750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.467750, acc = -7.500000,T = 1.857664, P = 1.055978 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.709000 primary movement = 3.471500235493e-03 time: 2.709000000000e+00 total movement = 3.471500235493e-03 vel = 3.467750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.460250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.460250, acc = -7.500000,T = 1.857664, P = 1.059442 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.710000 primary movement = 3.464000235498e-03 time: 2.710000000000e+00 total movement = 3.464000235498e-03 vel = 3.460250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.452750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.452750, acc = -7.500000,T = 1.857664, P = 1.062898 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.711000 primary movement = 3.456500235504e-03 time: 2.711000000000e+00 total movement = 3.456500235504e-03 vel = 3.452750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.445250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.445250, acc = -7.500000,T = 1.857664, P = 1.066347 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.712000 primary movement = 3.449000235509e-03 time: 2.712000000000e+00 total movement = 3.449000235509e-03 vel = 3.445250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.437750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.437750, acc = -7.500000,T = 1.857664, P = 1.069789 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.713000 primary movement = 3.441500235514e-03 time: 2.713000000000e+00 total movement = 3.441500235514e-03 vel = 3.437750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.430250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.430250, acc = -7.500000,T = 1.857664, P = 1.073223 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.714000 primary movement = 3.434000235519e-03 time: 2.714000000000e+00 total movement = 3.434000235519e-03 vel = 3.430250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.422750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.422750, acc = -7.500000,T = 1.857664, P = 1.076649 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.715000 primary movement = 3.426500235524e-03 time: 2.715000000000e+00 total movement = 3.426500235524e-03 vel = 3.422750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.415250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.415250, acc = -7.500000,T = 1.857664, P = 1.080068 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.716000 primary movement = 3.419000235529e-03 time: 2.716000000000e+00 total movement = 3.419000235529e-03 vel = 3.415250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.407750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.407750, acc = -7.500000,T = 1.857664, P = 1.083480 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.717000 primary movement = 3.411500235534e-03 time: 2.717000000000e+00 total movement = 3.411500235534e-03 vel = 3.407750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.400250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.400250, acc = -7.500000,T = 1.857664, P = 1.086884 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.718000 primary movement = 3.404000235538e-03 time: 2.718000000000e+00 total movement = 3.404000235538e-03 vel = 3.400250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.392750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.392750, acc = -7.500000,T = 1.857664, P = 1.090280 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.719000 primary movement = 3.396500235543e-03 time: 2.719000000000e+00 total movement = 3.396500235543e-03 vel = 3.392750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.385250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.385250, acc = -7.500000,T = 1.857664, P = 1.093669 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.720000 primary movement = 3.389000235547e-03 time: 2.720000000000e+00 total movement = 3.389000235547e-03 vel = 3.385250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.377750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.377750, acc = -7.500000,T = 1.857664, P = 1.097051 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.721000 primary movement = 3.381500235552e-03 time: 2.721000000000e+00 total movement = 3.381500235552e-03 vel = 3.377750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.370250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.370250, acc = -7.500000,T = 1.857664, P = 1.100425 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.722000 primary movement = 3.374000235556e-03 time: 2.722000000000e+00 total movement = 3.374000235556e-03 vel = 3.370250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.362750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.362750, acc = -7.500000,T = 1.857664, P = 1.103791 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.723000 primary movement = 3.366500235560e-03 time: 2.723000000000e+00 total movement = 3.366500235560e-03 vel = 3.362750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.355250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.355250, acc = -7.500000,T = 1.857664, P = 1.107150 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.724000 primary movement = 3.359000235564e-03 time: 2.724000000000e+00 total movement = 3.359000235564e-03 vel = 3.355250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.347750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.347750, acc = -7.500000,T = 1.857664, P = 1.110502 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.725000 primary movement = 3.351500235569e-03 time: 2.725000000000e+00 total movement = 3.351500235569e-03 vel = 3.347750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.340250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.340250, acc = -7.500000,T = 1.857664, P = 1.113846 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.726000 primary movement = 3.344000235572e-03 time: 2.726000000000e+00 total movement = 3.344000235572e-03 vel = 3.340250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.332750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.332750, acc = -7.500000,T = 1.857664, P = 1.117182 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.727000 primary movement = 3.336500235576e-03 time: 2.727000000000e+00 total movement = 3.336500235576e-03 vel = 3.332750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.325250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.325250, acc = -7.500000,T = 1.857664, P = 1.120511 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.728000 primary movement = 3.329000235580e-03 time: 2.728000000000e+00 total movement = 3.329000235580e-03 vel = 3.325250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.317750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.317750, acc = -7.500000,T = 1.857664, P = 1.123833 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.729000 primary movement = 3.321500235583e-03 time: 2.729000000000e+00 total movement = 3.321500235583e-03 vel = 3.317750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.310250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.310250, acc = -7.500000,T = 1.857664, P = 1.127147 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.730000 primary movement = 3.314000235587e-03 time: 2.730000000000e+00 total movement = 3.314000235587e-03 vel = 3.310250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.302750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.302750, acc = -7.500000,T = 1.857664, P = 1.130453 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.731000 primary movement = 3.306500235590e-03 time: 2.731000000000e+00 total movement = 3.306500235590e-03 vel = 3.302750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.295250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.295250, acc = -7.500000,T = 1.857664, P = 1.133752 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.732000 primary movement = 3.299000235593e-03 time: 2.732000000000e+00 total movement = 3.299000235593e-03 vel = 3.295250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.287750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.287750, acc = -7.500000,T = 1.857664, P = 1.137044 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.733000 primary movement = 3.291500235597e-03 time: 2.733000000000e+00 total movement = 3.291500235597e-03 vel = 3.287750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.280250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.280250, acc = -7.500000,T = 1.857664, P = 1.140328 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.734000 primary movement = 3.284000235599e-03 time: 2.734000000000e+00 total movement = 3.284000235599e-03 vel = 3.280250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.272750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.272750, acc = -7.500000,T = 1.857664, P = 1.143604 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.735000 primary movement = 3.276500235602e-03 time: 2.735000000000e+00 total movement = 3.276500235602e-03 vel = 3.272750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.265250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.265250, acc = -7.500000,T = 1.857664, P = 1.146873 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.736000 primary movement = 3.269000235606e-03 time: 2.736000000000e+00 total movement = 3.269000235606e-03 vel = 3.265250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.257750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.257750, acc = -7.500000,T = 1.857664, P = 1.150135 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.737000 primary movement = 3.261500235608e-03 time: 2.737000000000e+00 total movement = 3.261500235608e-03 vel = 3.257750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.250250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.250250, acc = -7.500000,T = 1.857664, P = 1.153389 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.738000 primary movement = 3.254000235610e-03 time: 2.738000000000e+00 total movement = 3.254000235610e-03 vel = 3.250250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.242750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.242750, acc = -7.500000,T = 1.857664, P = 1.156635 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.739000 primary movement = 3.246500235614e-03 time: 2.739000000000e+00 total movement = 3.246500235614e-03 vel = 3.242750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.235250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.235250, acc = -7.500000,T = 1.857664, P = 1.159874 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.740000 primary movement = 3.239000235616e-03 time: 2.740000000000e+00 total movement = 3.239000235616e-03 vel = 3.235250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.227750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.227750, acc = -7.500000,T = 1.857664, P = 1.163106 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.741000 primary movement = 3.231500235618e-03 time: 2.741000000000e+00 total movement = 3.231500235618e-03 vel = 3.227750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.220250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.220250, acc = -7.500000,T = 1.857664, P = 1.166330 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.742000 primary movement = 3.224000235621e-03 time: 2.742000000000e+00 total movement = 3.224000235621e-03 vel = 3.220250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.212750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.212750, acc = -7.500000,T = 1.857664, P = 1.169546 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.743000 primary movement = 3.216500235622e-03 time: 2.743000000000e+00 total movement = 3.216500235622e-03 vel = 3.212750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.205250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.205250, acc = -7.500000,T = 1.857664, P = 1.172755 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.744000 primary movement = 3.209000235624e-03 time: 2.744000000000e+00 total movement = 3.209000235624e-03 vel = 3.205250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.197750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.197750, acc = -7.500000,T = 1.857664, P = 1.175957 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.745000 primary movement = 3.201500235627e-03 time: 2.745000000000e+00 total movement = 3.201500235627e-03 vel = 3.197750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.190250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.190250, acc = -7.500000,T = 1.857664, P = 1.179151 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.746000 primary movement = 3.194000235628e-03 time: 2.746000000000e+00 total movement = 3.194000235628e-03 vel = 3.190250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.182750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.182750, acc = -7.500000,T = 1.857664, P = 1.182337 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.747000 primary movement = 3.186500235631e-03 time: 2.747000000000e+00 total movement = 3.186500235631e-03 vel = 3.182750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.175250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.175250, acc = -7.500000,T = 1.857664, P = 1.185516 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.748000 primary movement = 3.179000235632e-03 time: 2.748000000000e+00 total movement = 3.179000235632e-03 vel = 3.175250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.167750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.167750, acc = -7.500000,T = 1.857664, P = 1.188688 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.749000 primary movement = 3.171500235634e-03 time: 2.749000000000e+00 total movement = 3.171500235634e-03 vel = 3.167750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.160250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.160250, acc = -7.500000,T = 1.857664, P = 1.191852 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.750000 primary movement = 3.164000235635e-03 time: 2.750000000000e+00 total movement = 3.164000235635e-03 vel = 3.160250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.152750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.152750, acc = -7.500000,T = 1.857664, P = 1.195008 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.751000 primary movement = 3.156500235636e-03 time: 2.751000000000e+00 total movement = 3.156500235636e-03 vel = 3.152750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.145250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.145250, acc = -7.500000,T = 1.857664, P = 1.198157 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.752000 primary movement = 3.149000235638e-03 time: 2.752000000000e+00 total movement = 3.149000235638e-03 vel = 3.145250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.137750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.137750, acc = -7.500000,T = 1.857664, P = 1.201299 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.753000 primary movement = 3.141500235639e-03 time: 2.753000000000e+00 total movement = 3.141500235639e-03 vel = 3.137750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.130250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.130250, acc = -7.500000,T = 1.857664, P = 1.204433 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.754000 primary movement = 3.134000235640e-03 time: 2.754000000000e+00 total movement = 3.134000235640e-03 vel = 3.130250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.122750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.122750, acc = -7.500000,T = 1.857664, P = 1.207559 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.755000 primary movement = 3.126500235641e-03 time: 2.755000000000e+00 total movement = 3.126500235641e-03 vel = 3.122750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.115250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.115250, acc = -7.500000,T = 1.857664, P = 1.210678 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.756000 primary movement = 3.119000235642e-03 time: 2.756000000000e+00 total movement = 3.119000235642e-03 vel = 3.115250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.107750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.107750, acc = -7.500000,T = 1.857664, P = 1.213790 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.757000 primary movement = 3.111500235643e-03 time: 2.757000000000e+00 total movement = 3.111500235643e-03 vel = 3.107750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.100250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.100250, acc = -7.500000,T = 1.857664, P = 1.216894 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.758000 primary movement = 3.104000235644e-03 time: 2.758000000000e+00 total movement = 3.104000235644e-03 vel = 3.100250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.092750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.092750, acc = -7.500000,T = 1.857664, P = 1.219990 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.759000 primary movement = 3.096500235644e-03 time: 2.759000000000e+00 total movement = 3.096500235644e-03 vel = 3.092750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.085250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.085250, acc = -7.500000,T = 1.857664, P = 1.223079 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.760000 primary movement = 3.089000235645e-03 time: 2.760000000000e+00 total movement = 3.089000235645e-03 vel = 3.085250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.077750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.077750, acc = -7.500000,T = 1.857664, P = 1.226161 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.761000 primary movement = 3.081500235646e-03 time: 2.761000000000e+00 total movement = 3.081500235646e-03 vel = 3.077750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.070250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.070250, acc = -7.500000,T = 1.857664, P = 1.229235 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.762000 primary movement = 3.074000235645e-03 time: 2.762000000000e+00 total movement = 3.074000235645e-03 vel = 3.070250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.062750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.062750, acc = -7.500000,T = 1.857664, P = 1.232301 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.763000 primary movement = 3.066500235646e-03 time: 2.763000000000e+00 total movement = 3.066500235646e-03 vel = 3.062750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.055250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.055250, acc = -7.500000,T = 1.857664, P = 1.235360 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.764000 primary movement = 3.059000235646e-03 time: 2.764000000000e+00 total movement = 3.059000235646e-03 vel = 3.055250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.047750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.047750, acc = -7.500000,T = 1.857664, P = 1.238412 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.765000 primary movement = 3.051500235646e-03 time: 2.765000000000e+00 total movement = 3.051500235646e-03 vel = 3.047750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.040250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.040250, acc = -7.500000,T = 1.857664, P = 1.241456 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.766000 primary movement = 3.044000235646e-03 time: 2.766000000000e+00 total movement = 3.044000235646e-03 vel = 3.040250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.032750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.032750, acc = -7.500000,T = 1.857664, P = 1.244492 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.767000 primary movement = 3.036500235646e-03 time: 2.767000000000e+00 total movement = 3.036500235646e-03 vel = 3.032750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.025250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.025250, acc = -7.500000,T = 1.857664, P = 1.247521 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.768000 primary movement = 3.029000235646e-03 time: 2.768000000000e+00 total movement = 3.029000235646e-03 vel = 3.025250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.017750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.017750, acc = -7.500000,T = 1.857664, P = 1.250543 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.769000 primary movement = 3.021500235646e-03 time: 2.769000000000e+00 total movement = 3.021500235646e-03 vel = 3.017750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.010250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.010250, acc = -7.500000,T = 1.857664, P = 1.253557 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.770000 primary movement = 3.014000235645e-03 time: 2.770000000000e+00 total movement = 3.014000235645e-03 vel = 3.010250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 3.002750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 3.002750, acc = -7.500000,T = 1.857664, P = 1.256563 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.771000 primary movement = 3.006500235645e-03 time: 2.771000000000e+00 total movement = 3.006500235645e-03 vel = 3.002750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.995250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.995250, acc = -7.500000,T = 1.857664, P = 1.259562 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.772000 primary movement = 2.999000235644e-03 time: 2.772000000000e+00 total movement = 2.999000235644e-03 vel = 2.995250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.987750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.987750, acc = -7.500000,T = 1.857664, P = 1.262554 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.773000 primary movement = 2.991500235644e-03 time: 2.773000000000e+00 total movement = 2.991500235644e-03 vel = 2.987750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.980250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.980250, acc = -7.500000,T = 1.857664, P = 1.265538 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.774000 primary movement = 2.984000235643e-03 time: 2.774000000000e+00 total movement = 2.984000235643e-03 vel = 2.980250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.972750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.972750, acc = -7.500000,T = 1.857664, P = 1.268514 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.775000 primary movement = 2.976500235641e-03 time: 2.775000000000e+00 total movement = 2.976500235641e-03 vel = 2.972750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.965250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.965250, acc = -7.500000,T = 1.857664, P = 1.271483 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.776000 primary movement = 2.969000235641e-03 time: 2.776000000000e+00 total movement = 2.969000235641e-03 vel = 2.965250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.957750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.957750, acc = -7.500000,T = 1.857664, P = 1.274445 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.777000 primary movement = 2.961500235640e-03 time: 2.777000000000e+00 total movement = 2.961500235640e-03 vel = 2.957750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.950250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.950250, acc = -7.500000,T = 1.857664, P = 1.277399 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.778000 primary movement = 2.954000235639e-03 time: 2.778000000000e+00 total movement = 2.954000235639e-03 vel = 2.950250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.942750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.942750, acc = -7.500000,T = 1.857664, P = 1.280345 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.779000 primary movement = 2.946500235638e-03 time: 2.779000000000e+00 total movement = 2.946500235638e-03 vel = 2.942750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.935250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.935250, acc = -7.500000,T = 1.857664, P = 1.283284 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.780000 primary movement = 2.939000235636e-03 time: 2.780000000000e+00 total movement = 2.939000235636e-03 vel = 2.935250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.927750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.927750, acc = -7.500000,T = 1.857664, P = 1.286216 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.781000 primary movement = 2.931500235635e-03 time: 2.781000000000e+00 total movement = 2.931500235635e-03 vel = 2.927750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.920250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.920250, acc = -7.500000,T = 1.857664, P = 1.289140 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.782000 primary movement = 2.924000235633e-03 time: 2.782000000000e+00 total movement = 2.924000235633e-03 vel = 2.920250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.912750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.912750, acc = -7.500000,T = 1.857664, P = 1.292056 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.783000 primary movement = 2.916500235632e-03 time: 2.783000000000e+00 total movement = 2.916500235632e-03 vel = 2.912750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.905250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.905250, acc = -7.500000,T = 1.857664, P = 1.294965 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.784000 primary movement = 2.909000235630e-03 time: 2.784000000000e+00 total movement = 2.909000235630e-03 vel = 2.905250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.897750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.897750, acc = -7.500000,T = 1.857664, P = 1.297867 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.785000 primary movement = 2.901500235629e-03 time: 2.785000000000e+00 total movement = 2.901500235629e-03 vel = 2.897750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.890250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.890250, acc = -7.500000,T = 1.857664, P = 1.300761 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.786000 primary movement = 2.894000235627e-03 time: 2.786000000000e+00 total movement = 2.894000235627e-03 vel = 2.890250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.882750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.882750, acc = -7.500000,T = 1.857664, P = 1.303647 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.787000 primary movement = 2.886500235625e-03 time: 2.787000000000e+00 total movement = 2.886500235625e-03 vel = 2.882750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.875250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.875250, acc = -7.500000,T = 1.857664, P = 1.306526 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.788000 primary movement = 2.879000235623e-03 time: 2.788000000000e+00 total movement = 2.879000235623e-03 vel = 2.875250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.867750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.867750, acc = -7.500000,T = 1.857664, P = 1.309398 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.789000 primary movement = 2.871500235620e-03 time: 2.789000000000e+00 total movement = 2.871500235620e-03 vel = 2.867750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.860250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.860250, acc = -7.500000,T = 1.857664, P = 1.312262 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.790000 primary movement = 2.864000235618e-03 time: 2.790000000000e+00 total movement = 2.864000235618e-03 vel = 2.860250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.852750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.852750, acc = -7.500000,T = 1.857664, P = 1.315118 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.791000 primary movement = 2.856500235617e-03 time: 2.791000000000e+00 total movement = 2.856500235617e-03 vel = 2.852750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.845250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.845250, acc = -7.500000,T = 1.857664, P = 1.317967 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.792000 primary movement = 2.849000235614e-03 time: 2.792000000000e+00 total movement = 2.849000235614e-03 vel = 2.845250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.837750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.837750, acc = -7.500000,T = 1.857664, P = 1.320809 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.793000 primary movement = 2.841500235611e-03 time: 2.793000000000e+00 total movement = 2.841500235611e-03 vel = 2.837750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.830250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.830250, acc = -7.500000,T = 1.857664, P = 1.323643 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.794000 primary movement = 2.834000235609e-03 time: 2.794000000000e+00 total movement = 2.834000235609e-03 vel = 2.830250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.822750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.822750, acc = -7.500000,T = 1.857664, P = 1.326469 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.795000 primary movement = 2.826500235606e-03 time: 2.795000000000e+00 total movement = 2.826500235606e-03 vel = 2.822750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.815250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.815250, acc = -7.500000,T = 1.857664, P = 1.329288 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.796000 primary movement = 2.819000235604e-03 time: 2.796000000000e+00 total movement = 2.819000235604e-03 vel = 2.815250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.807750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.807750, acc = -7.500000,T = 1.857664, P = 1.332100 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.797000 primary movement = 2.811500235601e-03 time: 2.797000000000e+00 total movement = 2.811500235601e-03 vel = 2.807750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.800250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.800250, acc = -7.500000,T = 1.857664, P = 1.334904 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.798000 primary movement = 2.804000235598e-03 time: 2.798000000000e+00 total movement = 2.804000235598e-03 vel = 2.800250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.792750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.792750, acc = -7.500000,T = 1.857664, P = 1.337700 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.799000 primary movement = 2.796500235595e-03 time: 2.799000000000e+00 total movement = 2.796500235595e-03 vel = 2.792750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.785250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.785250, acc = -7.500000,T = 1.857664, P = 1.340489 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.800000 primary movement = 2.789000235593e-03 time: 2.800000000000e+00 total movement = 2.789000235593e-03 vel = 2.785250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.777750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.777750, acc = -7.500000,T = 1.857664, P = 1.343271 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.801000 primary movement = 2.781500235589e-03 time: 2.801000000000e+00 total movement = 2.781500235589e-03 vel = 2.777750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.770250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.770250, acc = -7.500000,T = 1.857664, P = 1.346045 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.802000 primary movement = 2.774000235586e-03 time: 2.802000000000e+00 total movement = 2.774000235586e-03 vel = 2.770250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.762750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.762750, acc = -7.500000,T = 1.857664, P = 1.348811 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.803000 primary movement = 2.766500235583e-03 time: 2.803000000000e+00 total movement = 2.766500235583e-03 vel = 2.762750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.755250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.755250, acc = -7.500000,T = 1.857664, P = 1.351570 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.804000 primary movement = 2.759000235579e-03 time: 2.804000000000e+00 total movement = 2.759000235579e-03 vel = 2.755250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.747750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.747750, acc = -7.500000,T = 1.857664, P = 1.354322 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.805000 primary movement = 2.751500235575e-03 time: 2.805000000000e+00 total movement = 2.751500235575e-03 vel = 2.747750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.740250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.740250, acc = -7.500000,T = 1.857664, P = 1.357066 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.806000 primary movement = 2.744000235572e-03 time: 2.806000000000e+00 total movement = 2.744000235572e-03 vel = 2.740250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.732750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.732750, acc = -7.500000,T = 1.857664, P = 1.359802 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.807000 primary movement = 2.736500235569e-03 time: 2.807000000000e+00 total movement = 2.736500235569e-03 vel = 2.732750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.725250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.725250, acc = -7.500000,T = 1.857664, P = 1.362531 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.808000 primary movement = 2.729000235565e-03 time: 2.808000000000e+00 total movement = 2.729000235565e-03 vel = 2.725250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.717750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.717750, acc = -7.500000,T = 1.857664, P = 1.365253 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.809000 primary movement = 2.721500235561e-03 time: 2.809000000000e+00 total movement = 2.721500235561e-03 vel = 2.717750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.710250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.710250, acc = -7.500000,T = 1.857664, P = 1.367967 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.810000 primary movement = 2.714000235557e-03 time: 2.810000000000e+00 total movement = 2.714000235557e-03 vel = 2.710250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.702750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.702750, acc = -7.500000,T = 1.857664, P = 1.370673 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.811000 primary movement = 2.706500235553e-03 time: 2.811000000000e+00 total movement = 2.706500235553e-03 vel = 2.702750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.695250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.695250, acc = -7.500000,T = 1.857664, P = 1.373372 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.812000 primary movement = 2.699000235549e-03 time: 2.812000000000e+00 total movement = 2.699000235549e-03 vel = 2.695250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.687750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.687750, acc = -7.500000,T = 1.857664, P = 1.376064 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.813000 primary movement = 2.691500235545e-03 time: 2.813000000000e+00 total movement = 2.691500235545e-03 vel = 2.687750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.680250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.680250, acc = -7.500000,T = 1.857664, P = 1.378748 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.814000 primary movement = 2.684000235541e-03 time: 2.814000000000e+00 total movement = 2.684000235541e-03 vel = 2.680250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.672750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.672750, acc = -7.500000,T = 1.857664, P = 1.381424 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.815000 primary movement = 2.676500235536e-03 time: 2.815000000000e+00 total movement = 2.676500235536e-03 vel = 2.672750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.665250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.665250, acc = -7.500000,T = 1.857664, P = 1.384093 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.816000 primary movement = 2.669000235533e-03 time: 2.816000000000e+00 total movement = 2.669000235533e-03 vel = 2.665250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.657750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.657750, acc = -7.500000,T = 1.857664, P = 1.386755 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.817000 primary movement = 2.661500235528e-03 time: 2.817000000000e+00 total movement = 2.661500235528e-03 vel = 2.657750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.650250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.650250, acc = -7.500000,T = 1.857664, P = 1.389409 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.818000 primary movement = 2.654000235523e-03 time: 2.818000000000e+00 total movement = 2.654000235523e-03 vel = 2.650250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.642750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.642750, acc = -7.500000,T = 1.857664, P = 1.392055 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.819000 primary movement = 2.646500235518e-03 time: 2.819000000000e+00 total movement = 2.646500235518e-03 vel = 2.642750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.635250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.635250, acc = -7.500000,T = 1.857664, P = 1.394694 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.820000 primary movement = 2.639000235514e-03 time: 2.820000000000e+00 total movement = 2.639000235514e-03 vel = 2.635250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.627750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.627750, acc = -7.500000,T = 1.857664, P = 1.397326 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.821000 primary movement = 2.631500235510e-03 time: 2.821000000000e+00 total movement = 2.631500235510e-03 vel = 2.627750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.620250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.620250, acc = -7.500000,T = 1.857664, P = 1.399950 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.822000 primary movement = 2.624000235505e-03 time: 2.822000000000e+00 total movement = 2.624000235505e-03 vel = 2.620250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.612750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.612750, acc = -7.500000,T = 1.857664, P = 1.402566 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.823000 primary movement = 2.616500235499e-03 time: 2.823000000000e+00 total movement = 2.616500235499e-03 vel = 2.612750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.605250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.605250, acc = -7.500000,T = 1.857664, P = 1.405175 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.824000 primary movement = 2.609000235494e-03 time: 2.824000000000e+00 total movement = 2.609000235494e-03 vel = 2.605250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.597750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.597750, acc = -7.500000,T = 1.857664, P = 1.407777 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.825000 primary movement = 2.601500235490e-03 time: 2.825000000000e+00 total movement = 2.601500235490e-03 vel = 2.597750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.590250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.590250, acc = -7.500000,T = 1.857664, P = 1.410371 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.826000 primary movement = 2.594000235484e-03 time: 2.826000000000e+00 total movement = 2.594000235484e-03 vel = 2.590250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.582750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.582750, acc = -7.500000,T = 1.857664, P = 1.412957 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.827000 primary movement = 2.586500235479e-03 time: 2.827000000000e+00 total movement = 2.586500235479e-03 vel = 2.582750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.575250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.575250, acc = -7.500000,T = 1.857664, P = 1.415536 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.828000 primary movement = 2.579000235474e-03 time: 2.828000000000e+00 total movement = 2.579000235474e-03 vel = 2.575250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.567750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.567750, acc = -7.500000,T = 1.857664, P = 1.418108 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.829000 primary movement = 2.571500235469e-03 time: 2.829000000000e+00 total movement = 2.571500235469e-03 vel = 2.567750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.560250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.560250, acc = -7.500000,T = 1.857664, P = 1.420672 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.830000 primary movement = 2.564000235463e-03 time: 2.830000000000e+00 total movement = 2.564000235463e-03 vel = 2.560250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.552750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.552750, acc = -7.500000,T = 1.857664, P = 1.423228 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.831000 primary movement = 2.556500235458e-03 time: 2.831000000000e+00 total movement = 2.556500235458e-03 vel = 2.552750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.545250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.545250, acc = -7.500000,T = 1.857664, P = 1.425777 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.832000 primary movement = 2.549000235452e-03 time: 2.832000000000e+00 total movement = 2.549000235452e-03 vel = 2.545250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.537750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.537750, acc = -7.500000,T = 1.857664, P = 1.428319 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.833000 primary movement = 2.541500235447e-03 time: 2.833000000000e+00 total movement = 2.541500235447e-03 vel = 2.537750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.530250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.530250, acc = -7.500000,T = 1.857664, P = 1.430853 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.834000 primary movement = 2.534000235440e-03 time: 2.834000000000e+00 total movement = 2.534000235440e-03 vel = 2.530250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.522750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.522750, acc = -7.500000,T = 1.857664, P = 1.433379 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.835000 primary movement = 2.526500235434e-03 time: 2.835000000000e+00 total movement = 2.526500235434e-03 vel = 2.522750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.515250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.515250, acc = -7.500000,T = 1.857664, P = 1.435898 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.836000 primary movement = 2.519000235429e-03 time: 2.836000000000e+00 total movement = 2.519000235429e-03 vel = 2.515250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.507750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.507750, acc = -7.500000,T = 1.857664, P = 1.438410 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.837000 primary movement = 2.511500235423e-03 time: 2.837000000000e+00 total movement = 2.511500235423e-03 vel = 2.507750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.500250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.500250, acc = -7.500000,T = 1.857664, P = 1.440914 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.838000 primary movement = 2.504000235416e-03 time: 2.838000000000e+00 total movement = 2.504000235416e-03 vel = 2.500250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.492750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.492750, acc = -7.500000,T = 1.857664, P = 1.443410 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.839000 primary movement = 2.496500235410e-03 time: 2.839000000000e+00 total movement = 2.496500235410e-03 vel = 2.492750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.485250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.485250, acc = -7.500000,T = 1.857664, P = 1.445899 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.840000 primary movement = 2.489000235404e-03 time: 2.840000000000e+00 total movement = 2.489000235404e-03 vel = 2.485250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.477750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.477750, acc = -7.500000,T = 1.857664, P = 1.448381 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.841000 primary movement = 2.481500235398e-03 time: 2.841000000000e+00 total movement = 2.481500235398e-03 vel = 2.477750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.470250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.470250, acc = -7.500000,T = 1.857664, P = 1.450855 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.842000 primary movement = 2.474000235391e-03 time: 2.842000000000e+00 total movement = 2.474000235391e-03 vel = 2.470250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.462750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.462750, acc = -7.500000,T = 1.857664, P = 1.453321 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.843000 primary movement = 2.466500235385e-03 time: 2.843000000000e+00 total movement = 2.466500235385e-03 vel = 2.462750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.455250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.455250, acc = -7.500000,T = 1.857664, P = 1.455780 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.844000 primary movement = 2.459000235378e-03 time: 2.844000000000e+00 total movement = 2.459000235378e-03 vel = 2.455250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.447750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.447750, acc = -7.500000,T = 1.857664, P = 1.458232 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.845000 primary movement = 2.451500235372e-03 time: 2.845000000000e+00 total movement = 2.451500235372e-03 vel = 2.447750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.440250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.440250, acc = -7.500000,T = 1.857664, P = 1.460676 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.846000 primary movement = 2.444000235365e-03 time: 2.846000000000e+00 total movement = 2.444000235365e-03 vel = 2.440250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.432750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.432750, acc = -7.500000,T = 1.857664, P = 1.463112 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.847000 primary movement = 2.436500235359e-03 time: 2.847000000000e+00 total movement = 2.436500235359e-03 vel = 2.432750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.425250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.425250, acc = -7.500000,T = 1.857664, P = 1.465541 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.848000 primary movement = 2.429000235352e-03 time: 2.848000000000e+00 total movement = 2.429000235352e-03 vel = 2.425250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.417750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.417750, acc = -7.500000,T = 1.857664, P = 1.467963 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.849000 primary movement = 2.421500235344e-03 time: 2.849000000000e+00 total movement = 2.421500235344e-03 vel = 2.417750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.410250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.410250, acc = -7.500000,T = 1.857664, P = 1.470377 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.850000 primary movement = 2.414000235338e-03 time: 2.850000000000e+00 total movement = 2.414000235338e-03 vel = 2.410250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.402750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.402750, acc = -7.500000,T = 1.857664, P = 1.472783 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.851000 primary movement = 2.406500235330e-03 time: 2.851000000000e+00 total movement = 2.406500235330e-03 vel = 2.402750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.395250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.395250, acc = -7.500000,T = 1.857664, P = 1.475182 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.852000 primary movement = 2.399000235323e-03 time: 2.852000000000e+00 total movement = 2.399000235323e-03 vel = 2.395250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.387750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.387750, acc = -7.500000,T = 1.857664, P = 1.477574 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.853000 primary movement = 2.391500235317e-03 time: 2.853000000000e+00 total movement = 2.391500235317e-03 vel = 2.387750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.380250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.380250, acc = -7.500000,T = 1.857664, P = 1.479958 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.854000 primary movement = 2.384000235308e-03 time: 2.854000000000e+00 total movement = 2.384000235308e-03 vel = 2.380250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.372750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.372750, acc = -7.500000,T = 1.857664, P = 1.482334 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.855000 primary movement = 2.376500235302e-03 time: 2.855000000000e+00 total movement = 2.376500235302e-03 vel = 2.372750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.365250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.365250, acc = -7.500000,T = 1.857664, P = 1.484703 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.856000 primary movement = 2.369000235294e-03 time: 2.856000000000e+00 total movement = 2.369000235294e-03 vel = 2.365250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.357750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.357750, acc = -7.500000,T = 1.857664, P = 1.487065 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.857000 primary movement = 2.361500235287e-03 time: 2.857000000000e+00 total movement = 2.361500235287e-03 vel = 2.357750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.350250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.350250, acc = -7.500000,T = 1.857664, P = 1.489419 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.858000 primary movement = 2.354000235279e-03 time: 2.858000000000e+00 total movement = 2.354000235279e-03 vel = 2.350250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.342750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.342750, acc = -7.500000,T = 1.857664, P = 1.491765 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.859000 primary movement = 2.346500235271e-03 time: 2.859000000000e+00 total movement = 2.346500235271e-03 vel = 2.342750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.335250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.335250, acc = -7.500000,T = 1.857664, P = 1.494104 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.860000 primary movement = 2.339000235264e-03 time: 2.860000000000e+00 total movement = 2.339000235264e-03 vel = 2.335250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.327750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.327750, acc = -7.500000,T = 1.857664, P = 1.496436 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.861000 primary movement = 2.331500235256e-03 time: 2.861000000000e+00 total movement = 2.331500235256e-03 vel = 2.327750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.320250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.320250, acc = -7.500000,T = 1.857664, P = 1.498760 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.862000 primary movement = 2.324000235248e-03 time: 2.862000000000e+00 total movement = 2.324000235248e-03 vel = 2.320250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.312750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.312750, acc = -7.500000,T = 1.857664, P = 1.501076 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.863000 primary movement = 2.316500235240e-03 time: 2.863000000000e+00 total movement = 2.316500235240e-03 vel = 2.312750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.305250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.305250, acc = -7.500000,T = 1.857664, P = 1.503385 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.864000 primary movement = 2.309000235232e-03 time: 2.864000000000e+00 total movement = 2.309000235232e-03 vel = 2.305250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.297750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.297750, acc = -7.500000,T = 1.857664, P = 1.505687 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.865000 primary movement = 2.301500235224e-03 time: 2.865000000000e+00 total movement = 2.301500235224e-03 vel = 2.297750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.290250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.290250, acc = -7.500000,T = 1.857664, P = 1.507981 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.866000 primary movement = 2.294000235216e-03 time: 2.866000000000e+00 total movement = 2.294000235216e-03 vel = 2.290250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.282750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.282750, acc = -7.500000,T = 1.857664, P = 1.510267 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.867000 primary movement = 2.286500235208e-03 time: 2.867000000000e+00 total movement = 2.286500235208e-03 vel = 2.282750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.275250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.275250, acc = -7.500000,T = 1.857664, P = 1.512546 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.868000 primary movement = 2.279000235199e-03 time: 2.868000000000e+00 total movement = 2.279000235199e-03 vel = 2.275250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.267750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.267750, acc = -7.500000,T = 1.857664, P = 1.514818 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.869000 primary movement = 2.271500235192e-03 time: 2.869000000000e+00 total movement = 2.271500235192e-03 vel = 2.267750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.260250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.260250, acc = -7.500000,T = 1.857664, P = 1.517082 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.870000 primary movement = 2.264000235183e-03 time: 2.870000000000e+00 total movement = 2.264000235183e-03 vel = 2.260250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.252750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.252750, acc = -7.500000,T = 1.857664, P = 1.519338 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.871000 primary movement = 2.256500235174e-03 time: 2.871000000000e+00 total movement = 2.256500235174e-03 vel = 2.252750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.245250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.245250, acc = -7.500000,T = 1.857664, P = 1.521587 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.872000 primary movement = 2.249000235166e-03 time: 2.872000000000e+00 total movement = 2.249000235166e-03 vel = 2.245250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.237750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.237750, acc = -7.500000,T = 1.857664, P = 1.523829 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.873000 primary movement = 2.241500235157e-03 time: 2.873000000000e+00 total movement = 2.241500235157e-03 vel = 2.237750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.230250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.230250, acc = -7.500000,T = 1.857664, P = 1.526063 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.874000 primary movement = 2.234000235149e-03 time: 2.874000000000e+00 total movement = 2.234000235149e-03 vel = 2.230250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.222750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.222750, acc = -7.500000,T = 1.857664, P = 1.528289 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.875000 primary movement = 2.226500235139e-03 time: 2.875000000000e+00 total movement = 2.226500235139e-03 vel = 2.222750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.215250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.215250, acc = -7.500000,T = 1.857664, P = 1.530508 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.876000 primary movement = 2.219000235131e-03 time: 2.876000000000e+00 total movement = 2.219000235131e-03 vel = 2.215250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.207750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.207750, acc = -7.500000,T = 1.857664, P = 1.532720 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.877000 primary movement = 2.211500235123e-03 time: 2.877000000000e+00 total movement = 2.211500235123e-03 vel = 2.207750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.200250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.200250, acc = -7.500000,T = 1.857664, P = 1.534924 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.878000 primary movement = 2.204000235112e-03 time: 2.878000000000e+00 total movement = 2.204000235112e-03 vel = 2.200250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.192750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.192750, acc = -7.500000,T = 1.857664, P = 1.537120 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.879000 primary movement = 2.196500235105e-03 time: 2.879000000000e+00 total movement = 2.196500235105e-03 vel = 2.192750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.185250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.185250, acc = -7.500000,T = 1.857664, P = 1.539309 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.880000 primary movement = 2.189000235096e-03 time: 2.880000000000e+00 total movement = 2.189000235096e-03 vel = 2.185250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.177750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.177750, acc = -7.500000,T = 1.857664, P = 1.541491 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.881000 primary movement = 2.181500235085e-03 time: 2.881000000000e+00 total movement = 2.181500235085e-03 vel = 2.177750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.170250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.170250, acc = -7.500000,T = 1.857664, P = 1.543665 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.882000 primary movement = 2.174000235077e-03 time: 2.882000000000e+00 total movement = 2.174000235077e-03 vel = 2.170250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.162750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.162750, acc = -7.500000,T = 1.857664, P = 1.545831 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.883000 primary movement = 2.166500235067e-03 time: 2.883000000000e+00 total movement = 2.166500235067e-03 vel = 2.162750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.155250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.155250, acc = -7.500000,T = 1.857664, P = 1.547990 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.884000 primary movement = 2.159000235058e-03 time: 2.884000000000e+00 total movement = 2.159000235058e-03 vel = 2.155250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.147750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.147750, acc = -7.500000,T = 1.857664, P = 1.550142 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.885000 primary movement = 2.151500235048e-03 time: 2.885000000000e+00 total movement = 2.151500235048e-03 vel = 2.147750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.140250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.140250, acc = -7.500000,T = 1.857664, P = 1.552286 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.886000 primary movement = 2.144000235040e-03 time: 2.886000000000e+00 total movement = 2.144000235040e-03 vel = 2.140250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.132750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.132750, acc = -7.500000,T = 1.857664, P = 1.554422 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.887000 primary movement = 2.136500235030e-03 time: 2.887000000000e+00 total movement = 2.136500235030e-03 vel = 2.132750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.125250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.125250, acc = -7.500000,T = 1.857664, P = 1.556551 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.888000 primary movement = 2.129000235020e-03 time: 2.888000000000e+00 total movement = 2.129000235020e-03 vel = 2.125250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.117750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.117750, acc = -7.500000,T = 1.857664, P = 1.558673 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.889000 primary movement = 2.121500235011e-03 time: 2.889000000000e+00 total movement = 2.121500235011e-03 vel = 2.117750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.110250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.110250, acc = -7.500000,T = 1.857664, P = 1.560787 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.890000 primary movement = 2.114000235001e-03 time: 2.890000000000e+00 total movement = 2.114000235001e-03 vel = 2.110250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.102750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.102750, acc = -7.500000,T = 1.857664, P = 1.562893 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.891000 primary movement = 2.106500234991e-03 time: 2.891000000000e+00 total movement = 2.106500234991e-03 vel = 2.102750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.095250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.095250, acc = -7.500000,T = 1.857664, P = 1.564992 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.892000 primary movement = 2.099000234981e-03 time: 2.892000000000e+00 total movement = 2.099000234981e-03 vel = 2.095250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.087750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.087750, acc = -7.500000,T = 1.857664, P = 1.567084 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.893000 primary movement = 2.091500234972e-03 time: 2.893000000000e+00 total movement = 2.091500234972e-03 vel = 2.087750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.080250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.080250, acc = -7.500000,T = 1.857664, P = 1.569168 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.894000 primary movement = 2.084000234961e-03 time: 2.894000000000e+00 total movement = 2.084000234961e-03 vel = 2.080250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.072750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.072750, acc = -7.500000,T = 1.857664, P = 1.571244 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.895000 primary movement = 2.076500234951e-03 time: 2.895000000000e+00 total movement = 2.076500234951e-03 vel = 2.072750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.065250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.065250, acc = -7.500000,T = 1.857664, P = 1.573313 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.896000 primary movement = 2.069000234941e-03 time: 2.896000000000e+00 total movement = 2.069000234941e-03 vel = 2.065250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.057750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.057750, acc = -7.500000,T = 1.857664, P = 1.575375 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.897000 primary movement = 2.061500234931e-03 time: 2.897000000000e+00 total movement = 2.061500234931e-03 vel = 2.057750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.050250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.050250, acc = -7.500000,T = 1.857664, P = 1.577429 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.898000 primary movement = 2.054000234921e-03 time: 2.898000000000e+00 total movement = 2.054000234921e-03 vel = 2.050250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.042750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.042750, acc = -7.500000,T = 1.857664, P = 1.579475 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.899000 primary movement = 2.046500234910e-03 time: 2.899000000000e+00 total movement = 2.046500234910e-03 vel = 2.042750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.035250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.035250, acc = -7.500000,T = 1.857664, P = 1.581514 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.900000 primary movement = 2.039000234900e-03 time: 2.900000000000e+00 total movement = 2.039000234900e-03 vel = 2.035250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.027750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.027750, acc = -7.500000,T = 1.857664, P = 1.583546 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.901000 primary movement = 2.031500234890e-03 time: 2.901000000000e+00 total movement = 2.031500234890e-03 vel = 2.027750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.020250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.020250, acc = -7.500000,T = 1.857664, P = 1.585570 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.902000 primary movement = 2.024000234879e-03 time: 2.902000000000e+00 total movement = 2.024000234879e-03 vel = 2.020250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.012750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.012750, acc = -7.500000,T = 1.857664, P = 1.587586 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.903000 primary movement = 2.016500234869e-03 time: 2.903000000000e+00 total movement = 2.016500234869e-03 vel = 2.012750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 2.005250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 2.005250, acc = -7.500000,T = 1.857664, P = 1.589595 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.904000 primary movement = 2.009000234858e-03 time: 2.904000000000e+00 total movement = 2.009000234858e-03 vel = 2.005250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.997750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.997750, acc = -7.500000,T = 1.857664, P = 1.591597 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.905000 primary movement = 2.001500234848e-03 time: 2.905000000000e+00 total movement = 2.001500234848e-03 vel = 1.997750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.990250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.990250, acc = -7.500000,T = 1.857664, P = 1.593591 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.906000 primary movement = 1.994000234836e-03 time: 2.906000000000e+00 total movement = 1.994000234836e-03 vel = 1.990250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.982750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.982750, acc = -7.500000,T = 1.857664, P = 1.595577 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.907000 primary movement = 1.986500234826e-03 time: 2.907000000000e+00 total movement = 1.986500234826e-03 vel = 1.982750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.975250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.975250, acc = -7.500000,T = 1.857664, P = 1.597556 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.908000 primary movement = 1.979000234815e-03 time: 2.908000000000e+00 total movement = 1.979000234815e-03 vel = 1.975250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.967750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.967750, acc = -7.500000,T = 1.857664, P = 1.599528 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.909000 primary movement = 1.971500234803e-03 time: 2.909000000000e+00 total movement = 1.971500234803e-03 vel = 1.967750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.960250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.960250, acc = -7.500000,T = 1.857664, P = 1.601492 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.910000 primary movement = 1.964000234794e-03 time: 2.910000000000e+00 total movement = 1.964000234794e-03 vel = 1.960250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.952750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.952750, acc = -7.500000,T = 1.857664, P = 1.603448 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.911000 primary movement = 1.956500234782e-03 time: 2.911000000000e+00 total movement = 1.956500234782e-03 vel = 1.952750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.945250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.945250, acc = -7.500000,T = 1.857664, P = 1.605397 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.912000 primary movement = 1.949000234771e-03 time: 2.912000000000e+00 total movement = 1.949000234771e-03 vel = 1.945250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.937750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.937750, acc = -7.500000,T = 1.857664, P = 1.607339 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.913000 primary movement = 1.941500234760e-03 time: 2.913000000000e+00 total movement = 1.941500234760e-03 vel = 1.937750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.930250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.930250, acc = -7.500000,T = 1.857664, P = 1.609273 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.914000 primary movement = 1.934000234749e-03 time: 2.914000000000e+00 total movement = 1.934000234749e-03 vel = 1.930250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.922750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.922750, acc = -7.500000,T = 1.857664, P = 1.611199 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.915000 primary movement = 1.926500234737e-03 time: 2.915000000000e+00 total movement = 1.926500234737e-03 vel = 1.922750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.915250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.915250, acc = -7.500000,T = 1.857664, P = 1.613118 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.916000 primary movement = 1.919000234726e-03 time: 2.916000000000e+00 total movement = 1.919000234726e-03 vel = 1.915250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.907750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.907750, acc = -7.500000,T = 1.857664, P = 1.615030 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.917000 primary movement = 1.911500234715e-03 time: 2.917000000000e+00 total movement = 1.911500234715e-03 vel = 1.907750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.900250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.900250, acc = -7.500000,T = 1.857664, P = 1.616934 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.918000 primary movement = 1.904000234703e-03 time: 2.918000000000e+00 total movement = 1.904000234703e-03 vel = 1.900250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.892750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.892750, acc = -7.500000,T = 1.857664, P = 1.618830 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.919000 primary movement = 1.896500234692e-03 time: 2.919000000000e+00 total movement = 1.896500234692e-03 vel = 1.892750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.885250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.885250, acc = -7.500000,T = 1.857664, P = 1.620719 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.920000 primary movement = 1.889000234680e-03 time: 2.920000000000e+00 total movement = 1.889000234680e-03 vel = 1.885250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.877750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.877750, acc = -7.500000,T = 1.857664, P = 1.622601 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.921000 primary movement = 1.881500234668e-03 time: 2.921000000000e+00 total movement = 1.881500234668e-03 vel = 1.877750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.870250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.870250, acc = -7.500000,T = 1.857664, P = 1.624475 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.922000 primary movement = 1.874000234657e-03 time: 2.922000000000e+00 total movement = 1.874000234657e-03 vel = 1.870250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.862750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.862750, acc = -7.500000,T = 1.857664, P = 1.626341 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.923000 primary movement = 1.866500234645e-03 time: 2.923000000000e+00 total movement = 1.866500234645e-03 vel = 1.862750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.855250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.855250, acc = -7.500000,T = 1.857664, P = 1.628200 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.924000 primary movement = 1.859000234633e-03 time: 2.924000000000e+00 total movement = 1.859000234633e-03 vel = 1.855250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.847750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.847750, acc = -7.500000,T = 1.857664, P = 1.630052 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.925000 primary movement = 1.851500234622e-03 time: 2.925000000000e+00 total movement = 1.851500234622e-03 vel = 1.847750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.840250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.840250, acc = -7.500000,T = 1.857664, P = 1.631896 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.926000 primary movement = 1.844000234610e-03 time: 2.926000000000e+00 total movement = 1.844000234610e-03 vel = 1.840250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.832750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.832750, acc = -7.500000,T = 1.857664, P = 1.633732 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.927000 primary movement = 1.836500234597e-03 time: 2.927000000000e+00 total movement = 1.836500234597e-03 vel = 1.832750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.825250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.825250, acc = -7.500000,T = 1.857664, P = 1.635561 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.928000 primary movement = 1.829000234585e-03 time: 2.928000000000e+00 total movement = 1.829000234585e-03 vel = 1.825250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.817750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.817750, acc = -7.500000,T = 1.857664, P = 1.637383 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.929000 primary movement = 1.821500234574e-03 time: 2.929000000000e+00 total movement = 1.821500234574e-03 vel = 1.817750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.810250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.810250, acc = -7.500000,T = 1.857664, P = 1.639197 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.930000 primary movement = 1.814000234562e-03 time: 2.930000000000e+00 total movement = 1.814000234562e-03 vel = 1.810250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.802750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.802750, acc = -7.500000,T = 1.857664, P = 1.641003 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.931000 primary movement = 1.806500234549e-03 time: 2.931000000000e+00 total movement = 1.806500234549e-03 vel = 1.802750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.795250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.795250, acc = -7.500000,T = 1.857664, P = 1.642802 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.932000 primary movement = 1.799000234538e-03 time: 2.932000000000e+00 total movement = 1.799000234538e-03 vel = 1.795250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.787750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.787750, acc = -7.500000,T = 1.857664, P = 1.644594 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.933000 primary movement = 1.791500234525e-03 time: 2.933000000000e+00 total movement = 1.791500234525e-03 vel = 1.787750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.780250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.780250, acc = -7.500000,T = 1.857664, P = 1.646378 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.934000 primary movement = 1.784000234512e-03 time: 2.934000000000e+00 total movement = 1.784000234512e-03 vel = 1.780250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.772750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.772750, acc = -7.500000,T = 1.857664, P = 1.648154 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.935000 primary movement = 1.776500234500e-03 time: 2.935000000000e+00 total movement = 1.776500234500e-03 vel = 1.772750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.765250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.765250, acc = -7.500000,T = 1.857664, P = 1.649923 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.936000 primary movement = 1.769000234487e-03 time: 2.936000000000e+00 total movement = 1.769000234487e-03 vel = 1.765250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.757750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.757750, acc = -7.500000,T = 1.857664, P = 1.651685 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.937000 primary movement = 1.761500234476e-03 time: 2.937000000000e+00 total movement = 1.761500234476e-03 vel = 1.757750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.750250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.750250, acc = -7.500000,T = 1.857664, P = 1.653439 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.938000 primary movement = 1.754000234462e-03 time: 2.938000000000e+00 total movement = 1.754000234462e-03 vel = 1.750250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.742750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.742750, acc = -7.500000,T = 1.857664, P = 1.655185 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.939000 primary movement = 1.746500234450e-03 time: 2.939000000000e+00 total movement = 1.746500234450e-03 vel = 1.742750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.735250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.735250, acc = -7.500000,T = 1.857664, P = 1.656924 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.940000 primary movement = 1.739000234437e-03 time: 2.940000000000e+00 total movement = 1.739000234437e-03 vel = 1.735250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.727750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.727750, acc = -7.500000,T = 1.857664, P = 1.658656 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.941000 primary movement = 1.731500234424e-03 time: 2.941000000000e+00 total movement = 1.731500234424e-03 vel = 1.727750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.720250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.720250, acc = -7.500000,T = 1.857664, P = 1.660380 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.942000 primary movement = 1.724000234412e-03 time: 2.942000000000e+00 total movement = 1.724000234412e-03 vel = 1.720250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.712750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.712750, acc = -7.500000,T = 1.857664, P = 1.662096 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.943000 primary movement = 1.716500234399e-03 time: 2.943000000000e+00 total movement = 1.716500234399e-03 vel = 1.712750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.705250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.705250, acc = -7.500000,T = 1.857664, P = 1.663805 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.944000 primary movement = 1.709000234386e-03 time: 2.944000000000e+00 total movement = 1.709000234386e-03 vel = 1.705250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.697750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.697750, acc = -7.500000,T = 1.857664, P = 1.665507 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.945000 primary movement = 1.701500234373e-03 time: 2.945000000000e+00 total movement = 1.701500234373e-03 vel = 1.697750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.690250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.690250, acc = -7.500000,T = 1.857664, P = 1.667201 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.946000 primary movement = 1.694000234360e-03 time: 2.946000000000e+00 total movement = 1.694000234360e-03 vel = 1.690250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.682750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.682750, acc = -7.500000,T = 1.857664, P = 1.668887 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.947000 primary movement = 1.686500234347e-03 time: 2.947000000000e+00 total movement = 1.686500234347e-03 vel = 1.682750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.675250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.675250, acc = -7.500000,T = 1.857664, P = 1.670566 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.948000 primary movement = 1.679000234334e-03 time: 2.948000000000e+00 total movement = 1.679000234334e-03 vel = 1.675250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.667750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.667750, acc = -7.500000,T = 1.857664, P = 1.672238 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.949000 primary movement = 1.671500234321e-03 time: 2.949000000000e+00 total movement = 1.671500234321e-03 vel = 1.667750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.660250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.660250, acc = -7.500000,T = 1.857664, P = 1.673902 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.950000 primary movement = 1.664000234308e-03 time: 2.950000000000e+00 total movement = 1.664000234308e-03 vel = 1.660250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.652750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.652750, acc = -7.500000,T = 1.857664, P = 1.675558 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.951000 primary movement = 1.656500234294e-03 time: 2.951000000000e+00 total movement = 1.656500234294e-03 vel = 1.652750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.645250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.645250, acc = -7.500000,T = 1.857664, P = 1.677207 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.952000 primary movement = 1.649000234281e-03 time: 2.952000000000e+00 total movement = 1.649000234281e-03 vel = 1.645250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.637750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.637750, acc = -7.500000,T = 1.857664, P = 1.678849 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.953000 primary movement = 1.641500234268e-03 time: 2.953000000000e+00 total movement = 1.641500234268e-03 vel = 1.637750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.630250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.630250, acc = -7.500000,T = 1.857664, P = 1.680483 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.954000 primary movement = 1.634000234254e-03 time: 2.954000000000e+00 total movement = 1.634000234254e-03 vel = 1.630250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.622750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.622750, acc = -7.500000,T = 1.857664, P = 1.682109 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.955000 primary movement = 1.626500234241e-03 time: 2.955000000000e+00 total movement = 1.626500234241e-03 vel = 1.622750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.615250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.615250, acc = -7.500000,T = 1.857664, P = 1.683728 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.956000 primary movement = 1.619000234228e-03 time: 2.956000000000e+00 total movement = 1.619000234228e-03 vel = 1.615250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.607750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.607750, acc = -7.500000,T = 1.857664, P = 1.685340 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.957000 primary movement = 1.611500234214e-03 time: 2.957000000000e+00 total movement = 1.611500234214e-03 vel = 1.607750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.600250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.600250, acc = -7.500000,T = 1.857664, P = 1.686944 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.958000 primary movement = 1.604000234201e-03 time: 2.958000000000e+00 total movement = 1.604000234201e-03 vel = 1.600250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.592750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.592750, acc = -7.500000,T = 1.857664, P = 1.688540 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.959000 primary movement = 1.596500234187e-03 time: 2.959000000000e+00 total movement = 1.596500234187e-03 vel = 1.592750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.585250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.585250, acc = -7.500000,T = 1.857664, P = 1.690129 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.960000 primary movement = 1.589000234173e-03 time: 2.960000000000e+00 total movement = 1.589000234173e-03 vel = 1.585250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.577750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.577750, acc = -7.500000,T = 1.857664, P = 1.691711 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.961000 primary movement = 1.581500234160e-03 time: 2.961000000000e+00 total movement = 1.581500234160e-03 vel = 1.577750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.570250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.570250, acc = -7.500000,T = 1.857664, P = 1.693285 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.962000 primary movement = 1.574000234146e-03 time: 2.962000000000e+00 total movement = 1.574000234146e-03 vel = 1.570250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.562750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.562750, acc = -7.500000,T = 1.857664, P = 1.694851 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.963000 primary movement = 1.566500234132e-03 time: 2.963000000000e+00 total movement = 1.566500234132e-03 vel = 1.562750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.555250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.555250, acc = -7.500000,T = 1.857664, P = 1.696410 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.964000 primary movement = 1.559000234118e-03 time: 2.964000000000e+00 total movement = 1.559000234118e-03 vel = 1.555250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.547750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.547750, acc = -7.500000,T = 1.857664, P = 1.697962 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.965000 primary movement = 1.551500234104e-03 time: 2.965000000000e+00 total movement = 1.551500234104e-03 vel = 1.547750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.540250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.540250, acc = -7.500000,T = 1.857664, P = 1.699506 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.966000 primary movement = 1.544000234090e-03 time: 2.966000000000e+00 total movement = 1.544000234090e-03 vel = 1.540250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.532750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.532750, acc = -7.500000,T = 1.857664, P = 1.701042 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.967000 primary movement = 1.536500234077e-03 time: 2.967000000000e+00 total movement = 1.536500234077e-03 vel = 1.532750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.525250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.525250, acc = -7.500000,T = 1.857664, P = 1.702571 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.968000 primary movement = 1.529000234062e-03 time: 2.968000000000e+00 total movement = 1.529000234062e-03 vel = 1.525250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.517750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.517750, acc = -7.500000,T = 1.857664, P = 1.704093 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.969000 primary movement = 1.521500234048e-03 time: 2.969000000000e+00 total movement = 1.521500234048e-03 vel = 1.517750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.510250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.510250, acc = -7.500000,T = 1.857664, P = 1.705607 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.970000 primary movement = 1.514000234034e-03 time: 2.970000000000e+00 total movement = 1.514000234034e-03 vel = 1.510250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.502750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.502750, acc = -7.500000,T = 1.857664, P = 1.707113 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.971000 primary movement = 1.506500234020e-03 time: 2.971000000000e+00 total movement = 1.506500234020e-03 vel = 1.502750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.495250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.495250, acc = -7.500000,T = 1.857664, P = 1.708612 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.972000 primary movement = 1.499000234005e-03 time: 2.972000000000e+00 total movement = 1.499000234005e-03 vel = 1.495250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.487750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.487750, acc = -7.500000,T = 1.857664, P = 1.710104 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.973000 primary movement = 1.491500233991e-03 time: 2.973000000000e+00 total movement = 1.491500233991e-03 vel = 1.487750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.480250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.480250, acc = -7.500000,T = 1.857664, P = 1.711588 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.974000 primary movement = 1.484000233977e-03 time: 2.974000000000e+00 total movement = 1.484000233977e-03 vel = 1.480250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.472750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.472750, acc = -7.500000,T = 1.857664, P = 1.713064 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.975000 primary movement = 1.476500233963e-03 time: 2.975000000000e+00 total movement = 1.476500233963e-03 vel = 1.472750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.465250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.465250, acc = -7.500000,T = 1.857664, P = 1.714533 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.976000 primary movement = 1.469000233948e-03 time: 2.976000000000e+00 total movement = 1.469000233948e-03 vel = 1.465250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.457750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.457750, acc = -7.500000,T = 1.857664, P = 1.715995 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.977000 primary movement = 1.461500233934e-03 time: 2.977000000000e+00 total movement = 1.461500233934e-03 vel = 1.457750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.450250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.450250, acc = -7.500000,T = 1.857664, P = 1.717449 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.978000 primary movement = 1.454000233920e-03 time: 2.978000000000e+00 total movement = 1.454000233920e-03 vel = 1.450250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.442750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.442750, acc = -7.500000,T = 1.857664, P = 1.718895 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.979000 primary movement = 1.446500233904e-03 time: 2.979000000000e+00 total movement = 1.446500233904e-03 vel = 1.442750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.435250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.435250, acc = -7.500000,T = 1.857664, P = 1.720334 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.980000 primary movement = 1.439000233890e-03 time: 2.980000000000e+00 total movement = 1.439000233890e-03 vel = 1.435250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.427750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.427750, acc = -7.500000,T = 1.857664, P = 1.721766 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.981000 primary movement = 1.431500233875e-03 time: 2.981000000000e+00 total movement = 1.431500233875e-03 vel = 1.427750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.420250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.420250, acc = -7.500000,T = 1.857664, P = 1.723190 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.982000 primary movement = 1.424000233861e-03 time: 2.982000000000e+00 total movement = 1.424000233861e-03 vel = 1.420250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.412750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.412750, acc = -7.500000,T = 1.857664, P = 1.724606 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.983000 primary movement = 1.416500233846e-03 time: 2.983000000000e+00 total movement = 1.416500233846e-03 vel = 1.412750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.405250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.405250, acc = -7.500000,T = 1.857664, P = 1.726015 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.984000 primary movement = 1.409000233831e-03 time: 2.984000000000e+00 total movement = 1.409000233831e-03 vel = 1.405250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.397750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.397750, acc = -7.500000,T = 1.857664, P = 1.727417 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.985000 primary movement = 1.401500233816e-03 time: 2.985000000000e+00 total movement = 1.401500233816e-03 vel = 1.397750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.390250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.390250, acc = -7.500000,T = 1.857664, P = 1.728811 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.986000 primary movement = 1.394000233801e-03 time: 2.986000000000e+00 total movement = 1.394000233801e-03 vel = 1.390250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.382750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.382750, acc = -7.500000,T = 1.857664, P = 1.730197 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.987000 primary movement = 1.386500233786e-03 time: 2.987000000000e+00 total movement = 1.386500233786e-03 vel = 1.382750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.375250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.375250, acc = -7.500000,T = 1.857664, P = 1.731576 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.988000 primary movement = 1.379000233772e-03 time: 2.988000000000e+00 total movement = 1.379000233772e-03 vel = 1.375250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.367750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.367750, acc = -7.500000,T = 1.857664, P = 1.732948 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.989000 primary movement = 1.371500233757e-03 time: 2.989000000000e+00 total movement = 1.371500233757e-03 vel = 1.367750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.360250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.360250, acc = -7.500000,T = 1.857664, P = 1.734312 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.990000 primary movement = 1.364000233742e-03 time: 2.990000000000e+00 total movement = 1.364000233742e-03 vel = 1.360250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.352750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.352750, acc = -7.500000,T = 1.857664, P = 1.735668 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.991000 primary movement = 1.356500233727e-03 time: 2.991000000000e+00 total movement = 1.356500233727e-03 vel = 1.352750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.345250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.345250, acc = -7.500000,T = 1.857664, P = 1.737017 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.992000 primary movement = 1.349000233711e-03 time: 2.992000000000e+00 total movement = 1.349000233711e-03 vel = 1.345250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.337750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.337750, acc = -7.500000,T = 1.857664, P = 1.738359 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.993000 primary movement = 1.341500233696e-03 time: 2.993000000000e+00 total movement = 1.341500233696e-03 vel = 1.337750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.330250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.330250, acc = -7.500000,T = 1.857664, P = 1.739693 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.994000 primary movement = 1.334000233682e-03 time: 2.994000000000e+00 total movement = 1.334000233682e-03 vel = 1.330250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.322750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.322750, acc = -7.500000,T = 1.857664, P = 1.741019 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.995000 primary movement = 1.326500233666e-03 time: 2.995000000000e+00 total movement = 1.326500233666e-03 vel = 1.322750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.315250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.315250, acc = -7.500000,T = 1.857664, P = 1.742338 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.996000 primary movement = 1.319000233651e-03 time: 2.996000000000e+00 total movement = 1.319000233651e-03 vel = 1.315250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.307750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.307750, acc = -7.500000,T = 1.857664, P = 1.743650 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.997000 primary movement = 1.311500233635e-03 time: 2.997000000000e+00 total movement = 1.311500233635e-03 vel = 1.307750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.300250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.300250, acc = -7.500000,T = 1.857664, P = 1.744954 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.998000 primary movement = 1.304000233620e-03 time: 2.998000000000e+00 total movement = 1.304000233620e-03 vel = 1.300250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.292750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.292750, acc = -7.500000,T = 1.857664, P = 1.746250 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 2.999000 primary movement = 1.296500233605e-03 time: 2.999000000000e+00 total movement = 1.296500233605e-03 vel = 1.292750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.285250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.285250, acc = -7.500000,T = 1.857664, P = 1.747539 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.000000 primary movement = 1.289000233589e-03 time: 3.000000000000e+00 total movement = 1.289000233589e-03 vel = 1.285250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.277750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.277750, acc = -7.500000,T = 1.857664, P = 1.748821 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.001000 primary movement = 1.281500233574e-03 time: 3.001000000000e+00 total movement = 1.281500233574e-03 vel = 1.277750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.270250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.270250, acc = -7.500000,T = 1.857664, P = 1.750095 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.002000 primary movement = 1.274000233559e-03 time: 3.002000000000e+00 total movement = 1.274000233559e-03 vel = 1.270250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.262750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.262750, acc = -7.500000,T = 1.857664, P = 1.751361 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.003000 primary movement = 1.266500233543e-03 time: 3.003000000000e+00 total movement = 1.266500233543e-03 vel = 1.262750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.255250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.255250, acc = -7.500000,T = 1.857664, P = 1.752620 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.004000 primary movement = 1.259000233527e-03 time: 3.004000000000e+00 total movement = 1.259000233527e-03 vel = 1.255250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.247750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.247750, acc = -7.500000,T = 1.857664, P = 1.753872 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.005000 primary movement = 1.251500233512e-03 time: 3.005000000000e+00 total movement = 1.251500233512e-03 vel = 1.247750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.240250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.240250, acc = -7.500000,T = 1.857664, P = 1.755116 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.006000 primary movement = 1.244000233496e-03 time: 3.006000000000e+00 total movement = 1.244000233496e-03 vel = 1.240250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.232750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.232750, acc = -7.500000,T = 1.857664, P = 1.756352 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.007000 primary movement = 1.236500233480e-03 time: 3.007000000000e+00 total movement = 1.236500233480e-03 vel = 1.232750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.225250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.225250, acc = -7.500000,T = 1.857664, P = 1.757581 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.008000 primary movement = 1.229000233465e-03 time: 3.008000000000e+00 total movement = 1.229000233465e-03 vel = 1.225250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.217750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.217750, acc = -7.500000,T = 1.857664, P = 1.758803 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.009000 primary movement = 1.221500233449e-03 time: 3.009000000000e+00 total movement = 1.221500233449e-03 vel = 1.217750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.210250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.210250, acc = -7.500000,T = 1.857664, P = 1.760017 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.010000 primary movement = 1.214000233433e-03 time: 3.010000000000e+00 total movement = 1.214000233433e-03 vel = 1.210250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.202750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.202750, acc = -7.500000,T = 1.857664, P = 1.761223 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.011000 primary movement = 1.206500233418e-03 time: 3.011000000000e+00 total movement = 1.206500233418e-03 vel = 1.202750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.195250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.195250, acc = -7.500000,T = 1.857664, P = 1.762422 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.012000 primary movement = 1.199000233401e-03 time: 3.012000000000e+00 total movement = 1.199000233401e-03 vel = 1.195250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.187750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.187750, acc = -7.500000,T = 1.857664, P = 1.763614 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.013000 primary movement = 1.191500233386e-03 time: 3.013000000000e+00 total movement = 1.191500233386e-03 vel = 1.187750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.180250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.180250, acc = -7.500000,T = 1.857664, P = 1.764798 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.014000 primary movement = 1.184000233369e-03 time: 3.014000000000e+00 total movement = 1.184000233369e-03 vel = 1.180250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.172750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.172750, acc = -7.500000,T = 1.857664, P = 1.765974 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.015000 primary movement = 1.176500233353e-03 time: 3.015000000000e+00 total movement = 1.176500233353e-03 vel = 1.172750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.165250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.165250, acc = -7.500000,T = 1.857664, P = 1.767143 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.016000 primary movement = 1.169000233338e-03 time: 3.016000000000e+00 total movement = 1.169000233338e-03 vel = 1.165250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.157750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.157750, acc = -7.500000,T = 1.857664, P = 1.768305 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.017000 primary movement = 1.161500233321e-03 time: 3.017000000000e+00 total movement = 1.161500233321e-03 vel = 1.157750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.150250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.150250, acc = -7.500000,T = 1.857664, P = 1.769459 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.018000 primary movement = 1.154000233306e-03 time: 3.018000000000e+00 total movement = 1.154000233306e-03 vel = 1.150250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.142750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.142750, acc = -7.500000,T = 1.857664, P = 1.770605 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.019000 primary movement = 1.146500233289e-03 time: 3.019000000000e+00 total movement = 1.146500233289e-03 vel = 1.142750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.135250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.135250, acc = -7.500000,T = 1.857664, P = 1.771744 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.020000 primary movement = 1.139000233273e-03 time: 3.020000000000e+00 total movement = 1.139000233273e-03 vel = 1.135250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.127750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.127750, acc = -7.500000,T = 1.857664, P = 1.772876 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.021000 primary movement = 1.131500233257e-03 time: 3.021000000000e+00 total movement = 1.131500233257e-03 vel = 1.127750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.120250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.120250, acc = -7.500000,T = 1.857664, P = 1.774000 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.022000 primary movement = 1.124000233241e-03 time: 3.022000000000e+00 total movement = 1.124000233241e-03 vel = 1.120250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.112750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.112750, acc = -7.500000,T = 1.857664, P = 1.775116 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.023000 primary movement = 1.116500233225e-03 time: 3.023000000000e+00 total movement = 1.116500233225e-03 vel = 1.112750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.105250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.105250, acc = -7.500000,T = 1.857664, P = 1.776225 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.024000 primary movement = 1.109000233207e-03 time: 3.024000000000e+00 total movement = 1.109000233207e-03 vel = 1.105250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.097750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.097750, acc = -7.500000,T = 1.857664, P = 1.777327 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.025000 primary movement = 1.101500233192e-03 time: 3.025000000000e+00 total movement = 1.101500233192e-03 vel = 1.097750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.090250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.090250, acc = -7.500000,T = 1.857664, P = 1.778421 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.026000 primary movement = 1.094000233175e-03 time: 3.026000000000e+00 total movement = 1.094000233175e-03 vel = 1.090250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.082750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.082750, acc = -7.500000,T = 1.857664, P = 1.779507 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.027000 primary movement = 1.086500233159e-03 time: 3.027000000000e+00 total movement = 1.086500233159e-03 vel = 1.082750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.075250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.075250, acc = -7.500000,T = 1.857664, P = 1.780586 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.028000 primary movement = 1.079000233143e-03 time: 3.028000000000e+00 total movement = 1.079000233143e-03 vel = 1.075250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.067750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.067750, acc = -7.500000,T = 1.857664, P = 1.781658 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.029000 primary movement = 1.071500233126e-03 time: 3.029000000000e+00 total movement = 1.071500233126e-03 vel = 1.067750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.060250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.060250, acc = -7.500000,T = 1.857664, P = 1.782722 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.030000 primary movement = 1.064000233109e-03 time: 3.030000000000e+00 total movement = 1.064000233109e-03 vel = 1.060250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.052750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.052750, acc = -7.500000,T = 1.857664, P = 1.783778 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.031000 primary movement = 1.056500233093e-03 time: 3.031000000000e+00 total movement = 1.056500233093e-03 vel = 1.052750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.045250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.045250, acc = -7.500000,T = 1.857664, P = 1.784827 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.032000 primary movement = 1.049000233076e-03 time: 3.032000000000e+00 total movement = 1.049000233076e-03 vel = 1.045250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.037750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.037750, acc = -7.500000,T = 1.857664, P = 1.785869 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.033000 primary movement = 1.041500233060e-03 time: 3.033000000000e+00 total movement = 1.041500233060e-03 vel = 1.037750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.030250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.030250, acc = -7.500000,T = 1.857664, P = 1.786903 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.034000 primary movement = 1.034000233043e-03 time: 3.034000000000e+00 total movement = 1.034000233043e-03 vel = 1.030250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.022750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.022750, acc = -7.500000,T = 1.857664, P = 1.787929 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.035000 primary movement = 1.026500233027e-03 time: 3.035000000000e+00 total movement = 1.026500233027e-03 vel = 1.022750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.015250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.015250, acc = -7.500000,T = 1.857664, P = 1.788948 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.036000 primary movement = 1.019000233010e-03 time: 3.036000000000e+00 total movement = 1.019000233010e-03 vel = 1.015250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.007750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.007750, acc = -7.500000,T = 1.857664, P = 1.789960 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.037000 primary movement = 1.011500232993e-03 time: 3.037000000000e+00 total movement = 1.011500232993e-03 vel = 1.007750230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 1.000250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 1.000250, acc = -7.500000,T = 1.857664, P = 1.790964 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.038000 primary movement = 1.004000232976e-03 time: 3.038000000000e+00 total movement = 1.004000232976e-03 vel = 1.000250230551e+00 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.992750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.992750, acc = -7.500000,T = 1.857664, P = 1.791960 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.039000 primary movement = 9.965002329599e-04 time: 3.039000000000e+00 total movement = 9.965002329599e-04 vel = 9.927502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.985250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.985250, acc = -7.500000,T = 1.857664, P = 1.792949 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.040000 primary movement = 9.890002329429e-04 time: 3.040000000000e+00 total movement = 9.890002329429e-04 vel = 9.852502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.977750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.977750, acc = -7.500000,T = 1.857664, P = 1.793931 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.041000 primary movement = 9.815002329260e-04 time: 3.041000000000e+00 total movement = 9.815002329260e-04 vel = 9.777502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.970250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.970250, acc = -7.500000,T = 1.857664, P = 1.794905 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.042000 primary movement = 9.740002329094e-04 time: 3.042000000000e+00 total movement = 9.740002329094e-04 vel = 9.702502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.962750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.962750, acc = -7.500000,T = 1.857664, P = 1.795871 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.043000 primary movement = 9.665002328920e-04 time: 3.043000000000e+00 total movement = 9.665002328920e-04 vel = 9.627502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.955250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.955250, acc = -7.500000,T = 1.857664, P = 1.796830 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.044000 primary movement = 9.590002328754e-04 time: 3.044000000000e+00 total movement = 9.590002328754e-04 vel = 9.552502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.947750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.947750, acc = -7.500000,T = 1.857664, P = 1.797782 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.045000 primary movement = 9.515002328583e-04 time: 3.045000000000e+00 total movement = 9.515002328583e-04 vel = 9.477502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.940250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.940250, acc = -7.500000,T = 1.857664, P = 1.798726 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.046000 primary movement = 9.440002328416e-04 time: 3.046000000000e+00 total movement = 9.440002328416e-04 vel = 9.402502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.932750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.932750, acc = -7.500000,T = 1.857664, P = 1.799662 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.047000 primary movement = 9.365002328240e-04 time: 3.047000000000e+00 total movement = 9.365002328240e-04 vel = 9.327502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.925250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.925250, acc = -7.500000,T = 1.857664, P = 1.800591 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.048000 primary movement = 9.290002328078e-04 time: 3.048000000000e+00 total movement = 9.290002328078e-04 vel = 9.252502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.917750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.917750, acc = -7.500000,T = 1.857664, P = 1.801513 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.049000 primary movement = 9.215002327901e-04 time: 3.049000000000e+00 total movement = 9.215002327901e-04 vel = 9.177502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.910250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.910250, acc = -7.500000,T = 1.857664, P = 1.802427 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.050000 primary movement = 9.140002327729e-04 time: 3.050000000000e+00 total movement = 9.140002327729e-04 vel = 9.102502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.902750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.902750, acc = -7.500000,T = 1.857664, P = 1.803333 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.051000 primary movement = 9.065002327561e-04 time: 3.051000000000e+00 total movement = 9.065002327561e-04 vel = 9.027502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.895250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.895250, acc = -7.500000,T = 1.857664, P = 1.804232 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.052000 primary movement = 8.990002327393e-04 time: 3.052000000000e+00 total movement = 8.990002327393e-04 vel = 8.952502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.887750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.887750, acc = -7.500000,T = 1.857664, P = 1.805124 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.053000 primary movement = 8.915002327215e-04 time: 3.053000000000e+00 total movement = 8.915002327215e-04 vel = 8.877502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.880250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.880250, acc = -7.500000,T = 1.857664, P = 1.806008 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.054000 primary movement = 8.840002327047e-04 time: 3.054000000000e+00 total movement = 8.840002327047e-04 vel = 8.802502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.872750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.872750, acc = -7.500000,T = 1.857664, P = 1.806884 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.055000 primary movement = 8.765002326869e-04 time: 3.055000000000e+00 total movement = 8.765002326869e-04 vel = 8.727502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.865250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.865250, acc = -7.500000,T = 1.857664, P = 1.807753 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.056000 primary movement = 8.690002326699e-04 time: 3.056000000000e+00 total movement = 8.690002326699e-04 vel = 8.652502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.857750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.857750, acc = -7.500000,T = 1.857664, P = 1.808615 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.057000 primary movement = 8.615002326530e-04 time: 3.057000000000e+00 total movement = 8.615002326530e-04 vel = 8.577502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.850250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.850250, acc = -7.500000,T = 1.857664, P = 1.809469 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.058000 primary movement = 8.540002326351e-04 time: 3.058000000000e+00 total movement = 8.540002326351e-04 vel = 8.502502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.842750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.842750, acc = -7.500000,T = 1.857664, P = 1.810315 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.059000 primary movement = 8.465002326185e-04 time: 3.059000000000e+00 total movement = 8.465002326185e-04 vel = 8.427502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.835250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.835250, acc = -7.500000,T = 1.857664, P = 1.811154 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.060000 primary movement = 8.390002326006e-04 time: 3.060000000000e+00 total movement = 8.390002326006e-04 vel = 8.352502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.827750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.827750, acc = -7.500000,T = 1.857664, P = 1.811986 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.061000 primary movement = 8.315002325831e-04 time: 3.061000000000e+00 total movement = 8.315002325831e-04 vel = 8.277502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.820250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.820250, acc = -7.500000,T = 1.857664, P = 1.812810 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.062000 primary movement = 8.240002325660e-04 time: 3.062000000000e+00 total movement = 8.240002325660e-04 vel = 8.202502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.812750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.812750, acc = -7.500000,T = 1.857664, P = 1.813626 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.063000 primary movement = 8.165002325489e-04 time: 3.063000000000e+00 total movement = 8.165002325489e-04 vel = 8.127502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.805250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.805250, acc = -7.500000,T = 1.857664, P = 1.814435 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.064000 primary movement = 8.090002325308e-04 time: 3.064000000000e+00 total movement = 8.090002325308e-04 vel = 8.052502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.797750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.797750, acc = -7.500000,T = 1.857664, P = 1.815237 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.065000 primary movement = 8.015002325137e-04 time: 3.065000000000e+00 total movement = 8.015002325137e-04 vel = 7.977502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.790250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.790250, acc = -7.500000,T = 1.857664, P = 1.816031 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.066000 primary movement = 7.940002324960e-04 time: 3.066000000000e+00 total movement = 7.940002324960e-04 vel = 7.902502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.782750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.782750, acc = -7.500000,T = 1.857664, P = 1.816817 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.067000 primary movement = 7.865002324784e-04 time: 3.067000000000e+00 total movement = 7.865002324784e-04 vel = 7.827502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.775250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.775250, acc = -7.500000,T = 1.857664, P = 1.817596 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.068000 primary movement = 7.790002324607e-04 time: 3.068000000000e+00 total movement = 7.790002324607e-04 vel = 7.752502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.767750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.767750, acc = -7.500000,T = 1.857664, P = 1.818368 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.069000 primary movement = 7.715002324434e-04 time: 3.069000000000e+00 total movement = 7.715002324434e-04 vel = 7.677502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.760250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.760250, acc = -7.500000,T = 1.857664, P = 1.819132 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.070000 primary movement = 7.640002324257e-04 time: 3.070000000000e+00 total movement = 7.640002324257e-04 vel = 7.602502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.752750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.752750, acc = -7.500000,T = 1.857664, P = 1.819888 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.071000 primary movement = 7.565002324080e-04 time: 3.071000000000e+00 total movement = 7.565002324080e-04 vel = 7.527502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.745250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.745250, acc = -7.500000,T = 1.857664, P = 1.820637 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.072000 primary movement = 7.490002323906e-04 time: 3.072000000000e+00 total movement = 7.490002323906e-04 vel = 7.452502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.737750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.737750, acc = -7.500000,T = 1.857664, P = 1.821379 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.073000 primary movement = 7.415002323728e-04 time: 3.073000000000e+00 total movement = 7.415002323728e-04 vel = 7.377502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.730250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.730250, acc = -7.500000,T = 1.857664, P = 1.822113 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.074000 primary movement = 7.340002323550e-04 time: 3.074000000000e+00 total movement = 7.340002323550e-04 vel = 7.302502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.722750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.722750, acc = -7.500000,T = 1.857664, P = 1.822839 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.075000 primary movement = 7.265002323372e-04 time: 3.075000000000e+00 total movement = 7.265002323372e-04 vel = 7.227502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.715250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.715250, acc = -7.500000,T = 1.857664, P = 1.823558 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.076000 primary movement = 7.190002323197e-04 time: 3.076000000000e+00 total movement = 7.190002323197e-04 vel = 7.152502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.707750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.707750, acc = -7.500000,T = 1.857664, P = 1.824270 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.077000 primary movement = 7.115002323014e-04 time: 3.077000000000e+00 total movement = 7.115002323014e-04 vel = 7.077502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.700250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.700250, acc = -7.500000,T = 1.857664, P = 1.824974 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.078000 primary movement = 7.040002322839e-04 time: 3.078000000000e+00 total movement = 7.040002322839e-04 vel = 7.002502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.692750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.692750, acc = -7.500000,T = 1.857664, P = 1.825670 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.079000 primary movement = 6.965002322665e-04 time: 3.079000000000e+00 total movement = 6.965002322665e-04 vel = 6.927502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.685250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.685250, acc = -7.500000,T = 1.857664, P = 1.826359 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.080000 primary movement = 6.890002322481e-04 time: 3.080000000000e+00 total movement = 6.890002322481e-04 vel = 6.852502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.677750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.677750, acc = -7.500000,T = 1.857664, P = 1.827041 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.081000 primary movement = 6.815002322314e-04 time: 3.081000000000e+00 total movement = 6.815002322314e-04 vel = 6.777502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.670250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.670250, acc = -7.500000,T = 1.857664, P = 1.827715 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.082000 primary movement = 6.740002322121e-04 time: 3.082000000000e+00 total movement = 6.740002322121e-04 vel = 6.702502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.662750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.662750, acc = -7.500000,T = 1.857664, P = 1.828381 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.083000 primary movement = 6.665002321945e-04 time: 3.083000000000e+00 total movement = 6.665002321945e-04 vel = 6.627502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.655250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.655250, acc = -7.500000,T = 1.857664, P = 1.829040 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.084000 primary movement = 6.590002321769e-04 time: 3.084000000000e+00 total movement = 6.590002321769e-04 vel = 6.552502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.647750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.647750, acc = -7.500000,T = 1.857664, P = 1.829692 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.085000 primary movement = 6.515002321593e-04 time: 3.085000000000e+00 total movement = 6.515002321593e-04 vel = 6.477502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.640250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.640250, acc = -7.500000,T = 1.857664, P = 1.830336 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.086000 primary movement = 6.440002321408e-04 time: 3.086000000000e+00 total movement = 6.440002321408e-04 vel = 6.402502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.632750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.632750, acc = -7.500000,T = 1.857664, P = 1.830972 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.087000 primary movement = 6.365002321232e-04 time: 3.087000000000e+00 total movement = 6.365002321232e-04 vel = 6.327502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.625250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.625250, acc = -7.500000,T = 1.857664, P = 1.831601 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.088000 primary movement = 6.290002321046e-04 time: 3.088000000000e+00 total movement = 6.290002321046e-04 vel = 6.252502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.617750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.617750, acc = -7.500000,T = 1.857664, P = 1.832223 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.089000 primary movement = 6.215002320869e-04 time: 3.089000000000e+00 total movement = 6.215002320869e-04 vel = 6.177502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.610250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.610250, acc = -7.500000,T = 1.857664, P = 1.832837 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.090000 primary movement = 6.140002320692e-04 time: 3.090000000000e+00 total movement = 6.140002320692e-04 vel = 6.102502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.602750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.602750, acc = -7.500000,T = 1.857664, P = 1.833443 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.091000 primary movement = 6.065002320506e-04 time: 3.091000000000e+00 total movement = 6.065002320506e-04 vel = 6.027502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.595250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.595250, acc = -7.500000,T = 1.857664, P = 1.834042 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.092000 primary movement = 5.990002320329e-04 time: 3.092000000000e+00 total movement = 5.990002320329e-04 vel = 5.952502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.587750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.587750, acc = -7.500000,T = 1.857664, P = 1.834634 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.093000 primary movement = 5.915002320151e-04 time: 3.093000000000e+00 total movement = 5.915002320151e-04 vel = 5.877502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.580250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.580250, acc = -7.500000,T = 1.857664, P = 1.835218 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.094000 primary movement = 5.840002319964e-04 time: 3.094000000000e+00 total movement = 5.840002319964e-04 vel = 5.802502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.572750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.572750, acc = -7.500000,T = 1.857664, P = 1.835794 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.095000 primary movement = 5.765002319786e-04 time: 3.095000000000e+00 total movement = 5.765002319786e-04 vel = 5.727502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.565250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.565250, acc = -7.500000,T = 1.857664, P = 1.836363 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.096000 primary movement = 5.690002319604e-04 time: 3.096000000000e+00 total movement = 5.690002319604e-04 vel = 5.652502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.557750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.557750, acc = -7.500000,T = 1.857664, P = 1.836925 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.097000 primary movement = 5.615002319425e-04 time: 3.097000000000e+00 total movement = 5.615002319425e-04 vel = 5.577502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.550250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.550250, acc = -7.500000,T = 1.857664, P = 1.837479 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.098000 primary movement = 5.540002319238e-04 time: 3.098000000000e+00 total movement = 5.540002319238e-04 vel = 5.502502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.542750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.542750, acc = -7.500000,T = 1.857664, P = 1.838025 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.099000 primary movement = 5.465002319059e-04 time: 3.099000000000e+00 total movement = 5.465002319059e-04 vel = 5.427502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.535250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.535250, acc = -7.500000,T = 1.857664, P = 1.838564 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.100000 primary movement = 5.390002318876e-04 time: 3.100000000000e+00 total movement = 5.390002318876e-04 vel = 5.352502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.527750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.527750, acc = -7.500000,T = 1.857664, P = 1.839096 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.101000 primary movement = 5.315002318693e-04 time: 3.101000000000e+00 total movement = 5.315002318693e-04 vel = 5.277502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.520250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.520250, acc = -7.500000,T = 1.857664, P = 1.839620 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.102000 primary movement = 5.240002318514e-04 time: 3.102000000000e+00 total movement = 5.240002318514e-04 vel = 5.202502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.512750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.512750, acc = -7.500000,T = 1.857664, P = 1.840136 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.103000 primary movement = 5.165002318330e-04 time: 3.103000000000e+00 total movement = 5.165002318330e-04 vel = 5.127502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.505250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.505250, acc = -7.500000,T = 1.857664, P = 1.840645 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.104000 primary movement = 5.090002318142e-04 time: 3.104000000000e+00 total movement = 5.090002318142e-04 vel = 5.052502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.497750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.497750, acc = -7.500000,T = 1.857664, P = 1.841147 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.105000 primary movement = 5.015002317971e-04 time: 3.105000000000e+00 total movement = 5.015002317971e-04 vel = 4.977502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.490250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.490250, acc = -7.500000,T = 1.857664, P = 1.841641 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.106000 primary movement = 4.940002317782e-04 time: 3.106000000000e+00 total movement = 4.940002317782e-04 vel = 4.902502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.482750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.482750, acc = -7.500000,T = 1.857664, P = 1.842127 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.107000 primary movement = 4.865002317593e-04 time: 3.107000000000e+00 total movement = 4.865002317593e-04 vel = 4.827502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.475250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.475250, acc = -7.500000,T = 1.857664, P = 1.842606 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.108000 primary movement = 4.790002317418e-04 time: 3.108000000000e+00 total movement = 4.790002317418e-04 vel = 4.752502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.467750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.467750, acc = -7.500000,T = 1.857664, P = 1.843078 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.109000 primary movement = 4.715002317229e-04 time: 3.109000000000e+00 total movement = 4.715002317229e-04 vel = 4.677502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.460250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.460250, acc = -7.500000,T = 1.857664, P = 1.843542 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.110000 primary movement = 4.640002317044e-04 time: 3.110000000000e+00 total movement = 4.640002317044e-04 vel = 4.602502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.452750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.452750, acc = -7.500000,T = 1.857664, P = 1.843998 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.111000 primary movement = 4.565002316872e-04 time: 3.111000000000e+00 total movement = 4.565002316872e-04 vel = 4.527502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.445250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.445250, acc = -7.500000,T = 1.857664, P = 1.844447 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.112000 primary movement = 4.490002316678e-04 time: 3.112000000000e+00 total movement = 4.490002316678e-04 vel = 4.452502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.437750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.437750, acc = -7.500000,T = 1.857664, P = 1.844889 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.113000 primary movement = 4.415002316498e-04 time: 3.113000000000e+00 total movement = 4.415002316498e-04 vel = 4.377502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.430250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.430250, acc = -7.500000,T = 1.857664, P = 1.845323 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.114000 primary movement = 4.340002316308e-04 time: 3.114000000000e+00 total movement = 4.340002316308e-04 vel = 4.302502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.422750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.422750, acc = -7.500000,T = 1.857664, P = 1.845749 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.115000 primary movement = 4.265002316127e-04 time: 3.115000000000e+00 total movement = 4.265002316127e-04 vel = 4.227502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.415250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.415250, acc = -7.500000,T = 1.857664, P = 1.846168 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.116000 primary movement = 4.190002315941e-04 time: 3.116000000000e+00 total movement = 4.190002315941e-04 vel = 4.152502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.407750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.407750, acc = -7.500000,T = 1.857664, P = 1.846580 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.117000 primary movement = 4.115002315760e-04 time: 3.117000000000e+00 total movement = 4.115002315760e-04 vel = 4.077502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.400250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.400250, acc = -7.500000,T = 1.857664, P = 1.846984 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.118000 primary movement = 4.040002315578e-04 time: 3.118000000000e+00 total movement = 4.040002315578e-04 vel = 4.002502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.392750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.392750, acc = -7.500000,T = 1.857664, P = 1.847380 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.119000 primary movement = 3.965002315388e-04 time: 3.119000000000e+00 total movement = 3.965002315388e-04 vel = 3.927502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.385250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.385250, acc = -7.500000,T = 1.857664, P = 1.847769 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.120000 primary movement = 3.890002315206e-04 time: 3.120000000000e+00 total movement = 3.890002315206e-04 vel = 3.852502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.377750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.377750, acc = -7.500000,T = 1.857664, P = 1.848151 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.121000 primary movement = 3.815002315016e-04 time: 3.121000000000e+00 total movement = 3.815002315016e-04 vel = 3.777502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.370250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.370250, acc = -7.500000,T = 1.857664, P = 1.848525 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.122000 primary movement = 3.740002314834e-04 time: 3.122000000000e+00 total movement = 3.740002314834e-04 vel = 3.702502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.362750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.362750, acc = -7.500000,T = 1.857664, P = 1.848891 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.123000 primary movement = 3.665002314647e-04 time: 3.123000000000e+00 total movement = 3.665002314647e-04 vel = 3.627502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.355250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.355250, acc = -7.500000,T = 1.857664, P = 1.849250 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.124000 primary movement = 3.590002314465e-04 time: 3.124000000000e+00 total movement = 3.590002314465e-04 vel = 3.552502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.347750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.347750, acc = -7.500000,T = 1.857664, P = 1.849602 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.125000 primary movement = 3.515002314279e-04 time: 3.125000000000e+00 total movement = 3.515002314279e-04 vel = 3.477502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.340250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.340250, acc = -7.500000,T = 1.857664, P = 1.849946 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.126000 primary movement = 3.440002314096e-04 time: 3.126000000000e+00 total movement = 3.440002314096e-04 vel = 3.402502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.332750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.332750, acc = -7.500000,T = 1.857664, P = 1.850282 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.127000 primary movement = 3.365002313905e-04 time: 3.127000000000e+00 total movement = 3.365002313905e-04 vel = 3.327502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.325250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.325250, acc = -7.500000,T = 1.857664, P = 1.850611 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.128000 primary movement = 3.290002313718e-04 time: 3.128000000000e+00 total movement = 3.290002313718e-04 vel = 3.252502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.317750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.317750, acc = -7.500000,T = 1.857664, P = 1.850933 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.129000 primary movement = 3.215002313535e-04 time: 3.129000000000e+00 total movement = 3.215002313535e-04 vel = 3.177502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.310250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.310250, acc = -7.500000,T = 1.857664, P = 1.851247 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.130000 primary movement = 3.140002313348e-04 time: 3.130000000000e+00 total movement = 3.140002313348e-04 vel = 3.102502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.302750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.302750, acc = -7.500000,T = 1.857664, P = 1.851553 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.131000 primary movement = 3.065002313165e-04 time: 3.131000000000e+00 total movement = 3.065002313165e-04 vel = 3.027502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.295250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.295250, acc = -7.500000,T = 1.857664, P = 1.851852 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.132000 primary movement = 2.990002312978e-04 time: 3.132000000000e+00 total movement = 2.990002312978e-04 vel = 2.952502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.287750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.287750, acc = -7.500000,T = 1.857664, P = 1.852144 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.133000 primary movement = 2.915002312791e-04 time: 3.133000000000e+00 total movement = 2.915002312791e-04 vel = 2.877502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.280250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.280250, acc = -7.500000,T = 1.857664, P = 1.852428 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.134000 primary movement = 2.840002312603e-04 time: 3.134000000000e+00 total movement = 2.840002312603e-04 vel = 2.802502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.272750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.272750, acc = -7.500000,T = 1.857664, P = 1.852704 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.135000 primary movement = 2.765002312415e-04 time: 3.135000000000e+00 total movement = 2.765002312415e-04 vel = 2.727502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.265250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.265250, acc = -7.500000,T = 1.857664, P = 1.852973 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.136000 primary movement = 2.690002312232e-04 time: 3.136000000000e+00 total movement = 2.690002312232e-04 vel = 2.652502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.257750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.257750, acc = -7.500000,T = 1.857664, P = 1.853235 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.137000 primary movement = 2.615002312049e-04 time: 3.137000000000e+00 total movement = 2.615002312049e-04 vel = 2.577502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.250250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.250250, acc = -7.500000,T = 1.857664, P = 1.853489 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.138000 primary movement = 2.540002311857e-04 time: 3.138000000000e+00 total movement = 2.540002311857e-04 vel = 2.502502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.242750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.242750, acc = -7.500000,T = 1.857664, P = 1.853735 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.139000 primary movement = 2.465002311673e-04 time: 3.139000000000e+00 total movement = 2.465002311673e-04 vel = 2.427502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.235250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.235250, acc = -7.500000,T = 1.857664, P = 1.853974 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.140000 primary movement = 2.390002311485e-04 time: 3.140000000000e+00 total movement = 2.390002311485e-04 vel = 2.352502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.227750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.227750, acc = -7.500000,T = 1.857664, P = 1.854206 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.141000 primary movement = 2.315002311297e-04 time: 3.141000000000e+00 total movement = 2.315002311297e-04 vel = 2.277502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.220250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.220250, acc = -7.500000,T = 1.857664, P = 1.854430 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.142000 primary movement = 2.240002311113e-04 time: 3.142000000000e+00 total movement = 2.240002311113e-04 vel = 2.202502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.212750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.212750, acc = -7.500000,T = 1.857664, P = 1.854646 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.143000 primary movement = 2.165002310925e-04 time: 3.143000000000e+00 total movement = 2.165002310925e-04 vel = 2.127502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.205250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.205250, acc = -7.500000,T = 1.857664, P = 1.854855 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.144000 primary movement = 2.090002310737e-04 time: 3.144000000000e+00 total movement = 2.090002310737e-04 vel = 2.052502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.197750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.197750, acc = -7.500000,T = 1.857664, P = 1.855057 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.145000 primary movement = 2.015002310548e-04 time: 3.145000000000e+00 total movement = 2.015002310548e-04 vel = 1.977502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.190250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.190250, acc = -7.500000,T = 1.857664, P = 1.855251 on final decel tc id = 21, canon_type = 3, mot type = 2 time: 3.146000 primary movement = 1.940002310364e-04 time: 3.146000000000e+00 total movement = 1.940002310364e-04 vel = 1.902502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.182750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.182750, acc = -7.500000,T = 1.857664, P = 1.855437 on final decel tc id = 21, canon_type = 3, mot type = 2 tc state : vr = 0.007500, vf = 0.007500, maxvel = 8.429893, current_vel = 0.007500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.007500, acc = 7.500000,T = 0.009332, P = 0.000004 initial results: dx= 0.009328,dt = 0.034571, a_f = 15.176893, v_f = 0.532173 recalculating with a_f = 15.176893, a = 15.173808 revised dt = 0.034574 dt = 0.034574, not at end yet tc id = 21, canon_type = 3, mot type = 2 secondary movement = 0.000004 time: 3.147000 primary movement = 1.865002310176e-04 time: 3.147000000000e+00 total movement = 1.902502310176e-04 vel = 1.902502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.175250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.175250, acc = -7.500000,T = 1.857664, P = 1.855616 on final decel tc id = 21, canon_type = 3, mot type = 2 tc state : vr = 0.015000, vf = 0.015000, maxvel = 8.429893, current_vel = 0.015000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.015000, acc = 7.500000,T = 0.009332, P = 0.000015 initial results: dx= 0.009317,dt = 0.034056, a_f = 15.186162, v_f = 0.532173 recalculating with a_f = 15.186162, a = 15.173808 revised dt = 0.034069 dt = 0.034069, not at end yet tc id = 21, canon_type = 3, mot type = 2 secondary movement = 0.000011 time: 3.148000 primary movement = 1.790002309983e-04 time: 3.148000000000e+00 total movement = 1.902502309983e-04 vel = 1.902502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.167750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.167750, acc = -7.500000,T = 1.857664, P = 1.855788 on final decel tc id = 21, canon_type = 3, mot type = 2 tc state : vr = 0.022500, vf = 0.022500, maxvel = 8.429893, current_vel = 0.022500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.022500, acc = 7.500000,T = 0.009332, P = 0.000034 initial results: dx= 0.009298,dt = 0.033527, a_f = 15.201661, v_f = 0.532173 recalculating with a_f = 15.201661, a = 15.173808 revised dt = 0.033557 dt = 0.033557, not at end yet tc id = 21, canon_type = 3, mot type = 2 secondary movement = 0.000019 time: 3.149000 primary movement = 1.715002309808e-04 time: 3.149000000000e+00 total movement = 1.902502309808e-04 vel = 1.902502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.160250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.160250, acc = -7.500000,T = 1.857664, P = 1.855952 on final decel tc id = 21, canon_type = 3, mot type = 2 tc state : vr = 0.030000, vf = 0.030000, maxvel = 8.429893, current_vel = 0.030000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.030000, acc = 7.500000,T = 0.009332, P = 0.000060 initial results: dx= 0.009272,dt = 0.032987, a_f = 15.223465, v_f = 0.532173 recalculating with a_f = 15.223465, a = 15.173808 revised dt = 0.033038 dt = 0.033038, not at end yet tc id = 21, canon_type = 3, mot type = 2 secondary movement = 0.000026 time: 3.150000 primary movement = 1.640002309606e-04 time: 3.150000000000e+00 total movement = 1.902502309606e-04 vel = 1.902502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.152750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.152750, acc = -7.500000,T = 1.857664, P = 1.856108 on final decel tc id = 21, canon_type = 3, mot type = 2 tc state : vr = 0.037500, vf = 0.037500, maxvel = 8.429893, current_vel = 0.037500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.037500, acc = 7.500000,T = 0.009332, P = 0.000094 initial results: dx= 0.009238,dt = 0.032434, a_f = 15.251681, v_f = 0.532173 recalculating with a_f = 15.251681, a = 15.173808 revised dt = 0.032511 dt = 0.032511, not at end yet tc id = 21, canon_type = 3, mot type = 2 secondary movement = 0.000034 time: 3.151000 primary movement = 1.565002309430e-04 time: 3.151000000000e+00 total movement = 1.902502309430e-04 vel = 1.902502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.145250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.145250, acc = -7.500000,T = 1.857664, P = 1.856257 on final decel tc id = 21, canon_type = 3, mot type = 2 tc state : vr = 0.045000, vf = 0.045000, maxvel = 8.429893, current_vel = 0.045000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.045000, acc = 7.500000,T = 0.009332, P = 0.000135 initial results: dx= 0.009197,dt = 0.031870, a_f = 15.286448, v_f = 0.532173 recalculating with a_f = 15.286448, a = 15.173808 revised dt = 0.031978 dt = 0.031978, not at end yet tc id = 21, canon_type = 3, mot type = 2 secondary movement = 0.000041 time: 3.152000 primary movement = 1.490002309237e-04 time: 3.152000000000e+00 total movement = 1.902502309237e-04 vel = 1.902502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.137750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.137750, acc = -7.500000,T = 1.857664, P = 1.856399 on final decel tc id = 21, canon_type = 3, mot type = 2 tc state : vr = 0.052500, vf = 0.052500, maxvel = 8.429893, current_vel = 0.052500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.052500, acc = 7.500000,T = 0.009332, P = 0.000184 initial results: dx= 0.009148,dt = 0.031294, a_f = 15.327940, v_f = 0.532173 recalculating with a_f = 15.327940, a = 15.173808 revised dt = 0.031437 dt = 0.031437, not at end yet tc id = 21, canon_type = 3, mot type = 2 secondary movement = 0.000049 time: 3.153000 primary movement = 1.415002309053e-04 time: 3.153000000000e+00 total movement = 1.902502309053e-04 vel = 1.902502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.130250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.130250, acc = -7.500000,T = 1.857664, P = 1.856533 on final decel tc id = 21, canon_type = 3, mot type = 2 tc state : vr = 0.060000, vf = 0.060000, maxvel = 8.429893, current_vel = 0.060000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.060000, acc = 7.500000,T = 0.009332, P = 0.000240 initial results: dx= 0.009092,dt = 0.030708, a_f = 15.376369, v_f = 0.532173 recalculating with a_f = 15.376369, a = 15.173808 revised dt = 0.030889 dt = 0.030889, not at end yet tc id = 21, canon_type = 3, mot type = 2 secondary movement = 0.000056 time: 3.154000 primary movement = 1.340002308859e-04 time: 3.154000000000e+00 total movement = 1.902502308859e-04 vel = 1.902502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.122750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.122750, acc = -7.500000,T = 1.857664, P = 1.856659 on final decel tc id = 21, canon_type = 3, mot type = 2 tc state : vr = 0.067500, vf = 0.067500, maxvel = 8.429893, current_vel = 0.067500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.067500, acc = 7.500000,T = 0.009332, P = 0.000304 initial results: dx= 0.009028,dt = 0.030111, a_f = 15.431984, v_f = 0.532173 recalculating with a_f = 15.431984, a = 15.173808 revised dt = 0.030334 dt = 0.030334, not at end yet tc id = 21, canon_type = 3, mot type = 2 secondary movement = 0.000064 time: 3.155000 primary movement = 1.265002308675e-04 time: 3.155000000000e+00 total movement = 1.902502308675e-04 vel = 1.902502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.115250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.115250, acc = -7.500000,T = 1.857664, P = 1.856778 on final decel tc id = 21, canon_type = 3, mot type = 2 tc state : vr = 0.075000, vf = 0.075000, maxvel = 8.429893, current_vel = 0.075000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.075000, acc = 7.500000,T = 0.009332, P = 0.000375 initial results: dx= 0.008957,dt = 0.029504, a_f = 15.495080, v_f = 0.532173 recalculating with a_f = 15.495080, a = 15.173808 revised dt = 0.029771 dt = 0.029771, not at end yet tc id = 21, canon_type = 3, mot type = 2 secondary movement = 0.000071 time: 3.156000 primary movement = 1.190002308490e-04 time: 3.156000000000e+00 total movement = 1.902502308491e-04 vel = 1.902502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.107750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.107750, acc = -7.500000,T = 1.857664, P = 1.856890 on final decel tc id = 21, canon_type = 3, mot type = 2 tc state : vr = 0.082500, vf = 0.082500, maxvel = 8.429893, current_vel = 0.082500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.082500, acc = 7.500000,T = 0.009332, P = 0.000454 initial results: dx= 0.008878,dt = 0.028888, a_f = 15.565995, v_f = 0.532173 recalculating with a_f = 15.565995, a = 15.173808 revised dt = 0.029201 dt = 0.029201, not at end yet tc id = 21, canon_type = 3, mot type = 2 secondary movement = 0.000079 time: 3.157000 primary movement = 1.115002308297e-04 time: 3.157000000000e+00 total movement = 1.902502308297e-04 vel = 1.902502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.100250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.100250, acc = -7.500000,T = 1.857664, P = 1.856994 on final decel tc id = 21, canon_type = 3, mot type = 2 tc state : vr = 0.090000, vf = 0.090000, maxvel = 8.429893, current_vel = 0.090000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.090000, acc = 7.500000,T = 0.009332, P = 0.000540 initial results: dx= 0.008792,dt = 0.028263, a_f = 15.645121, v_f = 0.532173 recalculating with a_f = 15.645121, a = 15.173808 revised dt = 0.028624 dt = 0.028624, not at end yet tc id = 21, canon_type = 3, mot type = 2 secondary movement = 0.000086 time: 3.158000 primary movement = 1.040002308113e-04 time: 3.158000000000e+00 total movement = 1.902502308113e-04 vel = 1.902502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.092750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.092750, acc = -7.500000,T = 1.857664, P = 1.857090 on final decel tc id = 21, canon_type = 3, mot type = 2 tc state : vr = 0.097500, vf = 0.097500, maxvel = 8.429893, current_vel = 0.097500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.097500, acc = 7.500000,T = 0.009332, P = 0.000634 initial results: dx= 0.008698,dt = 0.027628, a_f = 15.732908, v_f = 0.532173 recalculating with a_f = 15.732908, a = 15.173808 revised dt = 0.028039 dt = 0.028039, not at end yet tc id = 22, canon_type = 2, mot type = 1 secondary movement = 0.000094 time: 3.159000 primary movement = 9.650023079236e-05 time: 3.159000000000e+00 total movement = 1.902502307923e-04 vel = 1.902502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.085250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.085250, acc = -7.500000,T = 1.857664, P = 1.857179 on final decel tc id = 21, canon_type = 3, mot type = 2 tc state : vr = 0.105000, vf = 0.105000, maxvel = 8.429893, current_vel = 0.105000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.105000, acc = 7.500000,T = 0.009332, P = 0.000735 initial results: dx= 0.008597,dt = 0.026985, a_f = 15.829868, v_f = 0.532173 recalculating with a_f = 15.829868, a = 15.173808 revised dt = 0.027446 dt = 0.027446, not at end yet tc id = 22, canon_type = 2, mot type = 1 secondary movement = 0.000101 time: 3.160000 primary movement = 8.900023077390e-05 time: 3.160000000000e+00 total movement = 1.902502307739e-04 vel = 1.902502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.077750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.077750, acc = -7.500000,T = 1.857664, P = 1.857261 on final decel tc id = 21, canon_type = 3, mot type = 2 tc state : vr = 0.112500, vf = 0.112500, maxvel = 8.429893, current_vel = 0.112500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.112500, acc = 7.500000,T = 0.009332, P = 0.000844 initial results: dx= 0.008488,dt = 0.026334, a_f = 15.936587, v_f = 0.532173 recalculating with a_f = 15.936587, a = 15.173808 revised dt = 0.026847 dt = 0.026847, not at end yet tc id = 22, canon_type = 2, mot type = 1 secondary movement = 0.000109 time: 3.161000 primary movement = 8.150023075455e-05 time: 3.161000000000e+00 total movement = 1.902502307545e-04 vel = 1.902502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.070250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.070250, acc = -7.500000,T = 1.857664, P = 1.857335 on final decel tc id = 21, canon_type = 3, mot type = 2 tc state : vr = 0.120000, vf = 0.120000, maxvel = 8.429893, current_vel = 0.120000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.120000, acc = 7.500000,T = 0.009332, P = 0.000960 initial results: dx= 0.008372,dt = 0.025675, a_f = 16.053732, v_f = 0.532173 recalculating with a_f = 16.053732, a = 15.173808 revised dt = 0.026239 dt = 0.026239, not at end yet tc id = 22, canon_type = 2, mot type = 1 secondary movement = 0.000116 time: 3.162000 primary movement = 7.400023073608e-05 time: 3.162000000000e+00 total movement = 1.902502307361e-04 vel = 1.902502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.062750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.062750, acc = -7.500000,T = 1.857664, P = 1.857401 on final decel tc id = 21, canon_type = 3, mot type = 2 tc state : vr = 0.127500, vf = 0.127500, maxvel = 8.429893, current_vel = 0.127500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.127500, acc = 7.500000,T = 0.009332, P = 0.001084 initial results: dx= 0.008248,dt = 0.025008, a_f = 16.182063, v_f = 0.532173 recalculating with a_f = 16.182063, a = 15.173808 revised dt = 0.025624 dt = 0.025624, not at end yet tc id = 22, canon_type = 2, mot type = 1 secondary movement = 0.000124 time: 3.163000 primary movement = 6.650023071717e-05 time: 3.163000000000e+00 total movement = 1.902502307172e-04 vel = 1.902502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.055250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.055250, acc = -7.500000,T = 1.857664, P = 1.857460 on final decel tc id = 21, canon_type = 3, mot type = 2 tc state : vr = 0.135000, vf = 0.135000, maxvel = 8.429893, current_vel = 0.135000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.135000, acc = 7.500000,T = 0.009332, P = 0.001215 initial results: dx= 0.008117,dt = 0.024333, a_f = 16.322448, v_f = 0.532173 recalculating with a_f = 16.322448, a = 15.173808 revised dt = 0.025001 dt = 0.025001, not at end yet tc id = 22, canon_type = 2, mot type = 1 secondary movement = 0.000131 time: 3.164000 primary movement = 5.900023069870e-05 time: 3.164000000000e+00 total movement = 1.902502306987e-04 vel = 1.902502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.047750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.047750, acc = -7.500000,T = 1.857664, P = 1.857512 on final decel tc id = 21, canon_type = 3, mot type = 2 tc state : vr = 0.142500, vf = 0.142500, maxvel = 8.429893, current_vel = 0.142500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.142500, acc = 7.500000,T = 0.009332, P = 0.001354 initial results: dx= 0.007978,dt = 0.023651, a_f = 16.475876, v_f = 0.532173 recalculating with a_f = 16.475876, a = 15.173808 revised dt = 0.024370 dt = 0.024370, not at end yet tc id = 22, canon_type = 2, mot type = 1 secondary movement = 0.000139 time: 3.165000 primary movement = 5.150023067934e-05 time: 3.165000000000e+00 total movement = 1.902502306793e-04 vel = 1.902502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.040250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.040250, acc = -7.500000,T = 1.857664, P = 1.857556 on final decel tc id = 21, canon_type = 3, mot type = 2 tc state : vr = 0.150000, vf = 0.150000, maxvel = 8.429893, current_vel = 0.150000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.150000, acc = 7.500000,T = 0.009332, P = 0.001500 initial results: dx= 0.007832,dt = 0.022962, a_f = 16.643483, v_f = 0.532173 recalculating with a_f = 16.643483, a = 15.173808 revised dt = 0.023731 dt = 0.023731, not at end yet tc id = 22, canon_type = 2, mot type = 1 secondary movement = 0.000146 time: 3.166000 primary movement = 4.400023066087e-05 time: 3.166000000000e+00 total movement = 1.902502306609e-04 vel = 1.902502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.032750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.032750, acc = -7.500000,T = 1.857664, P = 1.857592 on final decel tc id = 21, canon_type = 3, mot type = 2 tc state : vr = 0.157500, vf = 0.157500, maxvel = 8.429893, current_vel = 0.157500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.157500, acc = 7.500000,T = 0.009332, P = 0.001654 initial results: dx= 0.007678,dt = 0.022267, a_f = 16.826569, v_f = 0.532173 recalculating with a_f = 16.826569, a = 15.173808 revised dt = 0.023084 dt = 0.023084, not at end yet tc id = 22, canon_type = 2, mot type = 1 secondary movement = 0.000154 time: 3.167000 primary movement = 3.650023064240e-05 time: 3.167000000000e+00 total movement = 1.902502306424e-04 vel = 1.902502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.025250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.025250, acc = -7.500000,T = 1.857664, P = 1.857621 on final decel tc id = 21, canon_type = 3, mot type = 2 tc state : vr = 0.165000, vf = 0.165000, maxvel = 8.429893, current_vel = 0.165000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.165000, acc = 7.500000,T = 0.009332, P = 0.001815 initial results: dx= 0.007517,dt = 0.021565, a_f = 17.026633, v_f = 0.532173 recalculating with a_f = 17.026633, a = 15.173808 revised dt = 0.022428 dt = 0.022428, not at end yet tc id = 22, canon_type = 2, mot type = 1 secondary movement = 0.000161 time: 3.168000 primary movement = 2.900023062303e-05 time: 3.168000000000e+00 total movement = 1.902502306230e-04 vel = 1.902502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.017750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.017750, acc = -7.500000,T = 1.857664, P = 1.857643 on final decel tc id = 21, canon_type = 3, mot type = 2 tc state : vr = 0.172500, vf = 0.172500, maxvel = 8.429893, current_vel = 0.172500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.172500, acc = 7.500000,T = 0.009332, P = 0.001984 initial results: dx= 0.007348,dt = 0.020856, a_f = 17.245405, v_f = 0.532173 recalculating with a_f = 17.245405, a = 15.173808 revised dt = 0.021765 dt = 0.021765, not at end yet tc id = 22, canon_type = 2, mot type = 1 secondary movement = 0.000169 time: 3.169000 primary movement = 2.150023060456e-05 time: 3.169000000000e+00 total movement = 1.902502306046e-04 vel = 1.902502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.010250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.010250, acc = -7.500000,T = 1.857664, P = 1.857657 on final decel tc id = 21, canon_type = 3, mot type = 2 tc state : vr = 0.180000, vf = 0.180000, maxvel = 8.429893, current_vel = 0.180000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.180000, acc = 7.500000,T = 0.009332, P = 0.002160 initial results: dx= 0.007172,dt = 0.020142, a_f = 17.484891, v_f = 0.532173 recalculating with a_f = 17.484891, a = 15.173808 revised dt = 0.021093 dt = 0.021093, not at end yet tc id = 22, canon_type = 2, mot type = 1 secondary movement = 0.000176 time: 3.170000 primary movement = 1.400023058564e-05 time: 3.170000000000e+00 total movement = 1.902502305856e-04 vel = 1.902502305506e-01 ------------------- tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.002750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.002750, acc = -7.500000,T = 1.857664, P = 1.857663 on final decel tc id = 21, canon_type = 3, mot type = 2 tc state : vr = 0.187500, vf = 0.187500, maxvel = 8.429893, current_vel = 0.187500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.187500, acc = 7.500000,T = 0.009332, P = 0.002344 initial results: dx= 0.006988,dt = 0.019421, a_f = 17.747429, v_f = 0.532173 recalculating with a_f = 17.747429, a = 15.173808 revised dt = 0.020412 dt = 0.020412, not at end yet tc id = 22, canon_type = 2, mot type = 1 secondary movement = 0.000184 time: 3.171000 primary movement = 6.500230567160e-06 time: 3.171000000000e+00 total movement = 1.902502305671e-04 vel = 1.902502305506e-01 ------------------- Found newvel = -0.002750, assuming segment is done segment 21 at target in runcycle tc state : vr = 5.488535, vf = 0.000000, maxvel = 5.488535, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 1.857664, P = 1.857664 tc id = 21, canon_type = 3, mot type = 2 tc state : vr = 0.190250, vf = 0.190250, maxvel = 8.429893, current_vel = 0.190250, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.190250, acc = 2.750231,T = 0.009332, P = 0.002533 initial results: dx= 0.006800,dt = 0.018824, a_f = 18.164017, v_f = 0.532173 recalculating with a_f = 18.164017, a = 15.173808 revised dt = 0.019918 dt = 0.019918, not at end yet tc id = 22, canon_type = 2, mot type = 1 secondary movement = 0.000189 time: 3.172000 primary movement = 5.042511935291e-07 time: 3.172000000000e+00 total movement = 1.893793664688e-04 vel = 1.902502305506e-01 Finished tc id 21 ------------------- tc state : vr = 4.443880, vf = 0.532173, maxvel = 8.429893, current_vel = 0.205424, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.205424, acc = 15.173808,T = 0.009332, P = 0.002730 initial results: dx= 0.006602,dt = 0.017901, a_f = 18.253626, v_f = 0.532173 recalculating with a_f = 18.253626, a = 15.173808 revised dt = 0.018918 dt = 0.018918, not at end yet tc id = 22, canon_type = 2, mot type = 1 time: 3.173000 primary movement = 1.978371345572e-04 time: 3.173000000000e+00 total movement = 1.978371345572e-04 vel = 2.054240385639e-01 ------------------- tc state : vr = 4.443880, vf = 0.532173, maxvel = 8.429893, current_vel = 0.220598, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.220598, acc = 15.173808,T = 0.009332, P = 0.002943 initial results: dx= 0.006389,dt = 0.016974, a_f = 18.356314, v_f = 0.532173 recalculating with a_f = 18.356314, a = 15.173808 revised dt = 0.017918 dt = 0.017918, not at end yet tc id = 22, canon_type = 2, mot type = 1 time: 3.174000 primary movement = 2.130109425705e-04 time: 3.174000000000e+00 total movement = 2.130109425705e-04 vel = 2.205978465772e-01 ------------------- tc state : vr = 4.443880, vf = 0.532173, maxvel = 8.429893, current_vel = 0.235772, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.235772, acc = 15.173808,T = 0.009332, P = 0.003172 initial results: dx= 0.006160,dt = 0.016044, a_f = 18.474194, v_f = 0.532173 recalculating with a_f = 18.474194, a = 15.173808 revised dt = 0.016918 dt = 0.016918, not at end yet tc id = 22, canon_type = 2, mot type = 1 time: 3.175000 primary movement = 2.281847505838e-04 time: 3.175000000000e+00 total movement = 2.281847505838e-04 vel = 2.357716545904e-01 ------------------- tc state : vr = 4.443880, vf = 0.532173, maxvel = 8.429893, current_vel = 0.250945, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.250945, acc = 15.173808,T = 0.009332, P = 0.003415 initial results: dx= 0.005917,dt = 0.015112, a_f = 18.609931, v_f = 0.532173 recalculating with a_f = 18.609931, a = 15.173808 revised dt = 0.015918 dt = 0.015918, not at end yet tc id = 22, canon_type = 2, mot type = 1 time: 3.176000 primary movement = 2.433585585971e-04 time: 3.176000000000e+00 total movement = 2.433585585971e-04 vel = 2.509454626037e-01 ------------------- tc state : vr = 4.443880, vf = 0.532173, maxvel = 8.429893, current_vel = 0.266119, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.266119, acc = 15.173808,T = 0.009332, P = 0.003674 initial results: dx= 0.005659,dt = 0.014177, a_f = 18.766922, v_f = 0.532173 recalculating with a_f = 18.766922, a = 15.173808 revised dt = 0.014918 dt = 0.014918, not at end yet tc id = 22, canon_type = 2, mot type = 1 time: 3.177000 primary movement = 2.585323666104e-04 time: 3.177000000000e+00 total movement = 2.585323666104e-04 vel = 2.661192706170e-01 ------------------- tc state : vr = 4.443880, vf = 0.532173, maxvel = 8.429893, current_vel = 0.281293, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.281293, acc = 15.173808,T = 0.009332, P = 0.003947 initial results: dx= 0.005385,dt = 0.013239, a_f = 18.949555, v_f = 0.532173 recalculating with a_f = 18.949555, a = 15.173808 revised dt = 0.013918 dt = 0.013918, not at end yet tc id = 22, canon_type = 2, mot type = 1 time: 3.178000 primary movement = 2.737061746237e-04 time: 3.178000000000e+00 total movement = 2.737061746237e-04 vel = 2.812930786303e-01 ------------------- tc state : vr = 4.443880, vf = 0.532173, maxvel = 8.429893, current_vel = 0.296467, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.296467, acc = 15.173808,T = 0.009332, P = 0.004236 initial results: dx= 0.005096,dt = 0.012300, a_f = 19.163592, v_f = 0.532173 recalculating with a_f = 19.163592, a = 15.173808 revised dt = 0.012918 dt = 0.012918, not at end yet tc id = 22, canon_type = 2, mot type = 1 time: 3.179000 primary movement = 2.888799826370e-04 time: 3.179000000000e+00 total movement = 2.888799826370e-04 vel = 2.964668866436e-01 ------------------- tc state : vr = 4.443880, vf = 0.532173, maxvel = 8.429893, current_vel = 0.311641, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.311641, acc = 15.173808,T = 0.009332, P = 0.004540 initial results: dx= 0.004792,dt = 0.011358, a_f = 19.416748, v_f = 0.532173 recalculating with a_f = 19.416748, a = 15.173808 revised dt = 0.011918 dt = 0.011918, not at end yet tc id = 22, canon_type = 2, mot type = 1 time: 3.180000 primary movement = 3.040537906503e-04 time: 3.180000000000e+00 total movement = 3.040537906503e-04 vel = 3.116406946569e-01 ------------------- tc state : vr = 4.443880, vf = 0.532173, maxvel = 8.429893, current_vel = 0.326815, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.326815, acc = 15.173808,T = 0.009332, P = 0.004859 initial results: dx= 0.004473,dt = 0.010414, a_f = 19.719574, v_f = 0.532173 recalculating with a_f = 19.719574, a = 15.173808 revised dt = 0.010918 dt = 0.010918, not at end yet tc id = 22, canon_type = 2, mot type = 1 time: 3.181000 primary movement = 3.192275986635e-04 time: 3.181000000000e+00 total movement = 3.192275986635e-04 vel = 3.268145026702e-01 ------------------- tc state : vr = 4.443880, vf = 0.532173, maxvel = 8.429893, current_vel = 0.341988, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.341988, acc = 15.173808,T = 0.009332, P = 0.005194 initial results: dx= 0.004138,dt = 0.009468, a_f = 20.086899, v_f = 0.532173 recalculating with a_f = 20.086899, a = 15.173808 revised dt = 0.009918 dt = 0.009918, not at end yet tc id = 22, canon_type = 2, mot type = 1 time: 3.182000 primary movement = 3.344014066768e-04 time: 3.182000000000e+00 total movement = 3.344014066768e-04 vel = 3.419883106835e-01 ------------------- tc state : vr = 4.443880, vf = 0.532173, maxvel = 8.429893, current_vel = 0.357162, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.357162, acc = 15.173808,T = 0.009332, P = 0.005543 initial results: dx= 0.003789,dt = 0.008520, a_f = 20.540213, v_f = 0.532173 recalculating with a_f = 20.540213, a = 15.173808 revised dt = 0.008918 dt = 0.008918, not at end yet tc id = 22, canon_type = 2, mot type = 1 time: 3.183000 primary movement = 3.495752146901e-04 time: 3.183000000000e+00 total movement = 3.495752146901e-04 vel = 3.571621186968e-01 ------------------- tc state : vr = 4.443880, vf = 0.532173, maxvel = 8.429893, current_vel = 0.372336, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.372336, acc = 15.173808,T = 0.009332, P = 0.005908 initial results: dx= 0.003424,dt = 0.007571, a_f = 21.111880, v_f = 0.532173 recalculating with a_f = 21.111880, a = 15.173808 revised dt = 0.007918 dt = 0.007918, not at end yet tc id = 22, canon_type = 2, mot type = 1 time: 3.184000 primary movement = 3.647490227034e-04 time: 3.184000000000e+00 total movement = 3.647490227034e-04 vel = 3.723359267100e-01 ------------------- tc state : vr = 4.443880, vf = 0.532173, maxvel = 8.429893, current_vel = 0.387510, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.387510, acc = 15.173808,T = 0.009332, P = 0.006288 initial results: dx= 0.003044,dt = 0.006620, a_f = 21.852993, v_f = 0.532173 recalculating with a_f = 21.852993, a = 15.173808 revised dt = 0.006918 dt = 0.006918, not at end yet tc id = 22, canon_type = 2, mot type = 1 time: 3.185000 primary movement = 3.799228307167e-04 time: 3.185000000000e+00 total movement = 3.799228307167e-04 vel = 3.875097347233e-01 ------------------- tc state : vr = 4.443880, vf = 0.532173, maxvel = 8.429893, current_vel = 0.402684, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.402684, acc = 15.173808,T = 0.009332, P = 0.006683 initial results: dx= 0.002649,dt = 0.005667, a_f = 22.849194, v_f = 0.532173 recalculating with a_f = 22.849194, a = 15.173808 revised dt = 0.005918 dt = 0.005918, not at end yet tc id = 22, canon_type = 2, mot type = 1 time: 3.186000 primary movement = 3.950966387300e-04 time: 3.186000000000e+00 total movement = 3.950966387300e-04 vel = 4.026835427366e-01 ------------------- tc state : vr = 4.443880, vf = 0.532173, maxvel = 8.429893, current_vel = 0.417857, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.417857, acc = 15.173808,T = 0.009332, P = 0.007093 initial results: dx= 0.002239,dt = 0.004713, a_f = 24.255797, v_f = 0.532173 recalculating with a_f = 24.255797, a = 15.173808 revised dt = 0.004918 dt = 0.004918, not at end yet tc id = 22, canon_type = 2, mot type = 1 time: 3.187000 primary movement = 4.102704467433e-04 time: 3.187000000000e+00 total movement = 4.102704467433e-04 vel = 4.178573507499e-01 ------------------- tc state : vr = 4.443880, vf = 0.532173, maxvel = 8.429893, current_vel = 0.433031, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.433031, acc = 15.173808,T = 0.009332, P = 0.007519 initial results: dx= 0.001813,dt = 0.003757, a_f = 26.386686, v_f = 0.532173 recalculating with a_f = 26.386686, a = 15.173808 revised dt = 0.003918 dt = 0.003918, not at end yet tc id = 22, canon_type = 2, mot type = 1 time: 3.188000 primary movement = 4.254442547565e-04 time: 3.188000000000e+00 total movement = 4.254442547565e-04 vel = 4.330311587632e-01 ------------------- tc state : vr = 4.443880, vf = 0.532173, maxvel = 8.429893, current_vel = 0.448205, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.448205, acc = 15.173808,T = 0.009332, P = 0.007959 initial results: dx= 0.001373,dt = 0.002800, a_f = 29.985989, v_f = 0.532173 recalculating with a_f = 29.985989, a = 15.173808 revised dt = 0.002918 dt = 0.002918, not at end yet tc id = 22, canon_type = 2, mot type = 1 time: 3.189000 primary movement = 4.406180627699e-04 time: 3.189000000000e+00 total movement = 4.406180627699e-04 vel = 4.482049667765e-01 ------------------- tc state : vr = 4.443880, vf = 0.532173, maxvel = 8.429893, current_vel = 0.463379, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.463379, acc = 15.173808,T = 0.009332, P = 0.008415 initial results: dx= 0.000917,dt = 0.001842, a_f = 37.349447, v_f = 0.532173 recalculating with a_f = 37.349447, a = 15.173808 revised dt = 0.001918 dt = 0.001918, not at end yet tc id = 22, canon_type = 2, mot type = 1 time: 3.190000 primary movement = 4.557918707831e-04 time: 3.190000000000e+00 total movement = 4.557918707831e-04 vel = 4.633787747898e-01 ------------------- tc state : vr = 4.443880, vf = 0.532173, maxvel = 8.429893, current_vel = 0.478553, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.478553, acc = 15.173808,T = 0.009332, P = 0.008886 initial results: dx= 0.000446,dt = 0.000882, a_f = 60.771875, v_f = 0.532173 recalculating with a_f = 60.771875, a = 15.173808 revised dt = 0.000918 actual v_f = 0.492488, a = 15.173808 split time is 0.000918388 tc id = 22, canon_type = 2, mot type = 1 time: 3.191000 primary movement = 4.709656787964e-04 time: 3.191000000000e+00 total movement = 4.709656787964e-04 vel = 4.785525828031e-01 ------------------- tc id 22 done Finishing split-cycle on id 23 tc state : vr = 0.669412, vf = 0.655816, maxvel = 0.669412, current_vel = 0.493712, fs = 1.000000, tc = 0.000082, term = 3 tc result: v = 0.493712, acc = 15.000000,T = 0.007708, P = 0.000040 initial results: dx= 0.007668,dt = 0.013341, a_f = 12.150513, v_f = 0.655816 dt = 0.013341, not at end yet secondary movement = 0.000040 tc id = 23, canon_type = 3, mot type = 2 time: 3.192000 primary movement = 4.458959249212e-04 time: 3.192000000000e+00 total movement = 4.861388988530e-04 vel = 4.937122059628e-01 Finished tc id 22 ------------------- Activate tc id = 23 target_vel = 0.669412 final_vel = 0.655816 length = 0.007708 tc state : vr = 0.669412, vf = 0.655816, maxvel = 0.669412, current_vel = 0.508712, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.508712, acc = 15.000000,T = 0.007708, P = 0.000541 initial results: dx= 0.007167,dt = 0.012309, a_f = 11.951236, v_f = 0.655816 dt = 0.012309, not at end yet tc id = 23, canon_type = 3, mot type = 2 time: 3.193000 primary movement = 5.011945708747e-04 time: 3.193000000000e+00 total movement = 5.011945708747e-04 vel = 5.087122059628e-01 ------------------- tc state : vr = 0.669412, vf = 0.655816, maxvel = 0.669412, current_vel = 0.523712, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.523712, acc = 15.000000,T = 0.007708, P = 0.001058 initial results: dx= 0.006651,dt = 0.011277, a_f = 11.714598, v_f = 0.655816 dt = 0.011277, not at end yet tc id = 23, canon_type = 3, mot type = 2 time: 3.194000 primary movement = 5.161929397104e-04 time: 3.194000000000e+00 total movement = 5.161929397104e-04 vel = 5.237122059628e-01 ------------------- tc state : vr = 0.669412, vf = 0.655816, maxvel = 0.669412, current_vel = 0.538712, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.538712, acc = 15.000000,T = 0.007708, P = 0.001589 initial results: dx= 0.006119,dt = 0.010246, a_f = 11.429404, v_f = 0.655816 dt = 0.010246, not at end yet tc id = 23, canon_type = 3, mot type = 2 time: 3.195000 primary movement = 5.311912109430e-04 time: 3.195000000000e+00 total movement = 5.311912109430e-04 vel = 5.387122059628e-01 ------------------- tc state : vr = 0.669412, vf = 0.655816, maxvel = 0.669412, current_vel = 0.553712, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.553712, acc = 15.000000,T = 0.007708, P = 0.002135 initial results: dx= 0.005573,dt = 0.009216, a_f = 11.079466, v_f = 0.655816 dt = 0.009216, not at end yet tc id = 23, canon_type = 3, mot type = 2 time: 3.196000 primary movement = 5.461893817368e-04 time: 3.196000000000e+00 total movement = 5.461893817368e-04 vel = 5.537122059628e-01 ------------------- tc state : vr = 0.669412, vf = 0.655816, maxvel = 0.669412, current_vel = 0.568712, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.568712, acc = 15.000000,T = 0.007708, P = 0.002696 initial results: dx= 0.005012,dt = 0.008186, a_f = 10.640475, v_f = 0.655816 dt = 0.008186, not at end yet tc id = 23, canon_type = 3, mot type = 2 time: 3.197000 primary movement = 5.611874492558e-04 time: 3.197000000000e+00 total movement = 5.611874492558e-04 vel = 5.687122059628e-01 ------------------- tc state : vr = 0.669412, vf = 0.655816, maxvel = 0.669412, current_vel = 0.583712, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.583712, acc = 15.000000,T = 0.007708, P = 0.003273 initial results: dx= 0.004436,dt = 0.007157, a_f = 10.074178, v_f = 0.655816 dt = 0.007157, not at end yet tc id = 23, canon_type = 3, mot type = 2 time: 3.198000 primary movement = 5.761854106640e-04 time: 3.198000000000e+00 total movement = 5.761854106640e-04 vel = 5.837122059628e-01 ------------------- tc state : vr = 0.669412, vf = 0.655816, maxvel = 0.669412, current_vel = 0.598712, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.598712, acc = 15.000000,T = 0.007708, P = 0.003864 initial results: dx= 0.003845,dt = 0.006129, a_f = 9.316706, v_f = 0.655816 dt = 0.006129, not at end yet tc id = 23, canon_type = 3, mot type = 2 time: 3.199000 primary movement = 5.911832631259e-04 time: 3.199000000000e+00 total movement = 5.911832631259e-04 vel = 5.987122059628e-01 ------------------- tc state : vr = 0.669412, vf = 0.655816, maxvel = 0.669412, current_vel = 0.613712, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.613712, acc = 15.000000,T = 0.007708, P = 0.004470 initial results: dx= 0.003238,dt = 0.005102, a_f = 8.252832, v_f = 0.655816 dt = 0.005102, not at end yet tc id = 23, canon_type = 3, mot type = 2 time: 3.200000 primary movement = 6.061810038053e-04 time: 3.200000000000e+00 total movement = 6.061810038053e-04 vel = 6.137122059628e-01 ------------------- tc state : vr = 0.669412, vf = 0.655816, maxvel = 0.669412, current_vel = 0.628712, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.628712, acc = 15.000000,T = 0.007708, P = 0.005091 initial results: dx= 0.002617,dt = 0.004075, a_f = 6.651352, v_f = 0.655816 dt = 0.004075, not at end yet tc id = 23, canon_type = 3, mot type = 2 time: 3.201000 primary movement = 6.211786298666e-04 time: 3.201000000000e+00 total movement = 6.211786298666e-04 vel = 6.287122059628e-01 ------------------- tc state : vr = 0.669412, vf = 0.655816, maxvel = 0.669412, current_vel = 0.643712, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.643712, acc = 15.000000,T = 0.007708, P = 0.005727 initial results: dx= 0.001981,dt = 0.003049, a_f = 3.970133, v_f = 0.655816 dt = 0.003049, not at end yet tc id = 23, canon_type = 3, mot type = 2 time: 3.202000 primary movement = 6.361761384741e-04 time: 3.202000000000e+00 total movement = 6.361761384741e-04 vel = 6.437122059628e-01 ------------------- tc state : vr = 0.669412, vf = 0.655816, maxvel = 0.669412, current_vel = 0.658712, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.658712, acc = 15.000000,T = 0.007708, P = 0.006379 initial results: dx= 0.001330,dt = 0.002023, a_f = -1.431294, v_f = 0.655816 dt = 0.002023, not at end yet tc id = 23, canon_type = 3, mot type = 2 time: 3.203000 primary movement = 6.511735267917e-04 time: 3.203000000000e+00 total movement = 6.511735267917e-04 vel = 6.587122059628e-01 ------------------- tc state : vr = 0.669412, vf = 0.655816, maxvel = 0.669412, current_vel = 0.669412, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.669412, acc = 10.700279,T = 0.007708, P = 0.007043 initial results: dx= 0.000666,dt = 0.001005, a_f = -13.532449, v_f = 0.655816 dt = 0.001005, not at end yet tc id = 23, canon_type = 3, mot type = 2 time: 3.204000 primary movement = 6.640213309491e-04 time: 3.204000000000e+00 total movement = 6.640213309491e-04 vel = 6.694124846326e-01 ------------------- tc state : vr = 0.669412, vf = 0.655816, maxvel = 0.669412, current_vel = 0.655887, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.655887, acc = -13.525623,T = 0.007708, P = 0.007705 on final decel initial results: dx= 0.000003,dt = 0.000005, a_f = -15.000000, v_f = 0.655816 actual v_f = 0.655816, a = -15.000000 split time is 4.699e-06 tc id = 23, canon_type = 3, mot type = 2 time: 3.205000 primary movement = 6.626089197274e-04 time: 3.205000000000e+00 total movement = 6.626089197274e-04 vel = 6.558868611349e-01 ------------------- tc id 23 done Finishing split-cycle on id 23 tc state : vr = 1.707212, vf = 0.412001, maxvel = 10.086005, current_vel = 0.619677, fs = 1.000000, tc = 0.000995, term = 3 tc result: v = 0.619677, acc = -36.309619,T = 0.003585, P = 0.000635 on final decel initial results: dx= 0.002950,dt = 0.005720, a_f = -36.309619, v_f = 0.412001 dt = 0.005720, not at end yet secondary movement = 0.000635 tc id = 23, canon_type = 2, mot type = 1 time: 3.206000 primary movement = 3.081843899156e-06 time: 3.206000000000e+00 total movement = 6.378319501885e-04 vel = 6.196773759717e-01 Finished tc id 23 ------------------- Activate tc id = 23 target_vel = 1.707212 final_vel = 0.412001 length = 0.003585 tc state : vr = 1.707212, vf = 0.412001, maxvel = 10.086005, current_vel = 0.583368, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.583368, acc = -36.309619,T = 0.003585, P = 0.001236 on final decel initial results: dx= 0.002349,dt = 0.004720, a_f = -36.309619, v_f = 0.412001 recalculating with a_f = -36.309619, a = -36.309619 revised dt = 0.004720 dt = 0.004720, not at end yet tc id = 23, canon_type = 2, mot type = 1 time: 3.207000 primary movement = 6.015225664866e-04 time: 3.207000000000e+00 total movement = 6.015225664866e-04 vel = 5.833677570016e-01 ------------------- tc state : vr = 1.707212, vf = 0.412001, maxvel = 10.086005, current_vel = 0.547058, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.547058, acc = -36.309619,T = 0.003585, P = 0.001801 on final decel initial results: dx= 0.001784,dt = 0.003720, a_f = -36.309619, v_f = 0.412001 recalculating with a_f = -36.309619, a = -36.309619 revised dt = 0.003720 dt = 0.003720, not at end yet tc id = 23, canon_type = 2, mot type = 1 time: 3.208000 primary movement = 5.652129475166e-04 time: 3.208000000000e+00 total movement = 5.652129475166e-04 vel = 5.470581380316e-01 ------------------- tc state : vr = 1.707212, vf = 0.412001, maxvel = 10.086005, current_vel = 0.510749, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.510749, acc = -36.309619,T = 0.003585, P = 0.002330 on final decel initial results: dx= 0.001255,dt = 0.002720, a_f = -36.309619, v_f = 0.412001 dt = 0.002720, not at end yet tc id = 23, canon_type = 2, mot type = 1 time: 3.209000 primary movement = 5.289033285465e-04 time: 3.209000000000e+00 total movement = 5.289033285465e-04 vel = 5.107485190615e-01 ------------------- tc state : vr = 1.707212, vf = 0.412001, maxvel = 10.086005, current_vel = 0.474439, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.474439, acc = -36.309619,T = 0.003585, P = 0.002823 on final decel initial results: dx= 0.000762,dt = 0.001720, a_f = -36.309619, v_f = 0.412001 dt = 0.001720, not at end yet tc id = 23, canon_type = 2, mot type = 1 time: 3.210000 primary movement = 4.925937095765e-04 time: 3.210000000000e+00 total movement = 4.925937095765e-04 vel = 4.744389000914e-01 ------------------- tc state : vr = 1.707212, vf = 0.412001, maxvel = 10.086005, current_vel = 0.438129, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.438129, acc = -36.309619,T = 0.003585, P = 0.003279 on final decel initial results: dx= 0.000306,dt = 0.000720, a_f = -36.309619, v_f = 0.412001 actual v_f = 0.412001, a = -36.309619 split time is 0.000719602 tc id = 23, canon_type = 2, mot type = 1 time: 3.211000 primary movement = 4.562840906063e-04 time: 3.211000000000e+00 total movement = 4.562840906063e-04 vel = 4.381292811213e-01 ------------------- tc id 23 done Finishing split-cycle on id 24 tc state : vr = 0.412001, vf = 0.412001, maxvel = 0.412001, current_vel = 0.412001, fs = 1.000000, tc = 0.000280, term = 3 tc result: v = 0.412001, acc = 0.000000,T = 0.005864, P = 0.000116 initial results: dx= 0.005748,dt = 0.013952, a_f = 0.000000, v_f = 0.412001 dt = 0.013952, not at end yet secondary movement = 0.000116 tc id = 24, canon_type = 3, mot type = 2 time: 3.212000 primary movement = 3.058777108140e-04 time: 3.212000000000e+00 total movement = 4.214003516263e-04 vel = 4.120008018362e-01 Finished tc id 23 ------------------- Activate tc id = 24 target_vel = 0.412001 final_vel = 0.412001 length = 0.005864 tc state : vr = 0.412001, vf = 0.412001, maxvel = 0.412001, current_vel = 0.412001, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.412001, acc = 0.000000,T = 0.005864, P = 0.000528 initial results: dx= 0.005336,dt = 0.012952, a_f = 0.000000, v_f = 0.412001 dt = 0.012952, not at end yet tc id = 24, canon_type = 3, mot type = 2 time: 3.213000 primary movement = 4.119325407991e-04 time: 3.213000000000e+00 total movement = 4.119325407991e-04 vel = 4.120008018362e-01 ------------------- tc state : vr = 0.412001, vf = 0.412001, maxvel = 0.412001, current_vel = 0.412001, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.412001, acc = 0.000000,T = 0.005864, P = 0.000940 initial results: dx= 0.004924,dt = 0.011952, a_f = 0.000000, v_f = 0.412001 dt = 0.011952, not at end yet tc id = 24, canon_type = 3, mot type = 2 time: 3.214000 primary movement = 4.119325407991e-04 time: 3.214000000000e+00 total movement = 4.119325407991e-04 vel = 4.120008018362e-01 ------------------- tc state : vr = 0.412001, vf = 0.412001, maxvel = 0.412001, current_vel = 0.412001, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.412001, acc = 0.000000,T = 0.005864, P = 0.001352 initial results: dx= 0.004512,dt = 0.010952, a_f = 0.000000, v_f = 0.412001 dt = 0.010952, not at end yet tc id = 24, canon_type = 3, mot type = 2 time: 3.215000 primary movement = 4.119325407992e-04 time: 3.215000000000e+00 total movement = 4.119325407992e-04 vel = 4.120008018362e-01 ------------------- tc state : vr = 0.412001, vf = 0.412001, maxvel = 0.412001, current_vel = 0.412001, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.412001, acc = 0.000000,T = 0.005864, P = 0.001764 initial results: dx= 0.004100,dt = 0.009952, a_f = 0.000000, v_f = 0.412001 dt = 0.009952, not at end yet tc id = 24, canon_type = 3, mot type = 2 time: 3.216000 primary movement = 4.119325407991e-04 time: 3.216000000000e+00 total movement = 4.119325407991e-04 vel = 4.120008018362e-01 ------------------- tc state : vr = 0.412001, vf = 0.412001, maxvel = 0.412001, current_vel = 0.412001, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.412001, acc = 0.000000,T = 0.005864, P = 0.002176 initial results: dx= 0.003688,dt = 0.008952, a_f = 0.000000, v_f = 0.412001 dt = 0.008952, not at end yet tc id = 24, canon_type = 3, mot type = 2 time: 3.217000 primary movement = 4.119325407992e-04 time: 3.217000000000e+00 total movement = 4.119325407992e-04 vel = 4.120008018362e-01 ------------------- tc state : vr = 0.412001, vf = 0.412001, maxvel = 0.412001, current_vel = 0.412001, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.412001, acc = 0.000000,T = 0.005864, P = 0.002588 initial results: dx= 0.003276,dt = 0.007952, a_f = 0.000000, v_f = 0.412001 dt = 0.007952, not at end yet tc id = 24, canon_type = 3, mot type = 2 time: 3.218000 primary movement = 4.119325407991e-04 time: 3.218000000000e+00 total movement = 4.119325407991e-04 vel = 4.120008018362e-01 ------------------- tc state : vr = 0.412001, vf = 0.412001, maxvel = 0.412001, current_vel = 0.412001, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.412001, acc = 0.000000,T = 0.005864, P = 0.003000 initial results: dx= 0.002864,dt = 0.006952, a_f = 0.000000, v_f = 0.412001 dt = 0.006952, not at end yet tc id = 24, canon_type = 3, mot type = 2 time: 3.219000 primary movement = 4.119325407991e-04 time: 3.219000000000e+00 total movement = 4.119325407991e-04 vel = 4.120008018362e-01 ------------------- tc state : vr = 0.412001, vf = 0.412001, maxvel = 0.412001, current_vel = 0.412001, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.412001, acc = 0.000000,T = 0.005864, P = 0.003412 initial results: dx= 0.002452,dt = 0.005952, a_f = 0.000000, v_f = 0.412001 dt = 0.005952, not at end yet tc id = 24, canon_type = 3, mot type = 2 time: 3.220000 primary movement = 4.119325407990e-04 time: 3.220000000000e+00 total movement = 4.119325407990e-04 vel = 4.120008018362e-01 ------------------- tc state : vr = 0.412001, vf = 0.412001, maxvel = 0.412001, current_vel = 0.412001, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.412001, acc = 0.000000,T = 0.005864, P = 0.003824 initial results: dx= 0.002040,dt = 0.004952, a_f = 0.000000, v_f = 0.412001 dt = 0.004952, not at end yet tc id = 24, canon_type = 3, mot type = 2 time: 3.221000 primary movement = 4.119325407991e-04 time: 3.221000000000e+00 total movement = 4.119325407991e-04 vel = 4.120008018362e-01 ------------------- tc state : vr = 0.412001, vf = 0.412001, maxvel = 0.412001, current_vel = 0.412001, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.412001, acc = 0.000000,T = 0.005864, P = 0.004236 initial results: dx= 0.001628,dt = 0.003952, a_f = 0.000000, v_f = 0.412001 dt = 0.003952, not at end yet tc id = 24, canon_type = 3, mot type = 2 time: 3.222000 primary movement = 4.119325407992e-04 time: 3.222000000000e+00 total movement = 4.119325407992e-04 vel = 4.120008018362e-01 ------------------- tc state : vr = 0.412001, vf = 0.412001, maxvel = 0.412001, current_vel = 0.412001, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.412001, acc = 0.000000,T = 0.005864, P = 0.004648 initial results: dx= 0.001216,dt = 0.002952, a_f = 0.000000, v_f = 0.412001 dt = 0.002952, not at end yet tc id = 24, canon_type = 3, mot type = 2 time: 3.223000 primary movement = 4.119325407991e-04 time: 3.223000000000e+00 total movement = 4.119325407991e-04 vel = 4.120008018362e-01 ------------------- tc state : vr = 0.412001, vf = 0.412001, maxvel = 0.412001, current_vel = 0.412001, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.412001, acc = 0.000000,T = 0.005864, P = 0.005060 initial results: dx= 0.000804,dt = 0.001952, a_f = 0.000000, v_f = 0.412001 dt = 0.001952, not at end yet tc id = 24, canon_type = 3, mot type = 2 time: 3.224000 primary movement = 4.119325407991e-04 time: 3.224000000000e+00 total movement = 4.119325407991e-04 vel = 4.120008018362e-01 ------------------- tc state : vr = 0.412001, vf = 0.412001, maxvel = 0.412001, current_vel = 0.412001, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.412001, acc = 0.000000,T = 0.005864, P = 0.005472 initial results: dx= 0.000392,dt = 0.000952, a_f = 0.000000, v_f = 0.412001 actual v_f = 0.412001, a = 0.000000 split time is 0.000952363 tc id = 24, canon_type = 3, mot type = 2 time: 3.225000 primary movement = 4.119325407991e-04 time: 3.225000000000e+00 total movement = 4.119325407991e-04 vel = 4.120008018362e-01 ------------------- tc id 24 done Finishing split-cycle on id 24 tc state : vr = 1.140052, vf = 0.379961, maxvel = 8.356705, current_vel = 0.413434, fs = 1.000000, tc = 0.000048, term = 3 tc result: v = 0.413434, acc = 30.084257,T = 0.002394, P = 0.000020 initial results: dx= 0.002374,dt = 0.005986, a_f = -5.592289, v_f = 0.379961 dt = 0.005986, not at end yet secondary movement = 0.000020 tc id = 24, canon_type = 2, mot type = 1 time: 3.226000 primary movement = 3.923152079788e-04 time: 3.226000000000e+00 total movement = 4.119759738884e-04 vel = 4.134339364034e-01 Finished tc id 24 ------------------- Activate tc id = 24 target_vel = 1.140052 final_vel = 0.379961 length = 0.002394 tc state : vr = 1.140052, vf = 0.379961, maxvel = 8.356705, current_vel = 0.443518, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.443518, acc = 30.084257,T = 0.002394, P = 0.000448 initial results: dx= 0.001946,dt = 0.004726, a_f = -13.447765, v_f = 0.379961 dt = 0.004726, not at end yet tc id = 24, canon_type = 2, mot type = 1 time: 3.227000 primary movement = 4.284760647434e-04 time: 3.227000000000e+00 total movement = 4.284760647434e-04 vel = 4.435181930836e-01 ------------------- tc state : vr = 1.140052, vf = 0.379961, maxvel = 8.356705, current_vel = 0.473602, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.473602, acc = 30.084257,T = 0.002394, P = 0.000907 initial results: dx= 0.001487,dt = 0.003485, a_f = -26.868420, v_f = 0.379961 dt = 0.003485, not at end yet tc id = 24, canon_type = 2, mot type = 1 time: 3.228000 primary movement = 4.585603214237e-04 time: 3.228000000000e+00 total movement = 4.585603214237e-04 vel = 4.736024497638e-01 ------------------- tc state : vr = 1.140052, vf = 0.379961, maxvel = 8.356705, current_vel = 0.453833, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.453833, acc = -19.769195,T = 0.002394, P = 0.001370 on final decel initial results: dx= 0.001024,dt = 0.002456, a_f = -30.084257, v_f = 0.379961 recalculating with a_f = -30.084257, a = -30.084257 revised dt = 0.002456 dt = 0.002456, not at end yet tc id = 24, canon_type = 2, mot type = 1 time: 3.229000 primary movement = 4.637178522119e-04 time: 3.229000000000e+00 total movement = 4.637178522119e-04 vel = 4.538332546599e-01 ------------------- tc state : vr = 1.140052, vf = 0.379961, maxvel = 8.356705, current_vel = 0.423749, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.423749, acc = -30.084257,T = 0.002394, P = 0.001809 on final decel initial results: dx= 0.000585,dt = 0.001456, a_f = -30.084257, v_f = 0.379961 recalculating with a_f = -30.084257, a = -30.084257 revised dt = 0.001456 dt = 0.001456, not at end yet tc id = 24, canon_type = 2, mot type = 1 time: 3.230000 primary movement = 4.387911263197e-04 time: 3.230000000000e+00 total movement = 4.387911263197e-04 vel = 4.237489979797e-01 ------------------- tc state : vr = 1.140052, vf = 0.379961, maxvel = 8.356705, current_vel = 0.393665, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.393665, acc = -30.084257,T = 0.002394, P = 0.002218 on final decel initial results: dx= 0.000176,dt = 0.000456, a_f = -30.084257, v_f = 0.379961 recalculating with a_f = -30.084257, a = -30.084257 revised dt = 0.000456 actual v_f = 0.379961, a = -30.084257 split time is 0.00045551 tc id = 24, canon_type = 2, mot type = 1 time: 3.231000 primary movement = 4.087068696396e-04 time: 3.231000000000e+00 total movement = 4.087068696396e-04 vel = 3.936647412995e-01 ------------------- tc id 24 done Finishing split-cycle on id 25 tc state : vr = 0.379961, vf = 0.379961, maxvel = 0.379961, current_vel = 0.379961, fs = 1.000000, tc = 0.000544, term = 3 tc result: v = 0.379961, acc = 0.000000,T = 0.004669, P = 0.000207 initial results: dx= 0.004462,dt = 0.011744, a_f = 0.000000, v_f = 0.379961 dt = 0.011744, not at end yet secondary movement = 0.000207 tc id = 25, canon_type = 3, mot type = 2 time: 3.232000 primary movement = 1.761972294141e-04 time: 3.232000000000e+00 total movement = 3.830701909245e-04 vel = 3.799610548337e-01 Finished tc id 24 ------------------- Activate tc id = 25 target_vel = 0.379961 final_vel = 0.379961 length = 0.004669 tc state : vr = 0.379961, vf = 0.379961, maxvel = 0.379961, current_vel = 0.379961, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.379961, acc = 0.000000,T = 0.004669, P = 0.000587 initial results: dx= 0.004082,dt = 0.010744, a_f = 0.000000, v_f = 0.379961 dt = 0.010744, not at end yet tc id = 25, canon_type = 3, mot type = 2 time: 3.233000 primary movement = 3.798870384155e-04 time: 3.233000000000e+00 total movement = 3.798870384155e-04 vel = 3.799610548337e-01 ------------------- tc state : vr = 0.379961, vf = 0.379961, maxvel = 0.379961, current_vel = 0.379961, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.379961, acc = 0.000000,T = 0.004669, P = 0.000967 initial results: dx= 0.003702,dt = 0.009744, a_f = 0.000000, v_f = 0.379961 dt = 0.009744, not at end yet tc id = 25, canon_type = 3, mot type = 2 time: 3.234000 primary movement = 3.798870384156e-04 time: 3.234000000000e+00 total movement = 3.798870384156e-04 vel = 3.799610548337e-01 ------------------- tc state : vr = 0.379961, vf = 0.379961, maxvel = 0.379961, current_vel = 0.379961, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.379961, acc = 0.000000,T = 0.004669, P = 0.001347 initial results: dx= 0.003322,dt = 0.008744, a_f = 0.000000, v_f = 0.379961 dt = 0.008744, not at end yet tc id = 25, canon_type = 3, mot type = 2 time: 3.235000 primary movement = 3.798870384155e-04 time: 3.235000000000e+00 total movement = 3.798870384155e-04 vel = 3.799610548337e-01 ------------------- tc state : vr = 0.379961, vf = 0.379961, maxvel = 0.379961, current_vel = 0.379961, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.379961, acc = 0.000000,T = 0.004669, P = 0.001727 initial results: dx= 0.002942,dt = 0.007744, a_f = 0.000000, v_f = 0.379961 dt = 0.007744, not at end yet tc id = 25, canon_type = 3, mot type = 2 time: 3.236000 primary movement = 3.798870384155e-04 time: 3.236000000000e+00 total movement = 3.798870384155e-04 vel = 3.799610548337e-01 ------------------- tc state : vr = 0.379961, vf = 0.379961, maxvel = 0.379961, current_vel = 0.379961, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.379961, acc = 0.000000,T = 0.004669, P = 0.002107 initial results: dx= 0.002562,dt = 0.006744, a_f = 0.000000, v_f = 0.379961 dt = 0.006744, not at end yet tc id = 25, canon_type = 3, mot type = 2 time: 3.237000 primary movement = 3.798870384155e-04 time: 3.237000000000e+00 total movement = 3.798870384155e-04 vel = 3.799610548337e-01 ------------------- tc state : vr = 0.379961, vf = 0.379961, maxvel = 0.379961, current_vel = 0.379961, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.379961, acc = 0.000000,T = 0.004669, P = 0.002487 initial results: dx= 0.002182,dt = 0.005744, a_f = 0.000000, v_f = 0.379961 dt = 0.005744, not at end yet tc id = 25, canon_type = 3, mot type = 2 time: 3.238000 primary movement = 3.798870384155e-04 time: 3.238000000000e+00 total movement = 3.798870384155e-04 vel = 3.799610548337e-01 ------------------- tc state : vr = 0.379961, vf = 0.379961, maxvel = 0.379961, current_vel = 0.379961, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.379961, acc = 0.000000,T = 0.004669, P = 0.002867 initial results: dx= 0.001802,dt = 0.004744, a_f = 0.000000, v_f = 0.379961 dt = 0.004744, not at end yet tc id = 25, canon_type = 3, mot type = 2 time: 3.239000 primary movement = 3.798870384156e-04 time: 3.239000000000e+00 total movement = 3.798870384156e-04 vel = 3.799610548337e-01 ------------------- tc state : vr = 0.379961, vf = 0.379961, maxvel = 0.379961, current_vel = 0.379961, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.379961, acc = 0.000000,T = 0.004669, P = 0.003247 initial results: dx= 0.001422,dt = 0.003744, a_f = 0.000000, v_f = 0.379961 dt = 0.003744, not at end yet tc id = 25, canon_type = 3, mot type = 2 time: 3.240000 primary movement = 3.798870384155e-04 time: 3.240000000000e+00 total movement = 3.798870384155e-04 vel = 3.799610548337e-01 ------------------- tc state : vr = 0.379961, vf = 0.379961, maxvel = 0.379961, current_vel = 0.379961, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.379961, acc = 0.000000,T = 0.004669, P = 0.003627 initial results: dx= 0.001043,dt = 0.002744, a_f = 0.000000, v_f = 0.379961 dt = 0.002744, not at end yet tc id = 25, canon_type = 3, mot type = 2 time: 3.241000 primary movement = 3.798870384155e-04 time: 3.241000000000e+00 total movement = 3.798870384155e-04 vel = 3.799610548337e-01 ------------------- tc state : vr = 0.379961, vf = 0.379961, maxvel = 0.379961, current_vel = 0.379961, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.379961, acc = 0.000000,T = 0.004669, P = 0.004006 initial results: dx= 0.000663,dt = 0.001744, a_f = 0.000000, v_f = 0.379961 dt = 0.001744, not at end yet tc id = 25, canon_type = 3, mot type = 2 time: 3.242000 primary movement = 3.798870384155e-04 time: 3.242000000000e+00 total movement = 3.798870384155e-04 vel = 3.799610548337e-01 ------------------- tc state : vr = 0.379961, vf = 0.379961, maxvel = 0.379961, current_vel = 0.379961, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.379961, acc = 0.000000,T = 0.004669, P = 0.004386 initial results: dx= 0.000283,dt = 0.000744, a_f = 0.000000, v_f = 0.379961 actual v_f = 0.379961, a = 0.000000 split time is 0.000743787 tc id = 25, canon_type = 3, mot type = 2 time: 3.243000 primary movement = 3.798870384155e-04 time: 3.243000000000e+00 total movement = 3.798870384155e-04 vel = 3.799610548337e-01 ------------------- tc id 25 done Finishing split-cycle on id 25 tc state : vr = 0.407333, vf = 0.407333, maxvel = 10.513602, current_vel = 0.389658, fs = 1.000000, tc = 0.000256, term = 3 tc result: v = 0.389658, acc = 37.848968,T = 0.000934, P = 0.000099 initial results: dx= 0.000835,dt = 0.002095, a_f = 8.435108, v_f = 0.407333 dt = 0.002095, not at end yet secondary movement = 0.000099 tc id = 25, canon_type = 2, mot type = 1 time: 3.244000 primary movement = 2.825797097537e-04 time: 3.244000000000e+00 total movement = 3.811728957414e-04 vel = 3.896584451457e-01 Finished tc id 25 ------------------- Activate tc id = 25 target_vel = 0.407333 final_vel = 0.407333 length = 0.000934 tc state : vr = 0.407333, vf = 0.407333, maxvel = 10.513602, current_vel = 0.407333, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.407333, acc = 17.674075,T = 0.000934, P = 0.000497 initial results: dx= 0.000436,dt = 0.001072, a_f = 0.000000, v_f = 0.407333 dt = 0.001072, not at end yet tc id = 25, canon_type = 2, mot type = 1 time: 3.245000 primary movement = 3.984954824390e-04 time: 3.245000000000e+00 total movement = 3.984954824390e-04 vel = 4.073325197322e-01 ------------------- tc state : vr = 0.407333, vf = 0.407333, maxvel = 10.513602, current_vel = 0.407333, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.407333, acc = 0.000000,T = 0.000934, P = 0.000904 initial results: dx= 0.000029,dt = 0.000072, a_f = 0.000000, v_f = 0.407333 actual v_f = 0.407333, a = 0.000000 split time is 7.15367e-05 tc id = 25, canon_type = 2, mot type = 1 time: 3.246000 primary movement = 4.073325197322e-04 time: 3.246000000000e+00 total movement = 4.073325197322e-04 vel = 4.073325197322e-01 ------------------- tc id 25 done Finishing split-cycle on id 26 tc state : vr = 0.407333, vf = 0.407333, maxvel = 0.407333, current_vel = 0.407333, fs = 1.000000, tc = 0.000928, term = 3 tc result: v = 0.407333, acc = 0.000000,T = 0.005844, P = 0.000378 initial results: dx= 0.005466,dt = 0.013419, a_f = 0.000000, v_f = 0.407333 dt = 0.013419, not at end yet secondary movement = 0.000378 tc id = 26, canon_type = 3, mot type = 2 time: 3.247000 primary movement = 2.913921180082e-05 time: 3.247000000000e+00 total movement = 4.072772587401e-04 vel = 4.073325197322e-01 Finished tc id 25 ------------------- Activate tc id = 26 target_vel = 0.407333 final_vel = 0.407333 length = 0.005844 tc state : vr = 0.407333, vf = 0.407333, maxvel = 0.407333, current_vel = 0.407333, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.407333, acc = 0.000000,T = 0.005844, P = 0.000786 initial results: dx= 0.005059,dt = 0.012419, a_f = 0.000000, v_f = 0.407333 dt = 0.012419, not at end yet tc id = 26, canon_type = 3, mot type = 2 time: 3.248000 primary movement = 4.072634764606e-04 time: 3.248000000000e+00 total movement = 4.072634764606e-04 vel = 4.073325197322e-01 ------------------- tc state : vr = 0.407333, vf = 0.407333, maxvel = 0.407333, current_vel = 0.407333, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.407333, acc = 0.000000,T = 0.005844, P = 0.001193 initial results: dx= 0.004651,dt = 0.011419, a_f = 0.000000, v_f = 0.407333 dt = 0.011419, not at end yet tc id = 26, canon_type = 3, mot type = 2 time: 3.249000 primary movement = 4.072634764606e-04 time: 3.249000000000e+00 total movement = 4.072634764606e-04 vel = 4.073325197322e-01 ------------------- tc state : vr = 0.407333, vf = 0.407333, maxvel = 0.407333, current_vel = 0.407333, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.407333, acc = 0.000000,T = 0.005844, P = 0.001600 initial results: dx= 0.004244,dt = 0.010419, a_f = 0.000000, v_f = 0.407333 dt = 0.010419, not at end yet tc id = 26, canon_type = 3, mot type = 2 time: 3.250000 primary movement = 4.072634764606e-04 time: 3.250000000000e+00 total movement = 4.072634764606e-04 vel = 4.073325197322e-01 ------------------- tc state : vr = 0.407333, vf = 0.407333, maxvel = 0.407333, current_vel = 0.407333, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.407333, acc = 0.000000,T = 0.005844, P = 0.002008 initial results: dx= 0.003837,dt = 0.009419, a_f = 0.000000, v_f = 0.407333 dt = 0.009419, not at end yet tc id = 26, canon_type = 3, mot type = 2 time: 3.251000 primary movement = 4.072634764605e-04 time: 3.251000000000e+00 total movement = 4.072634764605e-04 vel = 4.073325197322e-01 ------------------- tc state : vr = 0.407333, vf = 0.407333, maxvel = 0.407333, current_vel = 0.407333, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.407333, acc = 0.000000,T = 0.005844, P = 0.002415 initial results: dx= 0.003429,dt = 0.008419, a_f = 0.000000, v_f = 0.407333 dt = 0.008419, not at end yet tc id = 26, canon_type = 3, mot type = 2 time: 3.252000 primary movement = 4.072634764606e-04 time: 3.252000000000e+00 total movement = 4.072634764606e-04 vel = 4.073325197322e-01 ------------------- tc state : vr = 0.407333, vf = 0.407333, maxvel = 0.407333, current_vel = 0.407333, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.407333, acc = 0.000000,T = 0.005844, P = 0.002822 initial results: dx= 0.003022,dt = 0.007419, a_f = 0.000000, v_f = 0.407333 dt = 0.007419, not at end yet tc id = 26, canon_type = 3, mot type = 2 time: 3.253000 primary movement = 4.072634764606e-04 time: 3.253000000000e+00 total movement = 4.072634764606e-04 vel = 4.073325197322e-01 ------------------- tc state : vr = 0.407333, vf = 0.407333, maxvel = 0.407333, current_vel = 0.407333, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.407333, acc = 0.000000,T = 0.005844, P = 0.003230 initial results: dx= 0.002615,dt = 0.006419, a_f = 0.000000, v_f = 0.407333 dt = 0.006419, not at end yet tc id = 26, canon_type = 3, mot type = 2 time: 3.254000 primary movement = 4.072634764607e-04 time: 3.254000000000e+00 total movement = 4.072634764607e-04 vel = 4.073325197322e-01 ------------------- tc state : vr = 0.407333, vf = 0.407333, maxvel = 0.407333, current_vel = 0.407333, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.407333, acc = 0.000000,T = 0.005844, P = 0.003637 initial results: dx= 0.002207,dt = 0.005419, a_f = 0.000000, v_f = 0.407333 dt = 0.005419, not at end yet tc id = 26, canon_type = 3, mot type = 2 time: 3.255000 primary movement = 4.072634764607e-04 time: 3.255000000000e+00 total movement = 4.072634764607e-04 vel = 4.073325197322e-01 ------------------- tc state : vr = 0.407333, vf = 0.407333, maxvel = 0.407333, current_vel = 0.407333, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.407333, acc = 0.000000,T = 0.005844, P = 0.004044 initial results: dx= 0.001800,dt = 0.004419, a_f = 0.000000, v_f = 0.407333 dt = 0.004419, not at end yet tc id = 26, canon_type = 3, mot type = 2 time: 3.256000 primary movement = 4.072634764606e-04 time: 3.256000000000e+00 total movement = 4.072634764606e-04 vel = 4.073325197322e-01 ------------------- tc state : vr = 0.407333, vf = 0.407333, maxvel = 0.407333, current_vel = 0.407333, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.407333, acc = 0.000000,T = 0.005844, P = 0.004452 initial results: dx= 0.001393,dt = 0.003419, a_f = 0.000000, v_f = 0.407333 dt = 0.003419, not at end yet tc id = 26, canon_type = 3, mot type = 2 time: 3.257000 primary movement = 4.072634764607e-04 time: 3.257000000000e+00 total movement = 4.072634764607e-04 vel = 4.073325197322e-01 ------------------- tc state : vr = 0.407333, vf = 0.407333, maxvel = 0.407333, current_vel = 0.407333, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.407333, acc = 0.000000,T = 0.005844, P = 0.004859 initial results: dx= 0.000985,dt = 0.002419, a_f = 0.000000, v_f = 0.407333 dt = 0.002419, not at end yet tc id = 26, canon_type = 3, mot type = 2 time: 3.258000 primary movement = 4.072634764606e-04 time: 3.258000000000e+00 total movement = 4.072634764606e-04 vel = 4.073325197322e-01 ------------------- tc state : vr = 0.407333, vf = 0.407333, maxvel = 0.407333, current_vel = 0.407333, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.407333, acc = 0.000000,T = 0.005844, P = 0.005266 initial results: dx= 0.000578,dt = 0.001419, a_f = 0.000000, v_f = 0.407333 dt = 0.001419, not at end yet tc id = 26, canon_type = 3, mot type = 2 time: 3.259000 primary movement = 4.072634764606e-04 time: 3.259000000000e+00 total movement = 4.072634764606e-04 vel = 4.073325197322e-01 ------------------- tc state : vr = 0.407333, vf = 0.407333, maxvel = 0.407333, current_vel = 0.407333, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.407333, acc = 0.000000,T = 0.005844, P = 0.005674 initial results: dx= 0.000171,dt = 0.000419, a_f = 0.000000, v_f = 0.407333 actual v_f = 0.407333, a = 0.000000 split time is 0.000418701 tc id = 26, canon_type = 3, mot type = 2 time: 3.260000 primary movement = 4.072634764607e-04 time: 3.260000000000e+00 total movement = 4.072634764607e-04 vel = 4.073325197322e-01 ------------------- tc id 26 done Finishing split-cycle on id 26 tc state : vr = 1.656168, vf = 0.398435, maxvel = 8.333300, current_vel = 0.424771, fs = 1.000000, tc = 0.000581, term = 3 tc result: v = 0.424771, acc = 30.000000,T = 0.003478, P = 0.000242 initial results: dx= 0.003236,dt = 0.007862, a_f = -3.349823, v_f = 0.398435 dt = 0.007862, not at end yet secondary movement = 0.000242 tc id = 26, canon_type = 2, mot type = 1 time: 3.261000 primary movement = 1.705456327254e-04 time: 3.261000000000e+00 total movement = 4.123960722795e-04 vel = 4.247714773907e-01 Finished tc id 26 ------------------- Activate tc id = 26 target_vel = 1.656168 final_vel = 0.398435 length = 0.003478 tc state : vr = 1.656168, vf = 0.398435, maxvel = 8.333300, current_vel = 0.454771, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.454771, acc = 30.000000,T = 0.003478, P = 0.000682 initial results: dx= 0.002796,dt = 0.006555, a_f = -8.594663, v_f = 0.398435 dt = 0.006555, not at end yet tc id = 26, canon_type = 2, mot type = 1 time: 3.262000 primary movement = 4.397714773907e-04 time: 3.262000000000e+00 total movement = 4.397714773907e-04 vel = 4.547714773907e-01 ------------------- tc state : vr = 1.656168, vf = 0.398435, maxvel = 8.333300, current_vel = 0.484771, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.484771, acc = 30.000000,T = 0.003478, P = 0.001151 initial results: dx= 0.002327,dt = 0.005268, a_f = -16.387578, v_f = 0.398435 dt = 0.005268, not at end yet tc id = 26, canon_type = 2, mot type = 1 time: 3.263000 primary movement = 4.697714773906e-04 time: 3.263000000000e+00 total movement = 4.697714773906e-04 vel = 4.847714773907e-01 ------------------- tc state : vr = 1.656168, vf = 0.398435, maxvel = 8.333300, current_vel = 0.514771, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.514771, acc = 30.000000,T = 0.003478, P = 0.001651 initial results: dx= 0.001827,dt = 0.004001, a_f = -29.078269, v_f = 0.398435 dt = 0.004001, not at end yet tc id = 26, canon_type = 2, mot type = 1 time: 3.264000 primary movement = 4.997714773908e-04 time: 3.264000000000e+00 total movement = 4.997714773908e-04 vel = 5.147714773907e-01 ------------------- tc state : vr = 1.656168, vf = 0.398435, maxvel = 8.333300, current_vel = 0.488129, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.488129, acc = -26.642126,T = 0.003478, P = 0.002153 on final decel initial results: dx= 0.001325,dt = 0.002990, a_f = -30.000000, v_f = 0.398435 dt = 0.002990, not at end yet tc id = 26, canon_type = 2, mot type = 1 time: 3.265000 primary movement = 5.014504141450e-04 time: 3.265000000000e+00 total movement = 5.014504141450e-04 vel = 4.881293508994e-01 ------------------- tc state : vr = 1.656168, vf = 0.398435, maxvel = 8.333300, current_vel = 0.458129, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.458129, acc = -30.000000,T = 0.003478, P = 0.002626 on final decel initial results: dx= 0.000852,dt = 0.001990, a_f = -30.000000, v_f = 0.398435 recalculating with a_f = -30.000000, a = -30.000000 revised dt = 0.001990 dt = 0.001990, not at end yet tc id = 26, canon_type = 2, mot type = 1 time: 3.266000 primary movement = 4.731293508994e-04 time: 3.266000000000e+00 total movement = 4.731293508994e-04 vel = 4.581293508994e-01 ------------------- tc state : vr = 1.656168, vf = 0.398435, maxvel = 8.333300, current_vel = 0.428129, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.428129, acc = -30.000000,T = 0.003478, P = 0.003069 on final decel initial results: dx= 0.000409,dt = 0.000990, a_f = -30.000000, v_f = 0.398435 recalculating with a_f = -30.000000, a = -30.000000 revised dt = 0.000990 actual v_f = 0.398435, a = -30.000000 split time is 0.000989827 tc id = 26, canon_type = 2, mot type = 1 time: 3.267000 primary movement = 4.431293508994e-04 time: 3.267000000000e+00 total movement = 4.431293508994e-04 vel = 4.281293508994e-01 ------------------- tc id 26 done Finishing split-cycle on id 27 tc state : vr = 0.398435, vf = 0.345035, maxvel = 0.398435, current_vel = 0.398435, fs = 1.000000, tc = 0.000010, term = 3 tc result: v = 0.398435, acc = 0.000000,T = 0.002710, P = 0.000004 initial results: dx= 0.002706,dt = 0.007278, a_f = -7.336935, v_f = 0.345035 dt = 0.007278, not at end yet secondary movement = 0.000004 tc id = 27, canon_type = 3, mot type = 2 time: 3.268000 primary movement = 4.090778259184e-04 time: 3.268000000000e+00 total movement = 4.131309030228e-04 vel = 3.984345260471e-01 Finished tc id 26 ------------------- Activate tc id = 27 target_vel = 0.398435 final_vel = 0.345035 length = 0.002710 tc state : vr = 0.398435, vf = 0.345035, maxvel = 0.398435, current_vel = 0.398435, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.398435, acc = 0.000000,T = 0.002710, P = 0.000402 initial results: dx= 0.002307,dt = 0.006206, a_f = -8.604012, v_f = 0.345035 dt = 0.006206, not at end yet tc id = 27, canon_type = 3, mot type = 2 time: 3.269000 primary movement = 3.983639410367e-04 time: 3.269000000000e+00 total movement = 3.983639410367e-04 vel = 3.984345260471e-01 ------------------- tc state : vr = 0.398435, vf = 0.345035, maxvel = 0.398435, current_vel = 0.398435, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.398435, acc = 0.000000,T = 0.002710, P = 0.000801 initial results: dx= 0.001909,dt = 0.005135, a_f = -10.400092, v_f = 0.345035 dt = 0.005135, not at end yet tc id = 27, canon_type = 3, mot type = 2 time: 3.270000 primary movement = 3.983639410366e-04 time: 3.270000000000e+00 total movement = 3.983639410366e-04 vel = 3.984345260471e-01 ------------------- tc state : vr = 0.398435, vf = 0.345035, maxvel = 0.398435, current_vel = 0.398435, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.398435, acc = 0.000000,T = 0.002710, P = 0.001199 initial results: dx= 0.001510,dt = 0.004063, a_f = -13.143860, v_f = 0.345035 dt = 0.004063, not at end yet tc id = 27, canon_type = 3, mot type = 2 time: 3.271000 primary movement = 3.983639410366e-04 time: 3.271000000000e+00 total movement = 3.983639410366e-04 vel = 3.984345260471e-01 ------------------- tc state : vr = 0.398435, vf = 0.345035, maxvel = 0.398435, current_vel = 0.390541, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.390541, acc = -7.894015,T = 0.002710, P = 0.001594 on final decel initial results: dx= 0.001116,dt = 0.003034, a_f = -15.000000, v_f = 0.345035 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.003034 dt = 0.003034, not at end yet tc id = 27, canon_type = 3, mot type = 2 time: 3.272000 primary movement = 3.944190102285e-04 time: 3.272000000000e+00 total movement = 3.944190102285e-04 vel = 3.905405105847e-01 ------------------- tc state : vr = 0.398435, vf = 0.345035, maxvel = 0.398435, current_vel = 0.375541, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.375541, acc = -15.000000,T = 0.002710, P = 0.001977 on final decel initial results: dx= 0.000733,dt = 0.002034, a_f = -15.000000, v_f = 0.345035 dt = 0.002034, not at end yet tc id = 27, canon_type = 3, mot type = 2 time: 3.273000 primary movement = 3.829777947132e-04 time: 3.273000000000e+00 total movement = 3.829777947132e-04 vel = 3.755405105847e-01 ------------------- tc state : vr = 0.398435, vf = 0.345035, maxvel = 0.398435, current_vel = 0.360541, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.360541, acc = -15.000000,T = 0.002710, P = 0.002345 on final decel initial results: dx= 0.000365,dt = 0.001034, a_f = -15.000000, v_f = 0.345035 dt = 0.001034, not at end yet tc id = 27, canon_type = 3, mot type = 2 time: 3.274000 primary movement = 3.679848776653e-04 time: 3.274000000000e+00 total movement = 3.679848776653e-04 vel = 3.605405105847e-01 ------------------- tc state : vr = 0.398435, vf = 0.345035, maxvel = 0.398435, current_vel = 0.345541, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.345541, acc = -15.000000,T = 0.002710, P = 0.002698 on final decel initial results: dx= 0.000012,dt = 0.000034, a_f = -15.000000, v_f = 0.345035 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.000034 actual v_f = 0.345035, a = -15.000000 split time is 3.36925e-05 tc id = 27, canon_type = 3, mot type = 2 time: 3.275000 primary movement = 3.529914062110e-04 time: 3.275000000000e+00 total movement = 3.529914062110e-04 vel = 3.455405105847e-01 ------------------- tc id 27 done Finishing split-cycle on id 27 tc state : vr = 0.345035, vf = 0.243977, maxvel = 9.225626, current_vel = 0.312942, fs = 1.000000, tc = 0.000966, term = 3 tc result: v = 0.312942, acc = -33.212385,T = 0.000896, P = 0.000318 on final decel initial results: dx= 0.000578,dt = 0.002076, a_f = -33.212385, v_f = 0.243977 recalculating with a_f = -33.212385, a = -33.212385 revised dt = 0.002076 dt = 0.002076, not at end yet secondary movement = 0.000318 tc id = 27, canon_type = 2, mot type = 1 time: 3.276000 primary movement = 1.163360430246e-05 time: 3.276000000000e+00 total movement = 3.295375998331e-04 vel = 3.129417464235e-01 Finished tc id 27 ------------------- Activate tc id = 27 target_vel = 0.345035 final_vel = 0.243977 length = 0.000896 tc state : vr = 0.345035, vf = 0.243977, maxvel = 9.225626, current_vel = 0.279729, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.279729, acc = -33.212385,T = 0.000896, P = 0.000614 on final decel initial results: dx= 0.000282,dt = 0.001076, a_f = -33.212385, v_f = 0.243977 recalculating with a_f = -33.212385, a = -33.212385 revised dt = 0.001076 dt = 0.001076, not at end yet tc id = 27, canon_type = 2, mot type = 1 time: 3.277000 primary movement = 2.963355540543e-04 time: 3.277000000000e+00 total movement = 2.963355540543e-04 vel = 2.797293616853e-01 ------------------- tc state : vr = 0.345035, vf = 0.243977, maxvel = 9.225626, current_vel = 0.246517, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.246517, acc = -33.212385,T = 0.000896, P = 0.000877 on final decel initial results: dx= 0.000019,dt = 0.000076, a_f = -33.212385, v_f = 0.243977 recalculating with a_f = -33.212385, a = -33.212385 revised dt = 0.000076 actual v_f = 0.243977, a = -33.212385 split time is 7.64866e-05 tc id = 27, canon_type = 2, mot type = 1 time: 3.278000 primary movement = 2.631231693162e-04 time: 3.278000000000e+00 total movement = 2.631231693162e-04 vel = 2.465169769470e-01 ------------------- tc id 27 done Finishing split-cycle on id 28 tc state : vr = 0.243977, vf = 0.000000, maxvel = 0.422205, current_vel = 0.243977, fs = 1.000000, tc = 0.000924, term = 3 tc result: v = 0.243977, acc = -0.000000,T = 0.004176, P = 0.000225 initial results: dx= 0.003950,dt = 0.032383, a_f = -7.534112, v_f = 0.000000 dt = 0.032383, not at end yet secondary movement = 0.000225 tc id = 28, canon_type = 3, mot type = 2 time: 3.279000 primary movement = 1.875808973443e-05 time: 3.279000000000e+00 total movement = 2.440637005171e-04 vel = 2.439766753947e-01 Finished tc id 27 ------------------- Activate tc id = 28 target_vel = 0.243977 final_vel = 0.000000 length = 0.004176 tc state : vr = 0.243977, vf = 0.000000, maxvel = 0.422205, current_vel = 0.243977, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.243977, acc = 0.000000,T = 0.004176, P = 0.000469 initial results: dx= 0.003706,dt = 0.030383, a_f = -8.030056, v_f = 0.000000 dt = 0.030383, not at end yet tc id = 28, canon_type = 3, mot type = 2 time: 3.280000 primary movement = 2.439638214351e-04 time: 3.280000000000e+00 total movement = 2.439638214351e-04 vel = 2.439766753947e-01 ------------------- tc state : vr = 0.243977, vf = 0.000000, maxvel = 0.422205, current_vel = 0.243977, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.243977, acc = 0.000000,T = 0.004176, P = 0.000713 initial results: dx= 0.003462,dt = 0.028383, a_f = -8.595892, v_f = 0.000000 dt = 0.028383, not at end yet tc id = 28, canon_type = 3, mot type = 2 time: 3.281000 primary movement = 2.439638214349e-04 time: 3.281000000000e+00 total movement = 2.439638214349e-04 vel = 2.439766753947e-01 ------------------- tc state : vr = 0.243977, vf = 0.000000, maxvel = 0.422205, current_vel = 0.243977, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.243977, acc = 0.000000,T = 0.004176, P = 0.000957 initial results: dx= 0.003218,dt = 0.026383, a_f = -9.247517, v_f = 0.000000 dt = 0.026383, not at end yet tc id = 28, canon_type = 3, mot type = 2 time: 3.282000 primary movement = 2.439638214350e-04 time: 3.282000000000e+00 total movement = 2.439638214350e-04 vel = 2.439766753947e-01 ------------------- tc state : vr = 0.243977, vf = 0.000000, maxvel = 0.422205, current_vel = 0.243977, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.243977, acc = 0.000000,T = 0.004176, P = 0.001201 initial results: dx= 0.002974,dt = 0.024383, a_f = -10.006041, v_f = 0.000000 dt = 0.024383, not at end yet tc id = 28, canon_type = 3, mot type = 2 time: 3.283000 primary movement = 2.439638214350e-04 time: 3.283000000000e+00 total movement = 2.439638214350e-04 vel = 2.439766753947e-01 ------------------- tc state : vr = 0.243977, vf = 0.000000, maxvel = 0.422205, current_vel = 0.243977, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.243977, acc = 0.000000,T = 0.004176, P = 0.001445 initial results: dx= 0.002730,dt = 0.022383, a_f = -10.900119, v_f = 0.000000 dt = 0.022383, not at end yet tc id = 28, canon_type = 3, mot type = 2 time: 3.284000 primary movement = 2.439638214350e-04 time: 3.284000000000e+00 total movement = 2.439638214350e-04 vel = 2.439766753947e-01 ------------------- tc state : vr = 0.243977, vf = 0.000000, maxvel = 0.422205, current_vel = 0.243977, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.243977, acc = 0.000000,T = 0.004176, P = 0.001689 initial results: dx= 0.002486,dt = 0.020383, a_f = -11.969652, v_f = 0.000000 dt = 0.020383, not at end yet tc id = 28, canon_type = 3, mot type = 2 time: 3.285000 primary movement = 2.439638214350e-04 time: 3.285000000000e+00 total movement = 2.439638214350e-04 vel = 2.439766753947e-01 ------------------- tc state : vr = 0.243977, vf = 0.000000, maxvel = 0.422205, current_vel = 0.243977, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.243977, acc = 0.000000,T = 0.004176, P = 0.001933 initial results: dx= 0.002243,dt = 0.018383, a_f = -13.271909, v_f = 0.000000 dt = 0.018383, not at end yet tc id = 28, canon_type = 3, mot type = 2 time: 3.286000 primary movement = 2.439638214349e-04 time: 3.286000000000e+00 total movement = 2.439638214349e-04 vel = 2.439766753947e-01 ------------------- tc state : vr = 0.243977, vf = 0.000000, maxvel = 0.422205, current_vel = 0.243977, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.243977, acc = 0.000000,T = 0.004176, P = 0.002177 initial results: dx= 0.001999,dt = 0.016383, a_f = -14.892120, v_f = 0.000000 dt = 0.016383, not at end yet tc id = 28, canon_type = 3, mot type = 2 time: 3.287000 primary movement = 2.439638214350e-04 time: 3.287000000000e+00 total movement = 2.439638214350e-04 vel = 2.439766753947e-01 ------------------- tc state : vr = 0.243977, vf = 0.000000, maxvel = 0.422205, current_vel = 0.229887, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.229887, acc = -14.090031,T = 0.004176, P = 0.002414 on final decel initial results: dx= 0.001762,dt = 0.015326, a_f = -15.000000, v_f = 0.000000 dt = 0.015326, not at end yet tc id = 28, canon_type = 3, mot type = 2 time: 3.288000 primary movement = 2.369198877918e-04 time: 3.288000000000e+00 total movement = 2.369198877918e-04 vel = 2.298866448089e-01 ------------------- tc state : vr = 0.243977, vf = 0.000000, maxvel = 0.422205, current_vel = 0.214887, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.214887, acc = -15.000000,T = 0.004176, P = 0.002636 on final decel initial results: dx= 0.001539,dt = 0.014326, a_f = -15.000000, v_f = 0.000000 dt = 0.014326, not at end yet tc id = 28, canon_type = 3, mot type = 2 time: 3.289000 primary movement = 2.223769101827e-04 time: 3.289000000000e+00 total movement = 2.223769101827e-04 vel = 2.148866448089e-01 ------------------- tc state : vr = 0.243977, vf = 0.000000, maxvel = 0.422205, current_vel = 0.199887, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.199887, acc = -15.000000,T = 0.004176, P = 0.002844 on final decel initial results: dx= 0.001332,dt = 0.013326, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.013326 dt = 0.013326, not at end yet tc id = 28, canon_type = 3, mot type = 2 time: 3.290000 primary movement = 2.073787500973e-04 time: 3.290000000000e+00 total movement = 2.073787500973e-04 vel = 1.998866448089e-01 ------------------- tc state : vr = 0.243977, vf = 0.000000, maxvel = 0.422205, current_vel = 0.184887, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.184887, acc = -15.000000,T = 0.004176, P = 0.003036 on final decel initial results: dx= 0.001139,dt = 0.012326, a_f = -15.000000, v_f = 0.000000 dt = 0.012326, not at end yet tc id = 28, canon_type = 3, mot type = 2 time: 3.291000 primary movement = 1.923803422145e-04 time: 3.291000000000e+00 total movement = 1.923803422145e-04 vel = 1.848866448089e-01 ------------------- tc state : vr = 0.243977, vf = 0.000000, maxvel = 0.422205, current_vel = 0.169887, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.169887, acc = -15.000000,T = 0.004176, P = 0.003214 on final decel initial results: dx= 0.000962,dt = 0.011326, a_f = -15.000000, v_f = 0.000000 dt = 0.011326, not at end yet tc id = 28, canon_type = 3, mot type = 2 time: 3.292000 primary movement = 1.773817044557e-04 time: 3.292000000000e+00 total movement = 1.773817044557e-04 vel = 1.698866448089e-01 ------------------- tc state : vr = 0.243977, vf = 0.000000, maxvel = 0.422205, current_vel = 0.154887, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.154887, acc = -15.000000,T = 0.004176, P = 0.003376 on final decel initial results: dx= 0.000800,dt = 0.010326, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.010326 dt = 0.010326, not at end yet tc id = 28, canon_type = 3, mot type = 2 time: 3.293000 primary movement = 1.623828547431e-04 time: 3.293000000000e+00 total movement = 1.623828547431e-04 vel = 1.548866448089e-01 ------------------- tc state : vr = 0.243977, vf = 0.000000, maxvel = 0.422205, current_vel = 0.139887, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.139887, acc = -15.000000,T = 0.004176, P = 0.003523 on final decel initial results: dx= 0.000652,dt = 0.009326, a_f = -15.000000, v_f = 0.000000 dt = 0.009326, not at end yet tc id = 28, canon_type = 3, mot type = 2 time: 3.294000 primary movement = 1.473838109986e-04 time: 3.294000000000e+00 total movement = 1.473838109986e-04 vel = 1.398866448089e-01 ------------------- tc state : vr = 0.243977, vf = 0.000000, maxvel = 0.422205, current_vel = 0.124887, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.124887, acc = -15.000000,T = 0.004176, P = 0.003656 on final decel initial results: dx= 0.000520,dt = 0.008326, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.008326 dt = 0.008326, not at end yet tc id = 28, canon_type = 3, mot type = 2 time: 3.295000 primary movement = 1.323845911450e-04 time: 3.295000000000e+00 total movement = 1.323845911450e-04 vel = 1.248866448089e-01 ------------------- tc state : vr = 0.243977, vf = 0.000000, maxvel = 0.422205, current_vel = 0.109887, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.109887, acc = -15.000000,T = 0.004176, P = 0.003773 on final decel initial results: dx= 0.000403,dt = 0.007326, a_f = -15.000000, v_f = 0.000000 dt = 0.007326, not at end yet tc id = 28, canon_type = 3, mot type = 2 time: 3.296000 primary movement = 1.173852131045e-04 time: 3.296000000000e+00 total movement = 1.173852131045e-04 vel = 1.098866448089e-01 ------------------- tc state : vr = 0.243977, vf = 0.000000, maxvel = 0.422205, current_vel = 0.094887, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.094887, acc = -15.000000,T = 0.004176, P = 0.003876 on final decel initial results: dx= 0.000300,dt = 0.006326, a_f = -15.000000, v_f = 0.000000 dt = 0.006326, not at end yet tc id = 28, canon_type = 3, mot type = 2 time: 3.297000 primary movement = 1.023856948002e-04 time: 3.297000000000e+00 total movement = 1.023856948002e-04 vel = 9.488664480892e-02 ------------------- tc state : vr = 0.243977, vf = 0.000000, maxvel = 0.422205, current_vel = 0.079887, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.079887, acc = -15.000000,T = 0.004176, P = 0.003963 on final decel initial results: dx= 0.000213,dt = 0.005326, a_f = -15.000000, v_f = 0.000000 dt = 0.005326, not at end yet tc id = 28, canon_type = 3, mot type = 2 time: 3.298000 primary movement = 8.738605415480e-05 time: 3.298000000000e+00 total movement = 8.738605415480e-05 vel = 7.988664480892e-02 ------------------- tc state : vr = 0.243977, vf = 0.000000, maxvel = 0.422205, current_vel = 0.064887, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.064887, acc = -15.000000,T = 0.004176, P = 0.004035 on final decel initial results: dx= 0.000140,dt = 0.004326, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.004326 dt = 0.004326, not at end yet tc id = 28, canon_type = 3, mot type = 2 time: 3.299000 primary movement = 7.238630909177e-05 time: 3.299000000000e+00 total movement = 7.238630909177e-05 vel = 6.488664480892e-02 ------------------- tc state : vr = 0.243977, vf = 0.000000, maxvel = 0.422205, current_vel = 0.049887, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.049887, acc = -15.000000,T = 0.004176, P = 0.004093 on final decel initial results: dx= 0.000083,dt = 0.003326, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.003326 dt = 0.003326, not at end yet tc id = 28, canon_type = 3, mot type = 2 time: 3.300000 primary movement = 5.738647753389e-05 time: 3.300000000000e+00 total movement = 5.738647753389e-05 vel = 4.988664480892e-02 ------------------- tc state : vr = 0.243977, vf = 0.000000, maxvel = 0.422205, current_vel = 0.034887, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.034887, acc = -15.000000,T = 0.004176, P = 0.004135 on final decel initial results: dx= 0.000041,dt = 0.002326, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.002326 dt = 0.002326, not at end yet tc id = 28, canon_type = 3, mot type = 2 time: 3.301000 primary movement = 4.238657740493e-05 time: 3.301000000000e+00 total movement = 4.238657740493e-05 vel = 3.488664480892e-02 ------------------- tc state : vr = 0.243977, vf = 0.000000, maxvel = 0.422205, current_vel = 0.019887, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.019887, acc = -15.000000,T = 0.004176, P = 0.004162 on final decel initial results: dx= 0.000013,dt = 0.001326, a_f = -15.000000, v_f = 0.000000 dt = 0.001326, not at end yet tc id = 28, canon_type = 3, mot type = 2 time: 3.302000 primary movement = 2.738662662794e-05 time: 3.302000000000e+00 total movement = 2.738662662794e-05 vel = 1.988664480892e-02 ------------------- tc state : vr = 0.243977, vf = 0.000000, maxvel = 0.422205, current_vel = 0.004887, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.004887, acc = -15.000000,T = 0.004176, P = 0.004175 on final decel initial results: dx= 0.000001,dt = 0.000326, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.000326 actual v_f = 0.000000, a = -15.000000 split time is 0.000325776 tc id = 28, canon_type = 3, mot type = 2 time: 3.303000 primary movement = 1.238664312681e-05 time: 3.303000000000e+00 total movement = 1.238664312681e-05 vel = 4.886644808917e-03 ------------------- tc id 28 done Finishing split-cycle on id 28 tc state : vr = 8.448247, vf = 0.000000, maxvel = 8.448247, current_vel = 0.010253, fs = 1.000000, tc = 0.000674, term = 2 tc result: v = 0.010253, acc = 15.206906,T = 0.003928, P = 0.000003 secondary movement = 0.000003 tc id = 28, canon_type = 2, mot type = 1 time: 3.304000 primary movement = 7.959765825267e-07 time: 3.304000000000e+00 total movement = 4.252337819902e-06 vel = 1.025285926607e-02 Finished tc id 28 ------------------- Activate tc id = 28 target_vel = 8.448247 final_vel = 0.000000 length = 0.003928 Activate nexttc id 29 tc state : vr = 8.448247, vf = 0.000000, maxvel = 8.448247, current_vel = 0.025460, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.025460, acc = 15.206906,T = 0.003928, P = 0.000021 tc id = 28, canon_type = 2, mot type = 1 time: 3.305000 primary movement = 1.785631242891e-05 time: 3.305000000000e+00 total movement = 1.785631242891e-05 vel = 2.545976559181e-02 ------------------- tc state : vr = 8.448247, vf = 0.000000, maxvel = 8.448247, current_vel = 0.040667, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.040667, acc = 15.206906,T = 0.003928, P = 0.000054 tc id = 28, canon_type = 2, mot type = 1 time: 3.306000 primary movement = 3.306321875475e-05 time: 3.306000000000e+00 total movement = 3.306321875475e-05 vel = 4.066667191756e-02 ------------------- tc state : vr = 8.448247, vf = 0.000000, maxvel = 8.448247, current_vel = 0.055874, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.055874, acc = 15.206906,T = 0.003928, P = 0.000103 tc id = 28, canon_type = 2, mot type = 1 time: 3.307000 primary movement = 4.827012508038e-05 time: 3.307000000000e+00 total movement = 4.827012508038e-05 vel = 5.587357824331e-02 ------------------- tc state : vr = 8.448247, vf = 0.000000, maxvel = 8.448247, current_vel = 0.071080, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.071080, acc = 15.206906,T = 0.003928, P = 0.000166 tc id = 28, canon_type = 2, mot type = 1 time: 3.308000 primary movement = 6.347703140622e-05 time: 3.308000000000e+00 total movement = 6.347703140622e-05 vel = 7.108048456905e-02 ------------------- tc state : vr = 8.448247, vf = 0.000000, maxvel = 8.448247, current_vel = 0.086287, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.086287, acc = 15.206906,T = 0.003928, P = 0.000245 tc id = 28, canon_type = 2, mot type = 1 time: 3.309000 primary movement = 7.868393773196e-05 time: 3.309000000000e+00 total movement = 7.868393773196e-05 vel = 8.628739089480e-02 ------------------- tc state : vr = 8.448247, vf = 0.000000, maxvel = 8.448247, current_vel = 0.101494, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.101494, acc = 15.206906,T = 0.003928, P = 0.000339 tc id = 28, canon_type = 2, mot type = 1 time: 3.310000 primary movement = 9.389084405768e-05 time: 3.310000000000e+00 total movement = 9.389084405768e-05 vel = 1.014942972205e-01 ------------------- tc state : vr = 8.448247, vf = 0.000000, maxvel = 8.448247, current_vel = 0.116701, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.116701, acc = 15.206906,T = 0.003928, P = 0.000448 tc id = 28, canon_type = 2, mot type = 1 time: 3.311000 primary movement = 1.090977503834e-04 time: 3.311000000000e+00 total movement = 1.090977503834e-04 vel = 1.167012035463e-01 ------------------- tc state : vr = 8.448247, vf = 0.000000, maxvel = 8.448247, current_vel = 0.131908, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.131908, acc = 15.206906,T = 0.003928, P = 0.000572 tc id = 28, canon_type = 2, mot type = 1 time: 3.312000 primary movement = 1.243046567092e-04 time: 3.312000000000e+00 total movement = 1.243046567092e-04 vel = 1.319081098720e-01 ------------------- tc state : vr = 8.448247, vf = 0.000000, maxvel = 8.448247, current_vel = 0.147115, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.147115, acc = 15.206906,T = 0.003928, P = 0.000712 tc id = 28, canon_type = 2, mot type = 1 time: 3.313000 primary movement = 1.395115630349e-04 time: 3.313000000000e+00 total movement = 1.395115630349e-04 vel = 1.471150161978e-01 ------------------- tc state : vr = 8.448247, vf = 0.000000, maxvel = 8.448247, current_vel = 0.162322, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.162322, acc = 15.206906,T = 0.003928, P = 0.000866 tc id = 28, canon_type = 2, mot type = 1 time: 3.314000 primary movement = 1.547184693606e-04 time: 3.314000000000e+00 total movement = 1.547184693606e-04 vel = 1.623219225235e-01 ------------------- tc state : vr = 8.448247, vf = 0.000000, maxvel = 8.448247, current_vel = 0.177529, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.177529, acc = 15.206906,T = 0.003928, P = 0.001036 tc id = 28, canon_type = 2, mot type = 1 time: 3.315000 primary movement = 1.699253756865e-04 time: 3.315000000000e+00 total movement = 1.699253756865e-04 vel = 1.775288288493e-01 ------------------- tc state : vr = 8.448247, vf = 0.000000, maxvel = 8.448247, current_vel = 0.192736, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.192736, acc = 15.206906,T = 0.003928, P = 0.001221 tc id = 28, canon_type = 2, mot type = 1 time: 3.316000 primary movement = 1.851322820121e-04 time: 3.316000000000e+00 total movement = 1.851322820121e-04 vel = 1.927357351750e-01 ------------------- tc state : vr = 8.448247, vf = 0.000000, maxvel = 8.448247, current_vel = 0.207943, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.207943, acc = 15.206906,T = 0.003928, P = 0.001422 tc id = 28, canon_type = 2, mot type = 1 time: 3.317000 primary movement = 2.003391883379e-04 time: 3.317000000000e+00 total movement = 2.003391883379e-04 vel = 2.079426415008e-01 ------------------- tc state : vr = 8.448247, vf = 0.000000, maxvel = 8.448247, current_vel = 0.223150, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.223150, acc = 15.206906,T = 0.003928, P = 0.001637 tc id = 28, canon_type = 2, mot type = 1 time: 3.318000 primary movement = 2.155460946637e-04 time: 3.318000000000e+00 total movement = 2.155460946637e-04 vel = 2.231495478265e-01 ------------------- tc state : vr = 8.448247, vf = 0.000000, maxvel = 8.448247, current_vel = 0.238356, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.238356, acc = 15.206906,T = 0.003928, P = 0.001868 tc id = 28, canon_type = 2, mot type = 1 time: 3.319000 primary movement = 2.307530009894e-04 time: 3.319000000000e+00 total movement = 2.307530009894e-04 vel = 2.383564541523e-01 ------------------- tc state : vr = 8.448247, vf = 0.000000, maxvel = 8.448247, current_vel = 0.235471, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.235471, acc = -2.885504,T = 0.003928, P = 0.002105 on final decel tc id = 28, canon_type = 2, mot type = 1 tc state : vr = 0.002886, vf = 0.002886, maxvel = 9.532990, current_vel = 0.002886, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.002886, acc = 2.885504,T = 0.008136, P = 0.000001 initial results: dx= 0.008134,dt = 0.030621, a_f = 17.161915, v_f = 0.528399 recalculating with a_f = 17.161915, a = 17.159384 revised dt = 0.030623 dt = 0.030623, not at end yet tc id = 28, canon_type = 2, mot type = 1 secondary movement = 0.000001 time: 3.320000 primary movement = 2.369137021487e-04 time: 3.320000000000e+00 total movement = 2.383564541522e-04 vel = 2.383564541523e-01 ------------------- tc state : vr = 8.448247, vf = 0.000000, maxvel = 8.448247, current_vel = 0.220264, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.220264, acc = -15.206906,T = 0.003928, P = 0.002333 on final decel tc id = 28, canon_type = 2, mot type = 1 tc state : vr = 0.018092, vf = 0.018092, maxvel = 9.532990, current_vel = 0.018092, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.018092, acc = 15.206906,T = 0.008136, P = 0.000012 initial results: dx= 0.008124,dt = 0.029730, a_f = 17.164440, v_f = 0.528399 recalculating with a_f = 17.164440, a = 17.159384 revised dt = 0.029735 dt = 0.029735, not at end yet tc id = 28, canon_type = 2, mot type = 1 secondary movement = 0.000010 time: 3.321000 primary movement = 2.278674969823e-04 time: 3.321000000000e+00 total movement = 2.383564541522e-04 vel = 2.383564541523e-01 ------------------- tc state : vr = 8.448247, vf = 0.000000, maxvel = 8.448247, current_vel = 0.205057, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.205057, acc = -15.206906,T = 0.003928, P = 0.002545 on final decel tc id = 28, canon_type = 2, mot type = 1 tc state : vr = 0.033299, vf = 0.033299, maxvel = 9.532990, current_vel = 0.033299, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.033299, acc = 15.206906,T = 0.008136, P = 0.000038 initial results: dx= 0.008098,dt = 0.028834, a_f = 17.170651, v_f = 0.528399 recalculating with a_f = 17.170651, a = 17.159384 revised dt = 0.028843 dt = 0.028843, not at end yet tc id = 28, canon_type = 2, mot type = 1 secondary movement = 0.000026 time: 3.322000 primary movement = 2.126605906566e-04 time: 3.322000000000e+00 total movement = 2.383564541523e-04 vel = 2.383564541523e-01 ------------------- tc state : vr = 8.448247, vf = 0.000000, maxvel = 8.448247, current_vel = 0.189850, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.189850, acc = -15.206906,T = 0.003928, P = 0.002743 on final decel tc id = 28, canon_type = 2, mot type = 1 tc state : vr = 0.048506, vf = 0.048506, maxvel = 9.532990, current_vel = 0.048506, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.048506, acc = 15.206906,T = 0.008136, P = 0.000079 initial results: dx= 0.008057,dt = 0.027932, a_f = 17.180620, v_f = 0.528399 recalculating with a_f = 17.180620, a = 17.159384 revised dt = 0.027948 dt = 0.027948, not at end yet tc id = 28, canon_type = 2, mot type = 1 secondary movement = 0.000041 time: 3.323000 primary movement = 1.974536843307e-04 time: 3.323000000000e+00 total movement = 2.383564541521e-04 vel = 2.383564541523e-01 ------------------- tc state : vr = 8.448247, vf = 0.000000, maxvel = 8.448247, current_vel = 0.174643, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.174643, acc = -15.206906,T = 0.003928, P = 0.002925 on final decel tc id = 28, canon_type = 2, mot type = 1 tc state : vr = 0.063713, vf = 0.063713, maxvel = 9.532990, current_vel = 0.063713, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.063713, acc = 15.206906,T = 0.008136, P = 0.000135 initial results: dx= 0.008001,dt = 0.027025, a_f = 17.194461, v_f = 0.528399 recalculating with a_f = 17.194461, a = 17.159384 revised dt = 0.027050 dt = 0.027050, not at end yet tc id = 28, canon_type = 2, mot type = 1 secondary movement = 0.000056 time: 3.324000 primary movement = 1.822467780051e-04 time: 3.324000000000e+00 total movement = 2.383564541523e-04 vel = 2.383564541523e-01 ------------------- tc state : vr = 8.448247, vf = 0.000000, maxvel = 8.448247, current_vel = 0.159436, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.159436, acc = -15.206906,T = 0.003928, P = 0.003092 on final decel tc id = 28, canon_type = 2, mot type = 1 tc state : vr = 0.078920, vf = 0.078920, maxvel = 9.532990, current_vel = 0.078920, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.078920, acc = 15.206906,T = 0.008136, P = 0.000206 initial results: dx= 0.007930,dt = 0.026114, a_f = 17.212337, v_f = 0.528399 recalculating with a_f = 17.212337, a = 17.159384 revised dt = 0.026148 dt = 0.026148, not at end yet tc id = 28, canon_type = 2, mot type = 1 secondary movement = 0.000071 time: 3.325000 primary movement = 1.670398716794e-04 time: 3.325000000000e+00 total movement = 2.383564541523e-04 vel = 2.383564541523e-01 ------------------- tc state : vr = 8.448247, vf = 0.000000, maxvel = 8.448247, current_vel = 0.144230, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.144230, acc = -15.206906,T = 0.003928, P = 0.003244 on final decel tc id = 28, canon_type = 2, mot type = 1 tc state : vr = 0.094127, vf = 0.094127, maxvel = 9.532990, current_vel = 0.094127, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.094127, acc = 15.206906,T = 0.008136, P = 0.000292 initial results: dx= 0.007843,dt = 0.025198, a_f = 17.234460, v_f = 0.528399 recalculating with a_f = 17.234460, a = 17.159384 revised dt = 0.025243 dt = 0.025243, not at end yet tc id = 28, canon_type = 2, mot type = 1 secondary movement = 0.000087 time: 3.326000 primary movement = 1.518329653535e-04 time: 3.326000000000e+00 total movement = 2.383564541522e-04 vel = 2.383564541523e-01 ------------------- tc state : vr = 8.448247, vf = 0.000000, maxvel = 8.448247, current_vel = 0.129023, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.129023, acc = -15.206906,T = 0.003928, P = 0.003381 on final decel tc id = 28, canon_type = 2, mot type = 1 tc state : vr = 0.109334, vf = 0.109334, maxvel = 9.532990, current_vel = 0.109334, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.109334, acc = 15.206906,T = 0.008136, P = 0.000394 initial results: dx= 0.007741,dt = 0.024278, a_f = 17.261104, v_f = 0.528399 recalculating with a_f = 17.261104, a = 17.159384 revised dt = 0.024335 dt = 0.024335, not at end yet tc id = 28, canon_type = 2, mot type = 1 secondary movement = 0.000102 time: 3.327000 primary movement = 1.366260590279e-04 time: 3.327000000000e+00 total movement = 2.383564541523e-04 vel = 2.383564541523e-01 ------------------- tc state : vr = 8.448247, vf = 0.000000, maxvel = 8.448247, current_vel = 0.113816, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.113816, acc = -15.206906,T = 0.003928, P = 0.003502 on final decel tc id = 28, canon_type = 2, mot type = 1 tc state : vr = 0.124541, vf = 0.124541, maxvel = 9.532990, current_vel = 0.124541, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.124541, acc = 15.206906,T = 0.008136, P = 0.000511 initial results: dx= 0.007624,dt = 0.023354, a_f = 17.292610, v_f = 0.528399 recalculating with a_f = 17.292610, a = 17.159384 revised dt = 0.023423 dt = 0.023423, not at end yet tc id = 29, canon_type = 2, mot type = 1 secondary movement = 0.000117 time: 3.328000 primary movement = 1.214191527021e-04 time: 3.328000000000e+00 total movement = 2.383564541522e-04 vel = 2.383564541523e-01 ------------------- tc state : vr = 8.448247, vf = 0.000000, maxvel = 8.448247, current_vel = 0.098609, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.098609, acc = -15.206906,T = 0.003928, P = 0.003608 on final decel tc id = 28, canon_type = 2, mot type = 1 tc state : vr = 0.139748, vf = 0.139748, maxvel = 9.532990, current_vel = 0.139748, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.139748, acc = 15.206906,T = 0.008136, P = 0.000643 initial results: dx= 0.007492,dt = 0.022427, a_f = 17.329396, v_f = 0.528399 recalculating with a_f = 17.329396, a = 17.159384 revised dt = 0.022509 dt = 0.022509, not at end yet tc id = 29, canon_type = 2, mot type = 1 secondary movement = 0.000132 time: 3.329000 primary movement = 1.062122463763e-04 time: 3.329000000000e+00 total movement = 2.383564541522e-04 vel = 2.383564541523e-01 ------------------- tc state : vr = 8.448247, vf = 0.000000, maxvel = 8.448247, current_vel = 0.083402, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.083402, acc = -15.206906,T = 0.003928, P = 0.003699 on final decel tc id = 28, canon_type = 2, mot type = 1 tc state : vr = 0.154955, vf = 0.154955, maxvel = 9.532990, current_vel = 0.154955, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.154955, acc = 15.206906,T = 0.008136, P = 0.000791 initial results: dx= 0.007345,dt = 0.021497, a_f = 17.371976, v_f = 0.528399 recalculating with a_f = 17.371976, a = 17.159384 revised dt = 0.021591 dt = 0.021591, not at end yet tc id = 29, canon_type = 2, mot type = 1 secondary movement = 0.000147 time: 3.330000 primary movement = 9.100534005059e-05 time: 3.330000000000e+00 total movement = 2.383564541523e-04 vel = 2.383564541523e-01 ------------------- tc state : vr = 8.448247, vf = 0.000000, maxvel = 8.448247, current_vel = 0.068195, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.068195, acc = -15.206906,T = 0.003928, P = 0.003775 on final decel tc id = 28, canon_type = 2, mot type = 1 tc state : vr = 0.170161, vf = 0.170161, maxvel = 9.532990, current_vel = 0.170161, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.170161, acc = 15.206906,T = 0.008136, P = 0.000953 initial results: dx= 0.007182,dt = 0.020564, a_f = 17.420977, v_f = 0.528399 recalculating with a_f = 17.420977, a = 17.159384 revised dt = 0.020669 dt = 0.020669, not at end yet tc id = 29, canon_type = 2, mot type = 1 secondary movement = 0.000163 time: 3.331000 primary movement = 7.579843372486e-05 time: 3.331000000000e+00 total movement = 2.383564541522e-04 vel = 2.383564541523e-01 ------------------- tc state : vr = 8.448247, vf = 0.000000, maxvel = 8.448247, current_vel = 0.052988, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.052988, acc = -15.206906,T = 0.003928, P = 0.003836 on final decel tc id = 28, canon_type = 2, mot type = 1 tc state : vr = 0.185368, vf = 0.185368, maxvel = 9.532990, current_vel = 0.185368, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.185368, acc = 15.206906,T = 0.008136, P = 0.001131 initial results: dx= 0.007005,dt = 0.019627, a_f = 17.477166, v_f = 0.528399 recalculating with a_f = 17.477166, a = 17.159384 revised dt = 0.019744 dt = 0.019744, not at end yet tc id = 29, canon_type = 2, mot type = 1 secondary movement = 0.000178 time: 3.332000 primary movement = 6.059152739913e-05 time: 3.332000000000e+00 total movement = 2.383564541523e-04 vel = 2.383564541523e-01 ------------------- tc state : vr = 8.448247, vf = 0.000000, maxvel = 8.448247, current_vel = 0.037781, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.037781, acc = -15.206906,T = 0.003928, P = 0.003881 on final decel tc id = 28, canon_type = 2, mot type = 1 tc state : vr = 0.200575, vf = 0.200575, maxvel = 9.532990, current_vel = 0.200575, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.200575, acc = 15.206906,T = 0.008136, P = 0.001324 initial results: dx= 0.006812,dt = 0.018688, a_f = 17.541481, v_f = 0.528399 recalculating with a_f = 17.541481, a = 17.159384 revised dt = 0.018816 dt = 0.018816, not at end yet tc id = 29, canon_type = 2, mot type = 1 secondary movement = 0.000193 time: 3.333000 primary movement = 4.538462107328e-05 time: 3.333000000000e+00 total movement = 2.383564541522e-04 vel = 2.383564541523e-01 ------------------- tc state : vr = 8.448247, vf = 0.000000, maxvel = 8.448247, current_vel = 0.022574, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.022574, acc = -15.206906,T = 0.003928, P = 0.003911 on final decel tc id = 28, canon_type = 2, mot type = 1 tc state : vr = 0.215782, vf = 0.215782, maxvel = 9.532990, current_vel = 0.215782, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.215782, acc = 15.206906,T = 0.008136, P = 0.001532 initial results: dx= 0.006604,dt = 0.017747, a_f = 17.615080, v_f = 0.528399 recalculating with a_f = 17.615080, a = 17.159384 revised dt = 0.017885 dt = 0.017885, not at end yet tc id = 29, canon_type = 2, mot type = 1 secondary movement = 0.000208 time: 3.334000 primary movement = 3.017771474766e-05 time: 3.334000000000e+00 total movement = 2.383564541523e-04 vel = 2.383564541523e-01 ------------------- tc state : vr = 8.448247, vf = 0.000000, maxvel = 8.448247, current_vel = 0.007367, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.007367, acc = -15.206906,T = 0.003928, P = 0.003926 on final decel tc id = 28, canon_type = 2, mot type = 1 tc state : vr = 0.230989, vf = 0.230989, maxvel = 9.532990, current_vel = 0.230989, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.230989, acc = 15.206906,T = 0.008136, P = 0.001756 initial results: dx= 0.006380,dt = 0.016803, a_f = 17.699396, v_f = 0.528399 recalculating with a_f = 17.699396, a = 17.159384 revised dt = 0.016950 dt = 0.016950, not at end yet tc id = 29, canon_type = 2, mot type = 1 secondary movement = 0.000223 time: 3.335000 primary movement = 1.497080842182e-05 time: 3.335000000000e+00 total movement = 2.383564541522e-04 vel = 2.383564541523e-01 ------------------- Found newvel = -0.007367, assuming segment is done segment 28 at target in runcycle tc state : vr = 8.448247, vf = 0.000000, maxvel = 8.448247, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.003928, P = 0.003928 tc id = 28, canon_type = 2, mot type = 1 tc state : vr = 0.238356, vf = 0.238356, maxvel = 9.532990, current_vel = 0.238356, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.238356, acc = 7.367355,T = 0.008136, P = 0.001990 initial results: dx= 0.006145,dt = 0.016030, a_f = 18.093939, v_f = 0.528399 recalculating with a_f = 18.093939, a = 17.159384 revised dt = 0.016263 dt = 0.016263, not at end yet tc id = 29, canon_type = 2, mot type = 1 secondary movement = 0.000235 time: 3.336000 primary movement = 1.784647131728e-06 time: 3.336000000000e+00 total movement = 2.364574236545e-04 vel = 2.383564541523e-01 Finished tc id 28 ------------------- tc state : vr = 3.874113, vf = 0.528399, maxvel = 9.532990, current_vel = 0.255516, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.255516, acc = 17.159384,T = 0.008136, P = 0.002237 initial results: dx= 0.005899,dt = 0.015049, a_f = 18.133064, v_f = 0.528399 recalculating with a_f = 18.133064, a = 17.159384 revised dt = 0.015263 dt = 0.015263, not at end yet tc id = 29, canon_type = 2, mot type = 1 time: 3.337000 primary movement = 2.469361459364e-04 time: 3.337000000000e+00 total movement = 2.469361459364e-04 vel = 2.555158377206e-01 ------------------- tc state : vr = 3.874113, vf = 0.528399, maxvel = 9.532990, current_vel = 0.272675, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.272675, acc = 17.159384,T = 0.008136, P = 0.002501 initial results: dx= 0.005634,dt = 0.014067, a_f = 18.178702, v_f = 0.528399 recalculating with a_f = 18.178702, a = 17.159384 revised dt = 0.014263 dt = 0.014263, not at end yet tc id = 29, canon_type = 2, mot type = 1 time: 3.338000 primary movement = 2.640955295047e-04 time: 3.338000000000e+00 total movement = 2.640955295047e-04 vel = 2.726752212889e-01 ------------------- tc state : vr = 3.874113, vf = 0.528399, maxvel = 9.532990, current_vel = 0.289835, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.289835, acc = 17.159384,T = 0.008136, P = 0.002782 initial results: dx= 0.005353,dt = 0.013085, a_f = 18.232256, v_f = 0.528399 recalculating with a_f = 18.232256, a = 17.159384 revised dt = 0.013263 dt = 0.013263, not at end yet tc id = 29, canon_type = 2, mot type = 1 time: 3.339000 primary movement = 2.812549130730e-04 time: 3.339000000000e+00 total movement = 2.812549130730e-04 vel = 2.898346048572e-01 ------------------- tc state : vr = 3.874113, vf = 0.528399, maxvel = 9.532990, current_vel = 0.306994, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.306994, acc = 17.159384,T = 0.008136, P = 0.003081 initial results: dx= 0.005055,dt = 0.012102, a_f = 18.295595, v_f = 0.528399 recalculating with a_f = 18.295595, a = 17.159384 revised dt = 0.012263 dt = 0.012263, not at end yet tc id = 29, canon_type = 2, mot type = 1 time: 3.340000 primary movement = 2.984142966414e-04 time: 3.340000000000e+00 total movement = 2.984142966414e-04 vel = 3.069939884255e-01 ------------------- tc state : vr = 3.874113, vf = 0.528399, maxvel = 9.532990, current_vel = 0.324153, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.324153, acc = 17.159384,T = 0.008136, P = 0.003396 initial results: dx= 0.004739,dt = 0.011118, a_f = 18.371253, v_f = 0.528399 recalculating with a_f = 18.371253, a = 17.159384 revised dt = 0.011263 dt = 0.011263, not at end yet tc id = 29, canon_type = 2, mot type = 1 time: 3.341000 primary movement = 3.155736802097e-04 time: 3.341000000000e+00 total movement = 3.155736802097e-04 vel = 3.241533719938e-01 ------------------- tc state : vr = 3.874113, vf = 0.528399, maxvel = 9.532990, current_vel = 0.341313, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.341313, acc = 17.159384,T = 0.008136, P = 0.003729 initial results: dx= 0.004406,dt = 0.010133, a_f = 18.462762, v_f = 0.528399 recalculating with a_f = 18.462762, a = 17.159384 revised dt = 0.010263 dt = 0.010263, not at end yet tc id = 29, canon_type = 2, mot type = 1 time: 3.342000 primary movement = 3.327330637779e-04 time: 3.342000000000e+00 total movement = 3.327330637779e-04 vel = 3.413127555621e-01 ------------------- tc state : vr = 3.874113, vf = 0.528399, maxvel = 9.532990, current_vel = 0.358472, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.358472, acc = 17.159384,T = 0.008136, P = 0.004079 initial results: dx= 0.004057,dt = 0.009148, a_f = 18.575182, v_f = 0.528399 recalculating with a_f = 18.575182, a = 17.159384 revised dt = 0.009263 dt = 0.009263, not at end yet tc id = 29, canon_type = 2, mot type = 1 time: 3.343000 primary movement = 3.498924473463e-04 time: 3.343000000000e+00 total movement = 3.498924473463e-04 vel = 3.584721391304e-01 ------------------- tc state : vr = 3.874113, vf = 0.528399, maxvel = 9.532990, current_vel = 0.375632, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.375632, acc = 17.159384,T = 0.008136, P = 0.004446 initial results: dx= 0.003690,dt = 0.008162, a_f = 18.716034, v_f = 0.528399 recalculating with a_f = 18.716034, a = 17.159384 revised dt = 0.008263 dt = 0.008263, not at end yet tc id = 29, canon_type = 2, mot type = 1 time: 3.344000 primary movement = 3.670518309146e-04 time: 3.344000000000e+00 total movement = 3.670518309146e-04 vel = 3.756315226987e-01 ------------------- tc state : vr = 3.874113, vf = 0.528399, maxvel = 9.532990, current_vel = 0.392791, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.392791, acc = 17.159384,T = 0.008136, P = 0.004830 initial results: dx= 0.003305,dt = 0.007176, a_f = 18.896980, v_f = 0.528399 recalculating with a_f = 18.896980, a = 17.159384 revised dt = 0.007263 dt = 0.007263, not at end yet tc id = 29, canon_type = 2, mot type = 1 time: 3.345000 primary movement = 3.842112144829e-04 time: 3.345000000000e+00 total movement = 3.842112144829e-04 vel = 3.927909062671e-01 ------------------- tc state : vr = 3.874113, vf = 0.528399, maxvel = 9.532990, current_vel = 0.409950, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.409950, acc = 17.159384,T = 0.008136, P = 0.005232 initial results: dx= 0.002904,dt = 0.006189, a_f = 19.137144, v_f = 0.528399 recalculating with a_f = 19.137144, a = 17.159384 revised dt = 0.006263 dt = 0.006263, not at end yet tc id = 29, canon_type = 2, mot type = 1 time: 3.346000 primary movement = 4.013705980512e-04 time: 3.346000000000e+00 total movement = 4.013705980512e-04 vel = 4.099502898354e-01 ------------------- tc state : vr = 3.874113, vf = 0.528399, maxvel = 9.532990, current_vel = 0.427110, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.427110, acc = 17.159384,T = 0.008136, P = 0.005650 initial results: dx= 0.002485,dt = 0.005202, a_f = 19.470190, v_f = 0.528399 recalculating with a_f = 19.470190, a = 17.159384 revised dt = 0.005263 dt = 0.005263, not at end yet tc id = 29, canon_type = 2, mot type = 1 time: 3.347000 primary movement = 4.185299816195e-04 time: 3.347000000000e+00 total movement = 4.185299816195e-04 vel = 4.271096734037e-01 ------------------- tc state : vr = 3.874113, vf = 0.528399, maxvel = 9.532990, current_vel = 0.444269, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.444269, acc = 17.159384,T = 0.008136, P = 0.006086 initial results: dx= 0.002050,dt = 0.004215, a_f = 19.961379, v_f = 0.528399 recalculating with a_f = 19.961379, a = 17.159384 revised dt = 0.004263 dt = 0.004263, not at end yet tc id = 29, canon_type = 2, mot type = 1 time: 3.348000 primary movement = 4.356893651878e-04 time: 3.348000000000e+00 total movement = 4.356893651878e-04 vel = 4.442690569720e-01 ------------------- tc state : vr = 3.874113, vf = 0.528399, maxvel = 9.532990, current_vel = 0.461428, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.461428, acc = 17.159384,T = 0.008136, P = 0.006539 initial results: dx= 0.001597,dt = 0.003227, a_f = 20.755988, v_f = 0.528399 recalculating with a_f = 20.755988, a = 17.159384 revised dt = 0.003263 dt = 0.003263, not at end yet tc id = 29, canon_type = 2, mot type = 1 time: 3.349000 primary movement = 4.528487487561e-04 time: 3.349000000000e+00 total movement = 4.528487487561e-04 vel = 4.614284405403e-01 ------------------- tc state : vr = 3.874113, vf = 0.528399, maxvel = 9.532990, current_vel = 0.478588, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.478588, acc = 17.159384,T = 0.008136, P = 0.007009 initial results: dx= 0.001127,dt = 0.002238, a_f = 22.256124, v_f = 0.528399 recalculating with a_f = 22.256124, a = 17.159384 revised dt = 0.002263 dt = 0.002263, not at end yet tc id = 29, canon_type = 2, mot type = 1 time: 3.350000 primary movement = 4.700081323245e-04 time: 3.350000000000e+00 total movement = 4.700081323245e-04 vel = 4.785878241086e-01 ------------------- tc state : vr = 3.874113, vf = 0.528399, maxvel = 9.532990, current_vel = 0.495747, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.495747, acc = 17.159384,T = 0.008136, P = 0.007496 initial results: dx= 0.000640,dt = 0.001249, a_f = 26.137666, v_f = 0.528399 recalculating with a_f = 26.137666, a = 17.159384 revised dt = 0.001263 dt = 0.001263, not at end yet tc id = 29, canon_type = 2, mot type = 1 time: 3.351000 primary movement = 4.871675158928e-04 time: 3.351000000000e+00 total movement = 4.871675158928e-04 vel = 4.957472076769e-01 ------------------- tc state : vr = 3.874113, vf = 0.528399, maxvel = 9.532990, current_vel = 0.512907, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.512907, acc = 17.159384,T = 0.008136, P = 0.008000 initial results: dx= 0.000135,dt = 0.000260, a_f = 59.589457, v_f = 0.528399 recalculating with a_f = 59.589457, a = 17.159384 revised dt = 0.000263 actual v_f = 0.517415, a = 17.159384 split time is 0.00026275 tc id = 29, canon_type = 2, mot type = 1 time: 3.352000 primary movement = 5.043268994611e-04 time: 3.352000000000e+00 total movement = 5.043268994611e-04 vel = 5.129065912452e-01 ------------------- tc id 29 done Finishing split-cycle on id 30 tc state : vr = 0.555260, vf = 0.555260, maxvel = 0.555260, current_vel = 0.528474, fs = 1.000000, tc = 0.000737, term = 3 tc result: v = 0.528474, acc = 15.000000,T = 0.008107, P = 0.000386 initial results: dx= 0.007722,dt = 0.014251, a_f = 1.879673, v_f = 0.555260 dt = 0.014251, not at end yet secondary movement = 0.000386 tc id = 30, canon_type = 3, mot type = 2 time: 3.353000 primary movement = 1.353586489924e-04 time: 3.353000000000e+00 total movement = 5.208824748392e-04 vel = 5.284739697834e-01 Finished tc id 29 ------------------- Activate tc id = 30 target_vel = 0.555260 final_vel = 0.555260 length = 0.008107 tc state : vr = 0.555260, vf = 0.555260, maxvel = 0.555260, current_vel = 0.543474, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.543474, acc = 15.000000,T = 0.008107, P = 0.000922 initial results: dx= 0.007186,dt = 0.013080, a_f = 0.901072, v_f = 0.555260 dt = 0.013080, not at end yet tc id = 30, canon_type = 3, mot type = 2 time: 3.354000 primary movement = 5.359284158425e-04 time: 3.354000000000e+00 total movement = 5.359284158425e-04 vel = 5.434739697834e-01 ------------------- tc state : vr = 0.555260, vf = 0.555260, maxvel = 0.555260, current_vel = 0.555260, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.555260, acc = 11.786364,T = 0.008107, P = 0.001471 initial results: dx= 0.006637,dt = 0.011952, a_f = 0.000000, v_f = 0.555260 dt = 0.011952, not at end yet tc id = 30, canon_type = 3, mot type = 2 time: 3.355000 primary movement = 5.493180967575e-04 time: 3.355000000000e+00 total movement = 5.493180967575e-04 vel = 5.552603335244e-01 ------------------- tc state : vr = 0.555260, vf = 0.555260, maxvel = 0.555260, current_vel = 0.555260, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.555260, acc = 0.000000,T = 0.008107, P = 0.002026 initial results: dx= 0.006081,dt = 0.010952, a_f = 0.000000, v_f = 0.555260 dt = 0.010952, not at end yet tc id = 30, canon_type = 3, mot type = 2 time: 3.356000 primary movement = 5.552096829941e-04 time: 3.356000000000e+00 total movement = 5.552096829941e-04 vel = 5.552603335244e-01 ------------------- tc state : vr = 0.555260, vf = 0.555260, maxvel = 0.555260, current_vel = 0.555260, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.555260, acc = 0.000000,T = 0.008107, P = 0.002581 initial results: dx= 0.005526,dt = 0.009952, a_f = 0.000000, v_f = 0.555260 dt = 0.009952, not at end yet tc id = 30, canon_type = 3, mot type = 2 time: 3.357000 primary movement = 5.552096829942e-04 time: 3.357000000000e+00 total movement = 5.552096829942e-04 vel = 5.552603335244e-01 ------------------- tc state : vr = 0.555260, vf = 0.555260, maxvel = 0.555260, current_vel = 0.555260, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.555260, acc = 0.000000,T = 0.008107, P = 0.003137 initial results: dx= 0.004971,dt = 0.008952, a_f = 0.000000, v_f = 0.555260 dt = 0.008952, not at end yet tc id = 30, canon_type = 3, mot type = 2 time: 3.358000 primary movement = 5.552096829941e-04 time: 3.358000000000e+00 total movement = 5.552096829941e-04 vel = 5.552603335244e-01 ------------------- tc state : vr = 0.555260, vf = 0.555260, maxvel = 0.555260, current_vel = 0.555260, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.555260, acc = 0.000000,T = 0.008107, P = 0.003692 initial results: dx= 0.004416,dt = 0.007952, a_f = 0.000000, v_f = 0.555260 dt = 0.007952, not at end yet tc id = 30, canon_type = 3, mot type = 2 time: 3.359000 primary movement = 5.552096829942e-04 time: 3.359000000000e+00 total movement = 5.552096829942e-04 vel = 5.552603335244e-01 ------------------- tc state : vr = 0.555260, vf = 0.555260, maxvel = 0.555260, current_vel = 0.555260, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.555260, acc = 0.000000,T = 0.008107, P = 0.004247 initial results: dx= 0.003860,dt = 0.006952, a_f = 0.000000, v_f = 0.555260 dt = 0.006952, not at end yet tc id = 30, canon_type = 3, mot type = 2 time: 3.360000 primary movement = 5.552096829942e-04 time: 3.360000000000e+00 total movement = 5.552096829942e-04 vel = 5.552603335244e-01 ------------------- tc state : vr = 0.555260, vf = 0.555260, maxvel = 0.555260, current_vel = 0.555260, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.555260, acc = 0.000000,T = 0.008107, P = 0.004802 initial results: dx= 0.003305,dt = 0.005952, a_f = 0.000000, v_f = 0.555260 dt = 0.005952, not at end yet tc id = 30, canon_type = 3, mot type = 2 time: 3.361000 primary movement = 5.552096829941e-04 time: 3.361000000000e+00 total movement = 5.552096829941e-04 vel = 5.552603335244e-01 ------------------- tc state : vr = 0.555260, vf = 0.555260, maxvel = 0.555260, current_vel = 0.555260, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.555260, acc = 0.000000,T = 0.008107, P = 0.005358 initial results: dx= 0.002750,dt = 0.004952, a_f = 0.000000, v_f = 0.555260 dt = 0.004952, not at end yet tc id = 30, canon_type = 3, mot type = 2 time: 3.362000 primary movement = 5.552096829941e-04 time: 3.362000000000e+00 total movement = 5.552096829941e-04 vel = 5.552603335244e-01 ------------------- tc state : vr = 0.555260, vf = 0.555260, maxvel = 0.555260, current_vel = 0.555260, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.555260, acc = 0.000000,T = 0.008107, P = 0.005913 initial results: dx= 0.002194,dt = 0.003952, a_f = 0.000000, v_f = 0.555260 dt = 0.003952, not at end yet tc id = 30, canon_type = 3, mot type = 2 time: 3.363000 primary movement = 5.552096829941e-04 time: 3.363000000000e+00 total movement = 5.552096829941e-04 vel = 5.552603335244e-01 ------------------- tc state : vr = 0.555260, vf = 0.555260, maxvel = 0.555260, current_vel = 0.555260, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.555260, acc = 0.000000,T = 0.008107, P = 0.006468 initial results: dx= 0.001639,dt = 0.002952, a_f = 0.000000, v_f = 0.555260 dt = 0.002952, not at end yet tc id = 30, canon_type = 3, mot type = 2 time: 3.364000 primary movement = 5.552096829942e-04 time: 3.364000000000e+00 total movement = 5.552096829942e-04 vel = 5.552603335244e-01 ------------------- tc state : vr = 0.555260, vf = 0.555260, maxvel = 0.555260, current_vel = 0.555260, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.555260, acc = 0.000000,T = 0.008107, P = 0.007023 initial results: dx= 0.001084,dt = 0.001952, a_f = 0.000000, v_f = 0.555260 dt = 0.001952, not at end yet tc id = 30, canon_type = 3, mot type = 2 time: 3.365000 primary movement = 5.552096829941e-04 time: 3.365000000000e+00 total movement = 5.552096829941e-04 vel = 5.552603335244e-01 ------------------- tc state : vr = 0.555260, vf = 0.555260, maxvel = 0.555260, current_vel = 0.555260, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.555260, acc = 0.000000,T = 0.008107, P = 0.007579 initial results: dx= 0.000529,dt = 0.000952, a_f = 0.000000, v_f = 0.555260 actual v_f = 0.555260, a = 0.000000 split time is 0.000952159 tc id = 30, canon_type = 3, mot type = 2 time: 3.366000 primary movement = 5.552096829941e-04 time: 3.366000000000e+00 total movement = 5.552096829941e-04 vel = 5.552603335244e-01 ------------------- tc id 30 done Finishing split-cycle on id 30 tc state : vr = 1.938869, vf = 0.370340, maxvel = 8.975239, current_vel = 0.556806, fs = 1.000000, tc = 0.000048, term = 3 tc result: v = 0.556806, acc = 32.310989,T = 0.004072, P = 0.000027 initial results: dx= 0.004045,dt = 0.008726, a_f = -21.369655, v_f = 0.370340 dt = 0.008726, not at end yet secondary movement = 0.000027 tc id = 30, canon_type = 2, mot type = 1 time: 3.367000 primary movement = 5.286523688002e-04 time: 3.367000000000e+00 total movement = 5.552535863300e-04 vel = 5.568061253895e-01 Finished tc id 30 ------------------- Activate tc id = 30 target_vel = 1.938869 final_vel = 0.370340 length = 0.004072 tc state : vr = 1.938869, vf = 0.370340, maxvel = 8.975239, current_vel = 0.589117, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.589117, acc = 32.310989,T = 0.004072, P = 0.000600 initial results: dx= 0.003472,dt = 0.007238, a_f = -30.228064, v_f = 0.370340 dt = 0.007238, not at end yet tc id = 30, canon_type = 2, mot type = 1 time: 3.368000 primary movement = 5.729616198109e-04 time: 3.368000000000e+00 total movement = 5.729616198109e-04 vel = 5.891171142323e-01 ------------------- tc state : vr = 1.938869, vf = 0.370340, maxvel = 8.975239, current_vel = 0.569292, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.569292, acc = -19.824822,T = 0.004072, P = 0.001179 on final decel initial results: dx= 0.002893,dt = 0.006157, a_f = -32.310989, v_f = 0.370340 dt = 0.006157, not at end yet tc id = 30, canon_type = 2, mot type = 1 time: 3.369000 primary movement = 5.792047031358e-04 time: 3.369000000000e+00 total movement = 5.792047031358e-04 vel = 5.692922920392e-01 ------------------- tc state : vr = 1.938869, vf = 0.370340, maxvel = 8.975239, current_vel = 0.536981, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.536981, acc = -32.310989,T = 0.004072, P = 0.001732 on final decel initial results: dx= 0.002340,dt = 0.005157, a_f = -32.310989, v_f = 0.370340 dt = 0.005157, not at end yet tc id = 30, canon_type = 2, mot type = 1 time: 3.370000 primary movement = 5.531367976178e-04 time: 3.370000000000e+00 total movement = 5.531367976178e-04 vel = 5.369813031964e-01 ------------------- tc state : vr = 1.938869, vf = 0.370340, maxvel = 8.975239, current_vel = 0.504670, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.504670, acc = -32.310989,T = 0.004072, P = 0.002253 on final decel initial results: dx= 0.001819,dt = 0.004157, a_f = -32.310989, v_f = 0.370340 recalculating with a_f = -32.310989, a = -32.310989 revised dt = 0.004157 dt = 0.004157, not at end yet tc id = 30, canon_type = 2, mot type = 1 time: 3.371000 primary movement = 5.208258087751e-04 time: 3.371000000000e+00 total movement = 5.208258087751e-04 vel = 5.046703143536e-01 ------------------- tc state : vr = 1.938869, vf = 0.370340, maxvel = 8.975239, current_vel = 0.472359, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.472359, acc = -32.310989,T = 0.004072, P = 0.002741 on final decel initial results: dx= 0.001330,dt = 0.003157, a_f = -32.310989, v_f = 0.370340 recalculating with a_f = -32.310989, a = -32.310989 revised dt = 0.003157 dt = 0.003157, not at end yet tc id = 30, canon_type = 2, mot type = 1 time: 3.372000 primary movement = 4.885148199322e-04 time: 3.372000000000e+00 total movement = 4.885148199322e-04 vel = 4.723593255108e-01 ------------------- tc state : vr = 1.938869, vf = 0.370340, maxvel = 8.975239, current_vel = 0.440048, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.440048, acc = -32.310989,T = 0.004072, P = 0.003197 on final decel initial results: dx= 0.000874,dt = 0.002157, a_f = -32.310989, v_f = 0.370340 recalculating with a_f = -32.310989, a = -32.310989 revised dt = 0.002157 dt = 0.002157, not at end yet tc id = 30, canon_type = 2, mot type = 1 time: 3.373000 primary movement = 4.562038310893e-04 time: 3.373000000000e+00 total movement = 4.562038310893e-04 vel = 4.400483366680e-01 ------------------- tc state : vr = 1.938869, vf = 0.370340, maxvel = 8.975239, current_vel = 0.407737, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.407737, acc = -32.310989,T = 0.004072, P = 0.003621 on final decel initial results: dx= 0.000450,dt = 0.001157, a_f = -32.310989, v_f = 0.370340 recalculating with a_f = -32.310989, a = -32.310989 revised dt = 0.001157 dt = 0.001157, not at end yet tc id = 30, canon_type = 2, mot type = 1 time: 3.374000 primary movement = 4.238928422466e-04 time: 3.374000000000e+00 total movement = 4.238928422466e-04 vel = 4.077373478252e-01 ------------------- tc state : vr = 1.938869, vf = 0.370340, maxvel = 8.975239, current_vel = 0.375426, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.375426, acc = -32.310989,T = 0.004072, P = 0.004013 on final decel initial results: dx= 0.000059,dt = 0.000157, a_f = -32.310989, v_f = 0.370340 recalculating with a_f = -32.310989, a = -32.310989 revised dt = 0.000157 actual v_f = 0.370340, a = -32.310989 split time is 0.000157427 tc id = 30, canon_type = 2, mot type = 1 time: 3.375000 primary movement = 3.915818534038e-04 time: 3.375000000000e+00 total movement = 3.915818534038e-04 vel = 3.754263589824e-01 ------------------- tc id 30 done Finishing split-cycle on id 31 tc state : vr = 0.370340, vf = 0.000000, maxvel = 0.370340, current_vel = 0.360350, fs = 1.000000, tc = 0.000843, term = 3 tc result: v = 0.360350, acc = -11.855969,T = 0.004636, P = 0.000308 on final decel initial results: dx= 0.004328,dt = 0.024023, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.024023 dt = 0.024023, not at end yet secondary movement = 0.000308 tc id = 31, canon_type = 3, mot type = 2 time: 3.376000 primary movement = 5.870195002308e-05 time: 3.376000000000e+00 total movement = 3.664880569908e-04 vel = 3.603502124195e-01 Finished tc id 30 ------------------- Activate tc id = 31 target_vel = 0.370340 final_vel = 0.000000 length = 0.004636 tc state : vr = 0.370340, vf = 0.000000, maxvel = 0.370340, current_vel = 0.345350, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.345350, acc = -15.000000,T = 0.004636, P = 0.000661 on final decel initial results: dx= 0.003976,dt = 0.023023, a_f = -15.000000, v_f = 0.000000 dt = 0.023023, not at end yet tc id = 31, canon_type = 3, mot type = 2 time: 3.377000 primary movement = 3.527845316535e-04 time: 3.377000000000e+00 total movement = 3.527845316535e-04 vel = 3.453502124195e-01 ------------------- tc state : vr = 0.370340, vf = 0.000000, maxvel = 0.370340, current_vel = 0.330350, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.330350, acc = -15.000000,T = 0.004636, P = 0.000999 on final decel initial results: dx= 0.003638,dt = 0.022023, a_f = -15.000000, v_f = 0.000000 dt = 0.022023, not at end yet tc id = 31, canon_type = 3, mot type = 2 time: 3.378000 primary movement = 3.377925567968e-04 time: 3.378000000000e+00 total movement = 3.377925567968e-04 vel = 3.303502124195e-01 ------------------- tc state : vr = 0.370340, vf = 0.000000, maxvel = 0.370340, current_vel = 0.315350, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.315350, acc = -15.000000,T = 0.004636, P = 0.001321 on final decel initial results: dx= 0.003315,dt = 0.021023, a_f = -15.000000, v_f = 0.000000 dt = 0.021023, not at end yet tc id = 31, canon_type = 3, mot type = 2 time: 3.379000 primary movement = 3.227999001117e-04 time: 3.379000000000e+00 total movement = 3.227999001117e-04 vel = 3.153502124195e-01 ------------------- tc state : vr = 0.370340, vf = 0.000000, maxvel = 0.370340, current_vel = 0.300350, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.300350, acc = -15.000000,T = 0.004636, P = 0.001629 on final decel initial results: dx= 0.003007,dt = 0.020023, a_f = -15.000000, v_f = 0.000000 dt = 0.020023, not at end yet tc id = 31, canon_type = 3, mot type = 2 time: 3.380000 primary movement = 3.078065918608e-04 time: 3.380000000000e+00 total movement = 3.078065918608e-04 vel = 3.003502124195e-01 ------------------- tc state : vr = 0.370340, vf = 0.000000, maxvel = 0.370340, current_vel = 0.285350, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.285350, acc = -15.000000,T = 0.004636, P = 0.001922 on final decel initial results: dx= 0.002714,dt = 0.019023, a_f = -15.000000, v_f = 0.000000 dt = 0.019023, not at end yet tc id = 31, canon_type = 3, mot type = 2 time: 3.381000 primary movement = 2.928126623074e-04 time: 3.381000000000e+00 total movement = 2.928126623074e-04 vel = 2.853502124195e-01 ------------------- tc state : vr = 0.370340, vf = 0.000000, maxvel = 0.370340, current_vel = 0.270350, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.270350, acc = -15.000000,T = 0.004636, P = 0.002200 on final decel initial results: dx= 0.002436,dt = 0.018023, a_f = -15.000000, v_f = 0.000000 dt = 0.018023, not at end yet tc id = 31, canon_type = 3, mot type = 2 time: 3.382000 primary movement = 2.778181417169e-04 time: 3.382000000000e+00 total movement = 2.778181417169e-04 vel = 2.703502124195e-01 ------------------- tc state : vr = 0.370340, vf = 0.000000, maxvel = 0.370340, current_vel = 0.255350, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.255350, acc = -15.000000,T = 0.004636, P = 0.002463 on final decel initial results: dx= 0.002173,dt = 0.017023, a_f = -15.000000, v_f = 0.000000 dt = 0.017023, not at end yet tc id = 31, canon_type = 3, mot type = 2 time: 3.383000 primary movement = 2.628230603553e-04 time: 3.383000000000e+00 total movement = 2.628230603553e-04 vel = 2.553502124195e-01 ------------------- tc state : vr = 0.370340, vf = 0.000000, maxvel = 0.370340, current_vel = 0.240350, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.240350, acc = -15.000000,T = 0.004636, P = 0.002711 on final decel initial results: dx= 0.001926,dt = 0.016023, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.016023 dt = 0.016023, not at end yet tc id = 31, canon_type = 3, mot type = 2 time: 3.384000 primary movement = 2.478274484899e-04 time: 3.384000000000e+00 total movement = 2.478274484899e-04 vel = 2.403502124195e-01 ------------------- tc state : vr = 0.370340, vf = 0.000000, maxvel = 0.370340, current_vel = 0.225350, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.225350, acc = -15.000000,T = 0.004636, P = 0.002943 on final decel initial results: dx= 0.001693,dt = 0.015023, a_f = -15.000000, v_f = 0.000000 dt = 0.015023, not at end yet tc id = 31, canon_type = 3, mot type = 2 time: 3.385000 primary movement = 2.328313363892e-04 time: 3.385000000000e+00 total movement = 2.328313363892e-04 vel = 2.253502124195e-01 ------------------- tc state : vr = 0.370340, vf = 0.000000, maxvel = 0.370340, current_vel = 0.210350, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.210350, acc = -15.000000,T = 0.004636, P = 0.003161 on final decel initial results: dx= 0.001475,dt = 0.014023, a_f = -15.000000, v_f = 0.000000 dt = 0.014023, not at end yet tc id = 31, canon_type = 3, mot type = 2 time: 3.386000 primary movement = 2.178347543223e-04 time: 3.386000000000e+00 total movement = 2.178347543223e-04 vel = 2.103502124195e-01 ------------------- tc state : vr = 0.370340, vf = 0.000000, maxvel = 0.370340, current_vel = 0.195350, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.195350, acc = -15.000000,T = 0.004636, P = 0.003364 on final decel initial results: dx= 0.001272,dt = 0.013023, a_f = -15.000000, v_f = 0.000000 dt = 0.013023, not at end yet tc id = 31, canon_type = 3, mot type = 2 time: 3.387000 primary movement = 2.028377325599e-04 time: 3.387000000000e+00 total movement = 2.028377325599e-04 vel = 1.953502124195e-01 ------------------- tc state : vr = 0.370340, vf = 0.000000, maxvel = 0.370340, current_vel = 0.180350, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.180350, acc = -15.000000,T = 0.004636, P = 0.003552 on final decel initial results: dx= 0.001084,dt = 0.012023, a_f = -15.000000, v_f = 0.000000 dt = 0.012023, not at end yet tc id = 31, canon_type = 3, mot type = 2 time: 3.388000 primary movement = 1.878403013731e-04 time: 3.388000000000e+00 total movement = 1.878403013731e-04 vel = 1.803502124195e-01 ------------------- tc state : vr = 0.370340, vf = 0.000000, maxvel = 0.370340, current_vel = 0.165350, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.165350, acc = -15.000000,T = 0.004636, P = 0.003725 on final decel initial results: dx= 0.000911,dt = 0.011023, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.011023 dt = 0.011023, not at end yet tc id = 31, canon_type = 3, mot type = 2 time: 3.389000 primary movement = 1.728424910338e-04 time: 3.389000000000e+00 total movement = 1.728424910338e-04 vel = 1.653502124195e-01 ------------------- tc state : vr = 0.370340, vf = 0.000000, maxvel = 0.370340, current_vel = 0.150350, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.150350, acc = -15.000000,T = 0.004636, P = 0.003883 on final decel initial results: dx= 0.000754,dt = 0.010023, a_f = -15.000000, v_f = 0.000000 dt = 0.010023, not at end yet tc id = 31, canon_type = 3, mot type = 2 time: 3.390000 primary movement = 1.578443318150e-04 time: 3.390000000000e+00 total movement = 1.578443318150e-04 vel = 1.503502124195e-01 ------------------- tc state : vr = 0.370340, vf = 0.000000, maxvel = 0.370340, current_vel = 0.135350, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.135350, acc = -15.000000,T = 0.004636, P = 0.004026 on final decel initial results: dx= 0.000611,dt = 0.009023, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.009023 dt = 0.009023, not at end yet tc id = 31, canon_type = 3, mot type = 2 time: 3.391000 primary movement = 1.428458539901e-04 time: 3.391000000000e+00 total movement = 1.428458539901e-04 vel = 1.353502124195e-01 ------------------- tc state : vr = 0.370340, vf = 0.000000, maxvel = 0.370340, current_vel = 0.120350, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.120350, acc = -15.000000,T = 0.004636, P = 0.004153 on final decel initial results: dx= 0.000483,dt = 0.008023, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.008023 dt = 0.008023, not at end yet tc id = 31, canon_type = 3, mot type = 2 time: 3.392000 primary movement = 1.278470878334e-04 time: 3.392000000000e+00 total movement = 1.278470878334e-04 vel = 1.203502124195e-01 ------------------- tc state : vr = 0.370340, vf = 0.000000, maxvel = 0.370340, current_vel = 0.105350, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.105350, acc = -15.000000,T = 0.004636, P = 0.004266 on final decel initial results: dx= 0.000370,dt = 0.007023, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.007023 dt = 0.007023, not at end yet tc id = 31, canon_type = 3, mot type = 2 time: 3.393000 primary movement = 1.128480636196e-04 time: 3.393000000000e+00 total movement = 1.128480636196e-04 vel = 1.053502124195e-01 ------------------- tc state : vr = 0.370340, vf = 0.000000, maxvel = 0.370340, current_vel = 0.090350, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.090350, acc = -15.000000,T = 0.004636, P = 0.004364 on final decel initial results: dx= 0.000272,dt = 0.006023, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.006023 dt = 0.006023, not at end yet tc id = 31, canon_type = 3, mot type = 2 time: 3.394000 primary movement = 9.784881162383e-05 time: 3.394000000000e+00 total movement = 9.784881162383e-05 vel = 9.035021241945e-02 ------------------- tc state : vr = 0.370340, vf = 0.000000, maxvel = 0.370340, current_vel = 0.075350, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.075350, acc = -15.000000,T = 0.004636, P = 0.004447 on final decel initial results: dx= 0.000189,dt = 0.005023, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.005023 dt = 0.005023, not at end yet tc id = 31, canon_type = 3, mot type = 2 time: 3.395000 primary movement = 8.284936212206e-05 time: 3.395000000000e+00 total movement = 8.284936212206e-05 vel = 7.535021241945e-02 ------------------- tc state : vr = 0.370340, vf = 0.000000, maxvel = 0.370340, current_vel = 0.060350, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.060350, acc = -15.000000,T = 0.004636, P = 0.004515 on final decel initial results: dx= 0.000121,dt = 0.004023, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.004023 dt = 0.004023, not at end yet tc id = 31, canon_type = 3, mot type = 2 time: 3.396000 primary movement = 6.784974539026e-05 time: 3.396000000000e+00 total movement = 6.784974539026e-05 vel = 6.035021241945e-02 ------------------- tc state : vr = 0.370340, vf = 0.000000, maxvel = 0.370340, current_vel = 0.045350, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.045350, acc = -15.000000,T = 0.004636, P = 0.004568 on final decel initial results: dx= 0.000069,dt = 0.003023, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.003023 dt = 0.003023, not at end yet tc id = 31, canon_type = 3, mot type = 2 time: 3.397000 primary movement = 5.284999170488e-05 time: 3.397000000000e+00 total movement = 5.284999170488e-05 vel = 4.535021241945e-02 ------------------- tc state : vr = 0.370340, vf = 0.000000, maxvel = 0.370340, current_vel = 0.030350, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.030350, acc = -15.000000,T = 0.004636, P = 0.004606 on final decel initial results: dx= 0.000031,dt = 0.002023, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.002023 dt = 0.002023, not at end yet tc id = 31, canon_type = 3, mot type = 2 time: 3.398000 primary movement = 3.785013134277e-05 time: 3.398000000000e+00 total movement = 3.785013134277e-05 vel = 3.035021241945e-02 ------------------- tc state : vr = 0.370340, vf = 0.000000, maxvel = 0.370340, current_vel = 0.015350, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.015350, acc = -15.000000,T = 0.004636, P = 0.004628 on final decel initial results: dx= 0.000008,dt = 0.001023, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.001023 dt = 0.001023, not at end yet tc id = 31, canon_type = 3, mot type = 2 time: 3.399000 primary movement = 2.285019458081e-05 time: 3.399000000000e+00 total movement = 2.285019458081e-05 vel = 1.535021241945e-02 ------------------- tc state : vr = 0.370340, vf = 0.000000, maxvel = 0.370340, current_vel = 0.000350, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.000350, acc = -15.000000,T = 0.004636, P = 0.004636 on final decel initial results: dx= 0.000000,dt = 0.000023, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.000023 actual v_f = 0.000000, a = -15.000000 split time is 2.33472e-05 tc id = 31, canon_type = 3, mot type = 2 time: 3.400000 primary movement = 7.850211696091e-06 time: 3.400000000000e+00 total movement = 7.850211696091e-06 vel = 3.502124194530e-04 ------------------- tc id 31 done Finishing split-cycle on id 31 tc state : vr = 8.756181, vf = 0.000000, maxvel = 8.756181, current_vel = 0.015393, fs = 1.000000, tc = 0.000977, term = 2 tc result: v = 0.015393, acc = 15.761127,T = 0.004035, P = 0.000008 secondary movement = 0.000008 tc id = 31, canon_type = 2, mot type = 1 time: 3.401000 primary movement = 4.088291314006e-09 time: 3.401000000000e+00 total movement = 7.520973877696e-06 vel = 1.539315336629e-02 Finished tc id 31 ------------------- Activate tc id = 31 target_vel = 8.756181 final_vel = 0.000000 length = 0.004035 Activate nexttc id 32 tc state : vr = 8.756181, vf = 0.000000, maxvel = 8.756181, current_vel = 0.031154, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.031154, acc = 15.761127,T = 0.004035, P = 0.000031 tc id = 31, canon_type = 2, mot type = 1 time: 3.402000 primary movement = 2.327371666060e-05 time: 3.402000000000e+00 total movement = 2.327371666060e-05 vel = 3.115427995490e-02 ------------------- tc state : vr = 8.756181, vf = 0.000000, maxvel = 8.756181, current_vel = 0.046915, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.046915, acc = 15.761127,T = 0.004035, P = 0.000070 tc id = 31, canon_type = 2, mot type = 1 time: 3.403000 primary movement = 3.903484324921e-05 time: 3.403000000000e+00 total movement = 3.903484324921e-05 vel = 4.691540654352e-02 ------------------- tc state : vr = 8.756181, vf = 0.000000, maxvel = 8.756181, current_vel = 0.062677, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.062677, acc = 15.761127,T = 0.004035, P = 0.000125 tc id = 31, canon_type = 2, mot type = 1 time: 3.404000 primary movement = 5.479596983783e-05 time: 3.404000000000e+00 total movement = 5.479596983783e-05 vel = 6.267653313213e-02 ------------------- tc state : vr = 8.756181, vf = 0.000000, maxvel = 8.756181, current_vel = 0.078438, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.078438, acc = 15.761127,T = 0.004035, P = 0.000195 tc id = 31, canon_type = 2, mot type = 1 time: 3.405000 primary movement = 7.055709642646e-05 time: 3.405000000000e+00 total movement = 7.055709642646e-05 vel = 7.843765972075e-02 ------------------- tc state : vr = 8.756181, vf = 0.000000, maxvel = 8.756181, current_vel = 0.094199, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.094199, acc = 15.761127,T = 0.004035, P = 0.000281 tc id = 31, canon_type = 2, mot type = 1 time: 3.406000 primary movement = 8.631822301505e-05 time: 3.406000000000e+00 total movement = 8.631822301505e-05 vel = 9.419878630936e-02 ------------------- tc state : vr = 8.756181, vf = 0.000000, maxvel = 8.756181, current_vel = 0.109960, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.109960, acc = 15.761127,T = 0.004035, P = 0.000384 tc id = 31, canon_type = 2, mot type = 1 time: 3.407000 primary movement = 1.020793496037e-04 time: 3.407000000000e+00 total movement = 1.020793496037e-04 vel = 1.099599128980e-01 ------------------- tc state : vr = 8.756181, vf = 0.000000, maxvel = 8.756181, current_vel = 0.125721, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.125721, acc = 15.761127,T = 0.004035, P = 0.000501 tc id = 31, canon_type = 2, mot type = 1 time: 3.408000 primary movement = 1.178404761923e-04 time: 3.408000000000e+00 total movement = 1.178404761923e-04 vel = 1.257210394866e-01 ------------------- tc state : vr = 8.756181, vf = 0.000000, maxvel = 8.756181, current_vel = 0.141482, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.141482, acc = 15.761127,T = 0.004035, P = 0.000635 tc id = 31, canon_type = 2, mot type = 1 time: 3.409000 primary movement = 1.336016027809e-04 time: 3.409000000000e+00 total movement = 1.336016027809e-04 vel = 1.414821660752e-01 ------------------- tc state : vr = 8.756181, vf = 0.000000, maxvel = 8.756181, current_vel = 0.157243, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.157243, acc = 15.761127,T = 0.004035, P = 0.000784 tc id = 31, canon_type = 2, mot type = 1 time: 3.410000 primary movement = 1.493627293696e-04 time: 3.410000000000e+00 total movement = 1.493627293696e-04 vel = 1.572432926638e-01 ------------------- tc state : vr = 8.756181, vf = 0.000000, maxvel = 8.756181, current_vel = 0.173004, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.173004, acc = 15.761127,T = 0.004035, P = 0.000950 tc id = 31, canon_type = 2, mot type = 1 time: 3.411000 primary movement = 1.651238559581e-04 time: 3.411000000000e+00 total movement = 1.651238559581e-04 vel = 1.730044192524e-01 ------------------- tc state : vr = 8.756181, vf = 0.000000, maxvel = 8.756181, current_vel = 0.188766, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.188766, acc = 15.761127,T = 0.004035, P = 0.001130 tc id = 31, canon_type = 2, mot type = 1 time: 3.412000 primary movement = 1.808849825467e-04 time: 3.412000000000e+00 total movement = 1.808849825467e-04 vel = 1.887655458411e-01 ------------------- tc state : vr = 8.756181, vf = 0.000000, maxvel = 8.756181, current_vel = 0.204527, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.204527, acc = 15.761127,T = 0.004035, P = 0.001327 tc id = 31, canon_type = 2, mot type = 1 time: 3.413000 primary movement = 1.966461091354e-04 time: 3.413000000000e+00 total movement = 1.966461091354e-04 vel = 2.045266724297e-01 ------------------- tc state : vr = 8.756181, vf = 0.000000, maxvel = 8.756181, current_vel = 0.220288, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.220288, acc = 15.761127,T = 0.004035, P = 0.001539 tc id = 31, canon_type = 2, mot type = 1 time: 3.414000 primary movement = 2.124072357240e-04 time: 3.414000000000e+00 total movement = 2.124072357240e-04 vel = 2.202877990183e-01 ------------------- tc state : vr = 8.756181, vf = 0.000000, maxvel = 8.756181, current_vel = 0.236049, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.236049, acc = 15.761127,T = 0.004035, P = 0.001768 tc id = 31, canon_type = 2, mot type = 1 time: 3.415000 primary movement = 2.281683623126e-04 time: 3.415000000000e+00 total movement = 2.281683623126e-04 vel = 2.360489256069e-01 ------------------- tc state : vr = 8.756181, vf = 0.000000, maxvel = 8.756181, current_vel = 0.251810, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.251810, acc = 15.761127,T = 0.004035, P = 0.002012 tc id = 31, canon_type = 2, mot type = 1 time: 3.416000 primary movement = 2.439294889012e-04 time: 3.416000000000e+00 total movement = 2.439294889012e-04 vel = 2.518100521955e-01 ------------------- tc state : vr = 8.756181, vf = 0.000000, maxvel = 8.756181, current_vel = 0.236819, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.236819, acc = -14.991433,T = 0.004035, P = 0.002256 on final decel tc id = 31, canon_type = 2, mot type = 1 tc state : vr = 0.014991, vf = 0.000000, maxvel = 2.146428, current_vel = 0.007500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.007500, acc = 7.500000,T = 0.033154, P = 0.000004 tc id = 31, canon_type = 2, mot type = 1 secondary movement = 0.000004 time: 3.417000 primary movement = 2.443143355908e-04 time: 3.417000000000e+00 total movement = 2.480643357741e-04 vel = 2.443186189860e-01 ------------------- tc state : vr = 8.756181, vf = 0.000000, maxvel = 8.756181, current_vel = 0.221057, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.221057, acc = -15.761127,T = 0.004035, P = 0.002485 on final decel tc id = 31, canon_type = 2, mot type = 1 tc state : vr = 0.030753, vf = 0.000000, maxvel = 2.146428, current_vel = 0.015000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.015000, acc = 7.500000,T = 0.033154, P = 0.000015 tc id = 31, canon_type = 2, mot type = 1 secondary movement = 0.000011 time: 3.418000 primary movement = 2.289380556916e-04 time: 3.418000000000e+00 total movement = 2.401880563142e-04 vel = 2.360574923973e-01 ------------------- tc state : vr = 8.756181, vf = 0.000000, maxvel = 8.756181, current_vel = 0.205296, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.205296, acc = -15.761127,T = 0.004035, P = 0.002698 on final decel tc id = 31, canon_type = 2, mot type = 1 tc state : vr = 0.046514, vf = 0.000000, maxvel = 2.146428, current_vel = 0.022500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.022500, acc = 7.500000,T = 0.033154, P = 0.000034 tc id = 31, canon_type = 2, mot type = 1 secondary movement = 0.000019 time: 3.419000 primary movement = 2.131769291030e-04 time: 3.419000000000e+00 total movement = 2.319269303831e-04 vel = 2.277963658087e-01 ------------------- tc state : vr = 8.756181, vf = 0.000000, maxvel = 8.756181, current_vel = 0.189535, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.189535, acc = -15.761127,T = 0.004035, P = 0.002895 on final decel tc id = 31, canon_type = 2, mot type = 1 tc state : vr = 0.062275, vf = 0.000000, maxvel = 2.146428, current_vel = 0.030000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.030000, acc = 7.500000,T = 0.033154, P = 0.000060 tc id = 31, canon_type = 2, mot type = 1 secondary movement = 0.000026 time: 3.420000 primary movement = 1.974158025144e-04 time: 3.420000000000e+00 total movement = 2.236658048156e-04 vel = 2.195352392201e-01 ------------------- tc state : vr = 8.756181, vf = 0.000000, maxvel = 8.756181, current_vel = 0.173774, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.173774, acc = -15.761127,T = 0.004035, P = 0.003077 on final decel tc id = 31, canon_type = 2, mot type = 1 tc state : vr = 0.078036, vf = 0.000000, maxvel = 2.146428, current_vel = 0.037500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.037500, acc = 7.500000,T = 0.033154, P = 0.000094 tc id = 31, canon_type = 2, mot type = 1 secondary movement = 0.000034 time: 3.421000 primary movement = 1.816546759258e-04 time: 3.421000000000e+00 total movement = 2.154046797571e-04 vel = 2.112741126315e-01 ------------------- tc state : vr = 8.756181, vf = 0.000000, maxvel = 8.756181, current_vel = 0.158013, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.158013, acc = -15.761127,T = 0.004035, P = 0.003243 on final decel tc id = 31, canon_type = 2, mot type = 1 tc state : vr = 0.093797, vf = 0.000000, maxvel = 2.146428, current_vel = 0.045000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.045000, acc = 7.500000,T = 0.033154, P = 0.000135 tc id = 31, canon_type = 2, mot type = 1 secondary movement = 0.000041 time: 3.422000 primary movement = 1.658935493372e-04 time: 3.422000000000e+00 total movement = 2.071435553532e-04 vel = 2.030129860429e-01 ------------------- tc state : vr = 8.756181, vf = 0.000000, maxvel = 8.756181, current_vel = 0.142252, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.142252, acc = -15.761127,T = 0.004035, P = 0.003393 on final decel tc id = 31, canon_type = 2, mot type = 1 tc state : vr = 0.109558, vf = 0.000000, maxvel = 2.146428, current_vel = 0.052500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.052500, acc = 7.500000,T = 0.033154, P = 0.000184 tc id = 31, canon_type = 2, mot type = 1 secondary movement = 0.000049 time: 3.423000 primary movement = 1.501324227486e-04 time: 3.423000000000e+00 total movement = 1.988824317491e-04 vel = 1.947518594543e-01 ------------------- tc state : vr = 8.756181, vf = 0.000000, maxvel = 8.756181, current_vel = 0.126491, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.126491, acc = -15.761127,T = 0.004035, P = 0.003527 on final decel tc id = 31, canon_type = 2, mot type = 1 tc state : vr = 0.125319, vf = 0.000000, maxvel = 2.146428, current_vel = 0.060000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.060000, acc = 7.500000,T = 0.033154, P = 0.000240 tc id = 31, canon_type = 2, mot type = 1 secondary movement = 0.000056 time: 3.424000 primary movement = 1.343712961599e-04 time: 3.424000000000e+00 total movement = 1.906213090904e-04 vel = 1.864907328656e-01 ------------------- tc state : vr = 8.756181, vf = 0.000000, maxvel = 8.756181, current_vel = 0.110730, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.110730, acc = -15.761127,T = 0.004035, P = 0.003646 on final decel tc id = 31, canon_type = 2, mot type = 1 tc state : vr = 0.141080, vf = 0.000000, maxvel = 2.146428, current_vel = 0.067500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.067500, acc = 7.500000,T = 0.033154, P = 0.000304 tc id = 31, canon_type = 2, mot type = 1 secondary movement = 0.000064 time: 3.425000 primary movement = 1.186101695713e-04 time: 3.425000000000e+00 total movement = 1.823601875226e-04 vel = 1.782296062770e-01 ------------------- tc state : vr = 8.756181, vf = 0.000000, maxvel = 8.756181, current_vel = 0.094968, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.094968, acc = -15.761127,T = 0.004035, P = 0.003749 on final decel tc id = 31, canon_type = 2, mot type = 1 tc state : vr = 0.156842, vf = 0.000000, maxvel = 2.146428, current_vel = 0.075000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.075000, acc = 7.500000,T = 0.033154, P = 0.000375 tc id = 31, canon_type = 2, mot type = 1 secondary movement = 0.000071 time: 3.426000 primary movement = 1.028490429827e-04 time: 3.426000000000e+00 total movement = 1.740990671911e-04 vel = 1.699684796884e-01 ------------------- tc state : vr = 8.756181, vf = 0.000000, maxvel = 8.756181, current_vel = 0.079207, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.079207, acc = -15.761127,T = 0.004035, P = 0.003836 on final decel tc id = 31, canon_type = 2, mot type = 1 tc state : vr = 0.172603, vf = 0.000000, maxvel = 2.146428, current_vel = 0.082500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.082500, acc = 7.500000,T = 0.033154, P = 0.000454 tc id = 32, canon_type = 3, mot type = 2 secondary movement = 0.000079 time: 3.427000 primary movement = 8.708791639410e-05 time: 3.427000000000e+00 total movement = 1.658379482412e-04 vel = 1.617073530998e-01 ------------------- tc state : vr = 8.756181, vf = 0.000000, maxvel = 8.756181, current_vel = 0.063446, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.063446, acc = -15.761127,T = 0.004035, P = 0.003907 on final decel tc id = 31, canon_type = 2, mot type = 1 tc state : vr = 0.188364, vf = 0.000000, maxvel = 2.146428, current_vel = 0.090000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.090000, acc = 7.500000,T = 0.033154, P = 0.000540 tc id = 32, canon_type = 3, mot type = 2 secondary movement = 0.000086 time: 3.428000 primary movement = 7.132678980551e-05 time: 3.428000000000e+00 total movement = 1.575768308185e-04 vel = 1.534462265112e-01 ------------------- tc state : vr = 8.756181, vf = 0.000000, maxvel = 8.756181, current_vel = 0.047685, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.047685, acc = -15.761127,T = 0.004035, P = 0.003963 on final decel tc id = 31, canon_type = 2, mot type = 1 tc state : vr = 0.204125, vf = 0.000000, maxvel = 2.146428, current_vel = 0.097500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.097500, acc = 7.500000,T = 0.033154, P = 0.000634 tc id = 32, canon_type = 3, mot type = 2 secondary movement = 0.000094 time: 3.429000 primary movement = 5.556566321689e-05 time: 3.429000000000e+00 total movement = 1.493157150684e-04 vel = 1.451850999226e-01 ------------------- tc state : vr = 8.756181, vf = 0.000000, maxvel = 8.756181, current_vel = 0.031924, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.031924, acc = -15.761127,T = 0.004035, P = 0.004003 on final decel tc id = 31, canon_type = 2, mot type = 1 tc state : vr = 0.219886, vf = 0.000000, maxvel = 2.146428, current_vel = 0.105000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.105000, acc = 7.500000,T = 0.033154, P = 0.000735 tc id = 32, canon_type = 3, mot type = 2 secondary movement = 0.000101 time: 3.430000 primary movement = 3.980453662827e-05 time: 3.430000000000e+00 total movement = 1.410546011363e-04 vel = 1.369239733340e-01 ------------------- tc state : vr = 8.756181, vf = 0.000000, maxvel = 8.756181, current_vel = 0.016163, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.016163, acc = -15.761127,T = 0.004035, P = 0.004027 on final decel tc id = 31, canon_type = 2, mot type = 1 tc state : vr = 0.235647, vf = 0.000000, maxvel = 2.146428, current_vel = 0.112500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.112500, acc = 7.500000,T = 0.033154, P = 0.000844 tc id = 32, canon_type = 3, mot type = 2 secondary movement = 0.000109 time: 3.431000 primary movement = 2.404341003964e-05 time: 3.431000000000e+00 total movement = 1.327934891678e-04 vel = 1.286628467453e-01 ------------------- tc state : vr = 8.756181, vf = 0.000000, maxvel = 8.756181, current_vel = 0.000402, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000402, acc = -15.761127,T = 0.004035, P = 0.004035 on final decel tc id = 31, canon_type = 2, mot type = 1 tc state : vr = 0.251408, vf = 0.000000, maxvel = 2.146428, current_vel = 0.120000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.120000, acc = 7.500000,T = 0.033154, P = 0.000960 tc id = 32, canon_type = 3, mot type = 2 secondary movement = 0.000116 time: 3.432000 primary movement = 8.282283451031e-06 time: 3.432000000000e+00 total movement = 1.245323793081e-04 vel = 1.204017201567e-01 ------------------- Found newvel = -0.000402, assuming segment is done segment 31 at target in runcycle tc state : vr = 8.756181, vf = 0.000000, maxvel = 8.756181, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.004035, P = 0.004035 tc id = 31, canon_type = 2, mot type = 1 tc state : vr = 0.251810, vf = 0.000000, maxvel = 2.146428, current_vel = 0.127500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.127500, acc = 7.500000,T = 0.033154, P = 0.001084 tc id = 32, canon_type = 3, mot type = 2 secondary movement = 0.000124 time: 3.433000 primary movement = 5.119528839779e-09 time: 3.433000000000e+00 total movement = 1.237552343692e-04 vel = 1.275000000000e-01 Finished tc id 31 ------------------- Activate nexttc id 33 tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.135000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.135000, acc = 7.500000,T = 0.033154, P = 0.001215 tc id = 32, canon_type = 3, mot type = 2 time: 3.434000 primary movement = 1.312501362236e-04 time: 3.434000000000e+00 total movement = 1.312501362236e-04 vel = 1.350000000000e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.142500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.142500, acc = 7.500000,T = 0.033154, P = 0.001354 tc id = 32, canon_type = 3, mot type = 2 time: 3.435000 primary movement = 1.387501601519e-04 time: 3.435000000000e+00 total movement = 1.387501601519e-04 vel = 1.425000000000e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.150000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.150000, acc = 7.500000,T = 0.033154, P = 0.001500 tc id = 32, canon_type = 3, mot type = 2 time: 3.436000 primary movement = 1.462501867710e-04 time: 3.436000000000e+00 total movement = 1.462501867710e-04 vel = 1.500000000000e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.157500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.157500, acc = 7.500000,T = 0.033154, P = 0.001654 tc id = 32, canon_type = 3, mot type = 2 time: 3.437000 primary movement = 1.537502162263e-04 time: 3.437000000000e+00 total movement = 1.537502162263e-04 vel = 1.575000000000e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.165000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.165000, acc = 7.500000,T = 0.033154, P = 0.001815 tc id = 32, canon_type = 3, mot type = 2 time: 3.438000 primary movement = 1.612502486631e-04 time: 3.438000000000e+00 total movement = 1.612502486631e-04 vel = 1.650000000000e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.172500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.172500, acc = 7.500000,T = 0.033154, P = 0.001984 tc id = 32, canon_type = 3, mot type = 2 time: 3.439000 primary movement = 1.687502842270e-04 time: 3.439000000000e+00 total movement = 1.687502842270e-04 vel = 1.725000000000e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.180000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.180000, acc = 7.500000,T = 0.033154, P = 0.002160 tc id = 32, canon_type = 3, mot type = 2 time: 3.440000 primary movement = 1.762503230633e-04 time: 3.440000000000e+00 total movement = 1.762503230633e-04 vel = 1.800000000000e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.187500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.187500, acc = 7.500000,T = 0.033154, P = 0.002344 tc id = 32, canon_type = 3, mot type = 2 time: 3.441000 primary movement = 1.837503653176e-04 time: 3.441000000000e+00 total movement = 1.837503653176e-04 vel = 1.875000000000e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.195000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.195000, acc = 7.500000,T = 0.033154, P = 0.002535 tc id = 32, canon_type = 3, mot type = 2 time: 3.442000 primary movement = 1.912504111351e-04 time: 3.442000000000e+00 total movement = 1.912504111351e-04 vel = 1.950000000000e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.202500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.202500, acc = 7.500000,T = 0.033154, P = 0.002734 tc id = 32, canon_type = 3, mot type = 2 time: 3.443000 primary movement = 1.987504606616e-04 time: 3.443000000000e+00 total movement = 1.987504606616e-04 vel = 2.025000000000e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.210000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.210000, acc = 7.500000,T = 0.033154, P = 0.002940 tc id = 32, canon_type = 3, mot type = 2 time: 3.444000 primary movement = 2.062505140422e-04 time: 3.444000000000e+00 total movement = 2.062505140422e-04 vel = 2.100000000000e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.217500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.217500, acc = 7.500000,T = 0.033154, P = 0.003154 tc id = 32, canon_type = 3, mot type = 2 time: 3.445000 primary movement = 2.137505714226e-04 time: 3.445000000000e+00 total movement = 2.137505714226e-04 vel = 2.175000000000e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.225000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.225000, acc = 7.500000,T = 0.033154, P = 0.003375 tc id = 32, canon_type = 3, mot type = 2 time: 3.446000 primary movement = 2.212506329481e-04 time: 3.446000000000e+00 total movement = 2.212506329481e-04 vel = 2.250000000000e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.232500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.232500, acc = 7.500000,T = 0.033154, P = 0.003604 tc id = 32, canon_type = 3, mot type = 2 time: 3.447000 primary movement = 2.287506987641e-04 time: 3.447000000000e+00 total movement = 2.287506987641e-04 vel = 2.325000000000e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.240000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.240000, acc = 7.500000,T = 0.033154, P = 0.003840 tc id = 32, canon_type = 3, mot type = 2 time: 3.448000 primary movement = 2.362507690162e-04 time: 3.448000000000e+00 total movement = 2.362507690162e-04 vel = 2.400000000000e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.247500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.247500, acc = 7.500000,T = 0.033154, P = 0.004084 tc id = 32, canon_type = 3, mot type = 2 time: 3.449000 primary movement = 2.437508438497e-04 time: 3.449000000000e+00 total movement = 2.437508438497e-04 vel = 2.475000000000e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.255000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.255000, acc = 7.500000,T = 0.033154, P = 0.004335 tc id = 32, canon_type = 3, mot type = 2 time: 3.450000 primary movement = 2.512509234102e-04 time: 3.450000000000e+00 total movement = 2.512509234102e-04 vel = 2.550000000000e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.262500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.262500, acc = 7.500000,T = 0.033154, P = 0.004594 tc id = 32, canon_type = 3, mot type = 2 time: 3.451000 primary movement = 2.587510078429e-04 time: 3.451000000000e+00 total movement = 2.587510078429e-04 vel = 2.625000000000e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.270000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.270000, acc = 7.500000,T = 0.033154, P = 0.004860 tc id = 32, canon_type = 3, mot type = 2 time: 3.452000 primary movement = 2.662510972935e-04 time: 3.452000000000e+00 total movement = 2.662510972935e-04 vel = 2.700000000000e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.277500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.277500, acc = 7.500000,T = 0.033154, P = 0.005134 tc id = 32, canon_type = 3, mot type = 2 time: 3.453000 primary movement = 2.737511919073e-04 time: 3.453000000000e+00 total movement = 2.737511919073e-04 vel = 2.775000000000e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.285000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.285000, acc = 7.500000,T = 0.033154, P = 0.005415 tc id = 32, canon_type = 3, mot type = 2 time: 3.454000 primary movement = 2.812512918298e-04 time: 3.454000000000e+00 total movement = 2.812512918298e-04 vel = 2.850000000000e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.292500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.292500, acc = 7.500000,T = 0.033154, P = 0.005704 tc id = 32, canon_type = 3, mot type = 2 time: 3.455000 primary movement = 2.887513972064e-04 time: 3.455000000000e+00 total movement = 2.887513972064e-04 vel = 2.925000000000e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.300000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.300000, acc = 7.500000,T = 0.033154, P = 0.006000 tc id = 32, canon_type = 3, mot type = 2 time: 3.456000 primary movement = 2.962515081826e-04 time: 3.456000000000e+00 total movement = 2.962515081826e-04 vel = 3.000000000000e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.307500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.307500, acc = 7.500000,T = 0.033154, P = 0.006304 tc id = 32, canon_type = 3, mot type = 2 time: 3.457000 primary movement = 3.037516249037e-04 time: 3.457000000000e+00 total movement = 3.037516249037e-04 vel = 3.075000000000e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.315000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.315000, acc = 7.500000,T = 0.033154, P = 0.006615 tc id = 32, canon_type = 3, mot type = 2 time: 3.458000 primary movement = 3.112517475154e-04 time: 3.458000000000e+00 total movement = 3.112517475154e-04 vel = 3.150000000000e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.322500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.322500, acc = 7.500000,T = 0.033154, P = 0.006934 tc id = 32, canon_type = 3, mot type = 2 time: 3.459000 primary movement = 3.187518761629e-04 time: 3.459000000000e+00 total movement = 3.187518761629e-04 vel = 3.225000000000e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.330000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.330000, acc = 7.500000,T = 0.033154, P = 0.007260 tc id = 32, canon_type = 3, mot type = 2 time: 3.460000 primary movement = 3.262520109918e-04 time: 3.460000000000e+00 total movement = 3.262520109918e-04 vel = 3.300000000000e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.337500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.337500, acc = 7.500000,T = 0.033154, P = 0.007594 tc id = 32, canon_type = 3, mot type = 2 time: 3.461000 primary movement = 3.337521521474e-04 time: 3.461000000000e+00 total movement = 3.337521521474e-04 vel = 3.375000000000e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.345000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.345000, acc = 7.500000,T = 0.033154, P = 0.007935 tc id = 32, canon_type = 3, mot type = 2 time: 3.462000 primary movement = 3.412522997753e-04 time: 3.462000000000e+00 total movement = 3.412522997753e-04 vel = 3.450000000000e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.352500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.352500, acc = 7.500000,T = 0.033154, P = 0.008284 tc id = 32, canon_type = 3, mot type = 2 time: 3.463000 primary movement = 3.487524540208e-04 time: 3.463000000000e+00 total movement = 3.487524540208e-04 vel = 3.525000000000e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.360000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.360000, acc = 7.500000,T = 0.033154, P = 0.008640 tc id = 32, canon_type = 3, mot type = 2 time: 3.464000 primary movement = 3.562526150294e-04 time: 3.464000000000e+00 total movement = 3.562526150294e-04 vel = 3.600000000000e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.367500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.367500, acc = 7.500000,T = 0.033154, P = 0.009004 tc id = 32, canon_type = 3, mot type = 2 time: 3.465000 primary movement = 3.637527829466e-04 time: 3.465000000000e+00 total movement = 3.637527829466e-04 vel = 3.675000000000e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.375000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.375000, acc = 7.500000,T = 0.033154, P = 0.009375 tc id = 32, canon_type = 3, mot type = 2 time: 3.466000 primary movement = 3.712529579178e-04 time: 3.466000000000e+00 total movement = 3.712529579178e-04 vel = 3.750000000000e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.382500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.382500, acc = 7.500000,T = 0.033154, P = 0.009754 tc id = 32, canon_type = 3, mot type = 2 time: 3.467000 primary movement = 3.787531400885e-04 time: 3.467000000000e+00 total movement = 3.787531400885e-04 vel = 3.825000000000e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.390000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.390000, acc = 7.500000,T = 0.033154, P = 0.010140 tc id = 32, canon_type = 3, mot type = 2 time: 3.468000 primary movement = 3.862533296039e-04 time: 3.468000000000e+00 total movement = 3.862533296039e-04 vel = 3.900000000000e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.397500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.397500, acc = 7.500000,T = 0.033154, P = 0.010534 tc id = 32, canon_type = 3, mot type = 2 time: 3.469000 primary movement = 3.937535266098e-04 time: 3.469000000000e+00 total movement = 3.937535266098e-04 vel = 3.975000000000e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.405000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.405000, acc = 7.500000,T = 0.033154, P = 0.010935 tc id = 32, canon_type = 3, mot type = 2 time: 3.470000 primary movement = 4.012537312514e-04 time: 3.470000000000e+00 total movement = 4.012537312514e-04 vel = 4.050000000000e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.412500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.412500, acc = 7.500000,T = 0.033154, P = 0.011344 tc id = 32, canon_type = 3, mot type = 2 time: 3.471000 primary movement = 4.087539436742e-04 time: 3.471000000000e+00 total movement = 4.087539436742e-04 vel = 4.125000000000e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.420000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.420000, acc = 7.500000,T = 0.033154, P = 0.011760 tc id = 32, canon_type = 3, mot type = 2 time: 3.472000 primary movement = 4.162541640237e-04 time: 3.472000000000e+00 total movement = 4.162541640237e-04 vel = 4.200000000000e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.427500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.427500, acc = 7.500000,T = 0.033154, P = 0.012184 tc id = 32, canon_type = 3, mot type = 2 time: 3.473000 primary movement = 4.237543924452e-04 time: 3.473000000000e+00 total movement = 4.237543924452e-04 vel = 4.275000000000e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.435000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.435000, acc = 7.500000,T = 0.033154, P = 0.012615 tc id = 32, canon_type = 3, mot type = 2 time: 3.474000 primary movement = 4.312546290844e-04 time: 3.474000000000e+00 total movement = 4.312546290844e-04 vel = 4.350000000000e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.442500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.442500, acc = 7.500000,T = 0.033154, P = 0.013054 tc id = 32, canon_type = 3, mot type = 2 time: 3.475000 primary movement = 4.387548740864e-04 time: 3.475000000000e+00 total movement = 4.387548740864e-04 vel = 4.425000000000e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.450000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.450000, acc = 7.500000,T = 0.033154, P = 0.013500 tc id = 32, canon_type = 3, mot type = 2 time: 3.476000 primary movement = 4.462551275969e-04 time: 3.476000000000e+00 total movement = 4.462551275969e-04 vel = 4.500000000000e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.457500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.457500, acc = 7.500000,T = 0.033154, P = 0.013954 tc id = 32, canon_type = 3, mot type = 2 time: 3.477000 primary movement = 4.537553897614e-04 time: 3.477000000000e+00 total movement = 4.537553897614e-04 vel = 4.575000000000e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.465000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.465000, acc = 7.500000,T = 0.033154, P = 0.014415 tc id = 32, canon_type = 3, mot type = 2 time: 3.478000 primary movement = 4.612556607251e-04 time: 3.478000000000e+00 total movement = 4.612556607251e-04 vel = 4.650000000000e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.472500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.472500, acc = 7.500000,T = 0.033154, P = 0.014884 tc id = 32, canon_type = 3, mot type = 2 time: 3.479000 primary movement = 4.687559406335e-04 time: 3.479000000000e+00 total movement = 4.687559406335e-04 vel = 4.725000000000e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.480000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.480000, acc = 7.500000,T = 0.033154, P = 0.015360 tc id = 32, canon_type = 3, mot type = 2 time: 3.480000 primary movement = 4.762562296322e-04 time: 3.480000000000e+00 total movement = 4.762562296322e-04 vel = 4.800000000000e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.487500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.487500, acc = 7.500000,T = 0.033154, P = 0.015844 tc id = 32, canon_type = 3, mot type = 2 time: 3.481000 primary movement = 4.837565278665e-04 time: 3.481000000000e+00 total movement = 4.837565278665e-04 vel = 4.875000000000e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.495000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.495000, acc = 7.500000,T = 0.033154, P = 0.016335 tc id = 32, canon_type = 3, mot type = 2 time: 3.482000 primary movement = 4.912568354819e-04 time: 3.482000000000e+00 total movement = 4.912568354819e-04 vel = 4.950000000000e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.494832, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.494832, acc = -0.167522,T = 0.033154, P = 0.016830 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.483000 primary movement = 4.949233366906e-04 time: 3.483000000000e+00 total movement = 4.949233366906e-04 vel = 4.948324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.487332, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.487332, acc = -7.500000,T = 0.033154, P = 0.017321 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.484000 primary movement = 4.910897314400e-04 time: 3.484000000000e+00 total movement = 4.910897314400e-04 vel = 4.873324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.479832, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.479832, acc = -7.500000,T = 0.033154, P = 0.017805 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.485000 primary movement = 4.835898261288e-04 time: 3.485000000000e+00 total movement = 4.835898261288e-04 vel = 4.798324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.472332, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.472332, acc = -7.500000,T = 0.033154, P = 0.018281 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.486000 primary movement = 4.760899113317e-04 time: 3.486000000000e+00 total movement = 4.760899113317e-04 vel = 4.723324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.464832, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.464832, acc = -7.500000,T = 0.033154, P = 0.018749 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.487000 primary movement = 4.685899871958e-04 time: 3.487000000000e+00 total movement = 4.685899871958e-04 vel = 4.648324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.457332, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.457332, acc = -7.500000,T = 0.033154, P = 0.019210 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.488000 primary movement = 4.610900538681e-04 time: 3.488000000000e+00 total movement = 4.610900538681e-04 vel = 4.573324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.449832, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.449832, acc = -7.500000,T = 0.033154, P = 0.019664 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.489000 primary movement = 4.535901114958e-04 time: 3.489000000000e+00 total movement = 4.535901114958e-04 vel = 4.498324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.442332, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.442332, acc = -7.500000,T = 0.033154, P = 0.020110 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.490000 primary movement = 4.460901602260e-04 time: 3.490000000000e+00 total movement = 4.460901602260e-04 vel = 4.423324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.434832, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.434832, acc = -7.500000,T = 0.033154, P = 0.020549 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.491000 primary movement = 4.385902002059e-04 time: 3.491000000000e+00 total movement = 4.385902002059e-04 vel = 4.348324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.427332, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.427332, acc = -7.500000,T = 0.033154, P = 0.020980 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.492000 primary movement = 4.310902315825e-04 time: 3.492000000000e+00 total movement = 4.310902315825e-04 vel = 4.273324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.419832, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.419832, acc = -7.500000,T = 0.033154, P = 0.021403 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.493000 primary movement = 4.235902545030e-04 time: 3.493000000000e+00 total movement = 4.235902545030e-04 vel = 4.198324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.412332, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.412332, acc = -7.500000,T = 0.033154, P = 0.021819 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.494000 primary movement = 4.160902691145e-04 time: 3.494000000000e+00 total movement = 4.160902691145e-04 vel = 4.123324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.404832, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.404832, acc = -7.500000,T = 0.033154, P = 0.022228 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.495000 primary movement = 4.085902755641e-04 time: 3.495000000000e+00 total movement = 4.085902755641e-04 vel = 4.048324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.397332, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.397332, acc = -7.500000,T = 0.033154, P = 0.022629 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.496000 primary movement = 4.010902739989e-04 time: 3.496000000000e+00 total movement = 4.010902739989e-04 vel = 3.973324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.389832, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.389832, acc = -7.500000,T = 0.033154, P = 0.023023 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.497000 primary movement = 3.935902645660e-04 time: 3.497000000000e+00 total movement = 3.935902645660e-04 vel = 3.898324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.382332, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.382332, acc = -7.500000,T = 0.033154, P = 0.023409 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.498000 primary movement = 3.860902474127e-04 time: 3.498000000000e+00 total movement = 3.860902474127e-04 vel = 3.823324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.374832, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.374832, acc = -7.500000,T = 0.033154, P = 0.023787 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.499000 primary movement = 3.785902226860e-04 time: 3.499000000000e+00 total movement = 3.785902226860e-04 vel = 3.748324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.367332, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.367332, acc = -7.500000,T = 0.033154, P = 0.024158 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.500000 primary movement = 3.710901905329e-04 time: 3.500000000000e+00 total movement = 3.710901905329e-04 vel = 3.673324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.359832, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.359832, acc = -7.500000,T = 0.033154, P = 0.024522 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.501000 primary movement = 3.635901511007e-04 time: 3.501000000000e+00 total movement = 3.635901511007e-04 vel = 3.598324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.352332, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.352332, acc = -7.500000,T = 0.033154, P = 0.024878 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.502000 primary movement = 3.560901045365e-04 time: 3.502000000000e+00 total movement = 3.560901045365e-04 vel = 3.523324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.344832, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.344832, acc = -7.500000,T = 0.033154, P = 0.025227 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.503000 primary movement = 3.485900509873e-04 time: 3.503000000000e+00 total movement = 3.485900509873e-04 vel = 3.448324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.337332, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.337332, acc = -7.500000,T = 0.033154, P = 0.025568 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.504000 primary movement = 3.410899906003e-04 time: 3.504000000000e+00 total movement = 3.410899906003e-04 vel = 3.373324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.329832, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.329832, acc = -7.500000,T = 0.033154, P = 0.025901 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.505000 primary movement = 3.335899235226e-04 time: 3.505000000000e+00 total movement = 3.335899235226e-04 vel = 3.298324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.322332, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.322332, acc = -7.500000,T = 0.033154, P = 0.026227 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.506000 primary movement = 3.260898499014e-04 time: 3.506000000000e+00 total movement = 3.260898499014e-04 vel = 3.223324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.314832, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.314832, acc = -7.500000,T = 0.033154, P = 0.026546 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.507000 primary movement = 3.185897698837e-04 time: 3.507000000000e+00 total movement = 3.185897698837e-04 vel = 3.148324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.307332, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.307332, acc = -7.500000,T = 0.033154, P = 0.026857 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.508000 primary movement = 3.110896836167e-04 time: 3.508000000000e+00 total movement = 3.110896836167e-04 vel = 3.073324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.299832, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.299832, acc = -7.500000,T = 0.033154, P = 0.027161 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.509000 primary movement = 3.035895912475e-04 time: 3.509000000000e+00 total movement = 3.035895912475e-04 vel = 2.998324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.292332, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.292332, acc = -7.500000,T = 0.033154, P = 0.027457 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.510000 primary movement = 2.960894929233e-04 time: 3.510000000000e+00 total movement = 2.960894929233e-04 vel = 2.923324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.284832, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.284832, acc = -7.500000,T = 0.033154, P = 0.027745 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.511000 primary movement = 2.885893887910e-04 time: 3.511000000000e+00 total movement = 2.885893887910e-04 vel = 2.848324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.277332, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.277332, acc = -7.500000,T = 0.033154, P = 0.028026 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.512000 primary movement = 2.810892789979e-04 time: 3.512000000000e+00 total movement = 2.810892789979e-04 vel = 2.773324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.269832, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.269832, acc = -7.500000,T = 0.033154, P = 0.028300 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.513000 primary movement = 2.735891636911e-04 time: 3.513000000000e+00 total movement = 2.735891636911e-04 vel = 2.698324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.262332, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.262332, acc = -7.500000,T = 0.033154, P = 0.028566 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.514000 primary movement = 2.660890430176e-04 time: 3.514000000000e+00 total movement = 2.660890430176e-04 vel = 2.623324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.254832, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.254832, acc = -7.500000,T = 0.033154, P = 0.028825 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.515000 primary movement = 2.585889171247e-04 time: 3.515000000000e+00 total movement = 2.585889171247e-04 vel = 2.548324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.247332, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.247332, acc = -7.500000,T = 0.033154, P = 0.029076 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.516000 primary movement = 2.510887861595e-04 time: 3.516000000000e+00 total movement = 2.510887861595e-04 vel = 2.473324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.239832, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.239832, acc = -7.500000,T = 0.033154, P = 0.029319 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.517000 primary movement = 2.435886502690e-04 time: 3.517000000000e+00 total movement = 2.435886502690e-04 vel = 2.398324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.232332, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.232332, acc = -7.500000,T = 0.033154, P = 0.029555 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.518000 primary movement = 2.360885096004e-04 time: 3.518000000000e+00 total movement = 2.360885096004e-04 vel = 2.323324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.224832, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.224832, acc = -7.500000,T = 0.033154, P = 0.029784 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.519000 primary movement = 2.285883643007e-04 time: 3.519000000000e+00 total movement = 2.285883643007e-04 vel = 2.248324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.217332, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.217332, acc = -7.500000,T = 0.033154, P = 0.030005 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.520000 primary movement = 2.210882145172e-04 time: 3.520000000000e+00 total movement = 2.210882145172e-04 vel = 2.173324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.209832, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.209832, acc = -7.500000,T = 0.033154, P = 0.030219 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.521000 primary movement = 2.135880603969e-04 time: 3.521000000000e+00 total movement = 2.135880603969e-04 vel = 2.098324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.202332, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.202332, acc = -7.500000,T = 0.033154, P = 0.030425 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.522000 primary movement = 2.060879020870e-04 time: 3.522000000000e+00 total movement = 2.060879020870e-04 vel = 2.023324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.194832, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.194832, acc = -7.500000,T = 0.033154, P = 0.030623 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.523000 primary movement = 1.985877397346e-04 time: 3.523000000000e+00 total movement = 1.985877397346e-04 vel = 1.948324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.187332, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.187332, acc = -7.500000,T = 0.033154, P = 0.030814 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.524000 primary movement = 1.910875734868e-04 time: 3.524000000000e+00 total movement = 1.910875734868e-04 vel = 1.873324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.179832, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.179832, acc = -7.500000,T = 0.033154, P = 0.030998 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.525000 primary movement = 1.835874034907e-04 time: 3.525000000000e+00 total movement = 1.835874034907e-04 vel = 1.798324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.172332, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.172332, acc = -7.500000,T = 0.033154, P = 0.031174 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.526000 primary movement = 1.760872298934e-04 time: 3.526000000000e+00 total movement = 1.760872298934e-04 vel = 1.723324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.164832, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.164832, acc = -7.500000,T = 0.033154, P = 0.031343 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.527000 primary movement = 1.685870528421e-04 time: 3.527000000000e+00 total movement = 1.685870528421e-04 vel = 1.648324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.157332, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.157332, acc = -7.500000,T = 0.033154, P = 0.031504 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.528000 primary movement = 1.610868724838e-04 time: 3.528000000000e+00 total movement = 1.610868724838e-04 vel = 1.573324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.149832, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.149832, acc = -7.500000,T = 0.033154, P = 0.031657 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.529000 primary movement = 1.535866889658e-04 time: 3.529000000000e+00 total movement = 1.535866889658e-04 vel = 1.498324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.142332, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.142332, acc = -7.500000,T = 0.033154, P = 0.031803 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.530000 primary movement = 1.460865024351e-04 time: 3.530000000000e+00 total movement = 1.460865024351e-04 vel = 1.423324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.134832, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.134832, acc = -7.500000,T = 0.033154, P = 0.031942 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.531000 primary movement = 1.385863130388e-04 time: 3.531000000000e+00 total movement = 1.385863130388e-04 vel = 1.348324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.127332, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.127332, acc = -7.500000,T = 0.033154, P = 0.032073 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.532000 primary movement = 1.310861209241e-04 time: 3.532000000000e+00 total movement = 1.310861209241e-04 vel = 1.273324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.119832, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.119832, acc = -7.500000,T = 0.033154, P = 0.032197 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.533000 primary movement = 1.235859262381e-04 time: 3.533000000000e+00 total movement = 1.235859262381e-04 vel = 1.198324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.112332, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.112332, acc = -7.500000,T = 0.033154, P = 0.032313 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.534000 primary movement = 1.160857291279e-04 time: 3.534000000000e+00 total movement = 1.160857291279e-04 vel = 1.123324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.104832, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.104832, acc = -7.500000,T = 0.033154, P = 0.032421 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.535000 primary movement = 1.085855297405e-04 time: 3.535000000000e+00 total movement = 1.085855297405e-04 vel = 1.048324784898e-01 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.097332, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.097332, acc = -7.500000,T = 0.033154, P = 0.032522 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.536000 primary movement = 1.010853282233e-04 time: 3.536000000000e+00 total movement = 1.010853282233e-04 vel = 9.733247848983e-02 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.089832, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.089832, acc = -7.500000,T = 0.033154, P = 0.032616 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.537000 primary movement = 9.358512472320e-05 time: 3.537000000000e+00 total movement = 9.358512472320e-05 vel = 8.983247848983e-02 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.082332, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.082332, acc = -7.500000,T = 0.033154, P = 0.032702 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.538000 primary movement = 8.608491938740e-05 time: 3.538000000000e+00 total movement = 8.608491938740e-05 vel = 8.233247848983e-02 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.074832, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.074832, acc = -7.500000,T = 0.033154, P = 0.032781 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.539000 primary movement = 7.858471236297e-05 time: 3.539000000000e+00 total movement = 7.858471236297e-05 vel = 7.483247848983e-02 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.067332, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.067332, acc = -7.500000,T = 0.033154, P = 0.032852 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.540000 primary movement = 7.108450379706e-05 time: 3.540000000000e+00 total movement = 7.108450379706e-05 vel = 6.733247848983e-02 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.059832, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.059832, acc = -7.500000,T = 0.033154, P = 0.032915 on final decel tc id = 32, canon_type = 3, mot type = 2 time: 3.541000 primary movement = 6.358429383685e-05 time: 3.541000000000e+00 total movement = 6.358429383685e-05 vel = 5.983247848983e-02 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.052332, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.052332, acc = -7.500000,T = 0.033154, P = 0.032971 on final decel tc id = 32, canon_type = 3, mot type = 2 tc state : vr = 0.007500, vf = 0.007500, maxvel = 9.316913, current_vel = 0.007500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.007500, acc = 7.500000,T = 0.000834, P = 0.000004 initial results: dx= 0.000830,dt = 0.009500, a_f = 16.812403, v_f = 0.167211 recalculating with a_f = 16.812403, a = 16.770510 revised dt = 0.009511 dt = 0.009511, not at end yet tc id = 32, canon_type = 3, mot type = 2 secondary movement = 0.000004 time: 3.542000 primary movement = 5.608408262934e-05 time: 3.542000000000e+00 total movement = 5.983408262936e-05 vel = 5.983247848983e-02 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.044832, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.044832, acc = -7.500000,T = 0.033154, P = 0.033020 on final decel tc id = 32, canon_type = 3, mot type = 2 tc state : vr = 0.015000, vf = 0.015000, maxvel = 9.316913, current_vel = 0.015000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.015000, acc = 7.500000,T = 0.000834, P = 0.000015 initial results: dx= 0.000819,dt = 0.008985, a_f = 16.940384, v_f = 0.167211 recalculating with a_f = 16.940384, a = 16.770510 revised dt = 0.009026 dt = 0.009026, not at end yet tc id = 32, canon_type = 3, mot type = 2 secondary movement = 0.000011 time: 3.543000 primary movement = 4.858387032176e-05 time: 3.543000000000e+00 total movement = 5.983387032175e-05 vel = 5.983247848983e-02 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.037332, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.037332, acc = -7.500000,T = 0.033154, P = 0.033061 on final decel tc id = 32, canon_type = 3, mot type = 2 tc state : vr = 0.022500, vf = 0.022500, maxvel = 9.316913, current_vel = 0.022500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.022500, acc = 7.500000,T = 0.000834, P = 0.000034 initial results: dx= 0.000800,dt = 0.008432, a_f = 17.161686, v_f = 0.167211 recalculating with a_f = 17.161686, a = 16.770510 revised dt = 0.008517 dt = 0.008517, not at end yet tc id = 32, canon_type = 3, mot type = 2 secondary movement = 0.000019 time: 3.544000 primary movement = 4.108365706117e-05 time: 3.544000000000e+00 total movement = 5.983365706120e-05 vel = 5.983247848983e-02 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.029832, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.029832, acc = -7.500000,T = 0.033154, P = 0.033095 on final decel tc id = 32, canon_type = 3, mot type = 2 tc state : vr = 0.030000, vf = 0.030000, maxvel = 9.316913, current_vel = 0.030000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.030000, acc = 7.500000,T = 0.000834, P = 0.000060 initial results: dx= 0.000774,dt = 0.007845, a_f = 17.489532, v_f = 0.167211 recalculating with a_f = 17.489532, a = 16.770510 revised dt = 0.007981 dt = 0.007981, not at end yet tc id = 33, canon_type = 2, mot type = 1 secondary movement = 0.000026 time: 3.545000 primary movement = 3.358344299471e-05 time: 3.545000000000e+00 total movement = 5.983344299470e-05 vel = 5.983247848983e-02 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.022332, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.022332, acc = -7.500000,T = 0.033154, P = 0.033121 on final decel tc id = 32, canon_type = 3, mot type = 2 tc state : vr = 0.037500, vf = 0.037500, maxvel = 9.316913, current_vel = 0.037500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.037500, acc = 7.500000,T = 0.000834, P = 0.000094 initial results: dx= 0.000740,dt = 0.007228, a_f = 17.945233, v_f = 0.167211 recalculating with a_f = 17.945233, a = 16.770510 revised dt = 0.007420 dt = 0.007420, not at end yet tc id = 33, canon_type = 2, mot type = 1 secondary movement = 0.000034 time: 3.546000 primary movement = 2.608322826947e-05 time: 3.546000000000e+00 total movement = 5.983322826941e-05 vel = 5.983247848983e-02 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.014832, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.014832, acc = -7.500000,T = 0.033154, P = 0.033139 on final decel tc id = 32, canon_type = 3, mot type = 2 tc state : vr = 0.045000, vf = 0.045000, maxvel = 9.316913, current_vel = 0.045000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.045000, acc = 7.500000,T = 0.000834, P = 0.000135 initial results: dx= 0.000699,dt = 0.006584, a_f = 18.561995, v_f = 0.167211 recalculating with a_f = 18.561995, a = 16.770510 revised dt = 0.006831 dt = 0.006831, not at end yet tc id = 33, canon_type = 2, mot type = 1 secondary movement = 0.000041 time: 3.547000 primary movement = 1.858301303261e-05 time: 3.547000000000e+00 total movement = 5.983301303262e-05 vel = 5.983247848983e-02 ------------------- tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.007332, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.007332, acc = -7.500000,T = 0.033154, P = 0.033150 on final decel tc id = 32, canon_type = 3, mot type = 2 tc state : vr = 0.052500, vf = 0.052500, maxvel = 9.316913, current_vel = 0.052500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.052500, acc = 7.500000,T = 0.000834, P = 0.000184 initial results: dx= 0.000650,dt = 0.005915, a_f = 19.391846, v_f = 0.167211 recalculating with a_f = 19.391846, a = 16.770510 revised dt = 0.006213 dt = 0.006213, not at end yet tc id = 33, canon_type = 2, mot type = 1 secondary movement = 0.000049 time: 3.548000 primary movement = 1.108279743124e-05 time: 3.548000000000e+00 total movement = 5.983279743128e-05 vel = 5.983247848983e-02 ------------------- Found newvel = -0.000168, assuming segment is done segment 32 at target in runcycle tc state : vr = 2.146428, vf = 0.000000, maxvel = 2.146428, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.033154, P = 0.033154 tc id = 32, canon_type = 3, mot type = 2 tc state : vr = 0.059832, vf = 0.059832, maxvel = 9.316913, current_vel = 0.059832, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.059832, acc = 7.332478,T = 0.000834, P = 0.000240 initial results: dx= 0.000594,dt = 0.005230, a_f = 20.532752, v_f = 0.167211 recalculating with a_f = 20.532752, a = 16.770510 revised dt = 0.005572 dt = 0.005572, not at end yet tc id = 33, canon_type = 2, mot type = 1 secondary movement = 0.000056 time: 3.549000 primary movement = 3.584452563414e-06 time: 3.549000000000e+00 total movement = 5.975069180834e-05 vel = 5.983247848983e-02 Finished tc id 32 ------------------- tc state : vr = 0.396949, vf = 0.167211, maxvel = 9.316913, current_vel = 0.076603, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.076603, acc = 16.770510,T = 0.000834, P = 0.000308 initial results: dx= 0.000525,dt = 0.004310, a_f = 21.021186, v_f = 0.167211 recalculating with a_f = 21.021186, a = 16.770510 revised dt = 0.004572 dt = 0.004572, not at end yet tc id = 33, canon_type = 2, mot type = 1 time: 3.550000 primary movement = 6.821773340544e-05 time: 3.550000000000e+00 total movement = 6.821773340544e-05 vel = 7.660298832107e-02 ------------------- tc state : vr = 0.396949, vf = 0.167211, maxvel = 9.316913, current_vel = 0.093373, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.093373, acc = 16.770510,T = 0.000834, P = 0.000393 initial results: dx= 0.000440,dt = 0.003381, a_f = 21.841348, v_f = 0.167211 recalculating with a_f = 21.841348, a = 16.770510 revised dt = 0.003572 dt = 0.003572, not at end yet tc id = 33, canon_type = 2, mot type = 1 time: 3.551000 primary movement = 8.498824323666e-05 time: 3.551000000000e+00 total movement = 8.498824323666e-05 vel = 9.337349815232e-02 ------------------- tc state : vr = 0.396949, vf = 0.167211, maxvel = 9.316913, current_vel = 0.110144, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.110144, acc = 16.770510,T = 0.000834, P = 0.000495 initial results: dx= 0.000339,dt = 0.002442, a_f = 23.364774, v_f = 0.167211 recalculating with a_f = 23.364774, a = 16.770510 revised dt = 0.002572 dt = 0.002572, not at end yet tc id = 33, canon_type = 2, mot type = 1 time: 3.552000 primary movement = 1.017587530680e-04 time: 3.552000000000e+00 total movement = 1.017587530680e-04 vel = 1.101440079836e-01 ------------------- tc state : vr = 0.396949, vf = 0.167211, maxvel = 9.316913, current_vel = 0.126915, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.126915, acc = 16.770510,T = 0.000834, P = 0.000613 initial results: dx= 0.000220,dt = 0.001497, a_f = 26.914617, v_f = 0.167211 recalculating with a_f = 26.914617, a = 16.770510 revised dt = 0.001572 dt = 0.001572, not at end yet tc id = 33, canon_type = 2, mot type = 1 time: 3.553000 primary movement = 1.185292628991e-04 time: 3.553000000000e+00 total movement = 1.185292628991e-04 vel = 1.269145178148e-01 ------------------- tc state : vr = 0.396949, vf = 0.167211, maxvel = 9.316913, current_vel = 0.143685, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.143685, acc = 16.770510,T = 0.000834, P = 0.000749 initial results: dx= 0.000085,dt = 0.000546, a_f = 43.083926, v_f = 0.167211 recalculating with a_f = 43.083926, a = 16.770510 revised dt = 0.000572 actual v_f = 0.153272, a = 16.770510 split time is 0.000571683 tc id = 33, canon_type = 2, mot type = 1 time: 3.554000 primary movement = 1.352997727305e-04 time: 3.554000000000e+00 total movement = 1.352997727305e-04 vel = 1.436850276461e-01 ------------------- tc id 33 done Finishing split-cycle on id 34 tc state : vr = 0.167211, vf = 0.000000, maxvel = 0.313846, current_vel = 0.159697, fs = 1.000000, tc = 0.000428, term = 3 tc result: v = 0.159697, acc = 15.000000,T = 0.002687, P = 0.000067 initial results: dx= 0.002620,dt = 0.032807, a_f = -4.867848, v_f = 0.000000 dt = 0.032807, not at end yet secondary movement = 0.000067 tc id = 34, canon_type = 3, mot type = 2 time: 3.555000 primary movement = 8.488274113166e-05 time: 3.555000000000e+00 total movement = 1.519070047427e-04 vel = 1.596971976977e-01 Finished tc id 33 ------------------- Activate tc id = 34 target_vel = 0.167211 final_vel = 0.000000 length = 0.002687 tc state : vr = 0.167211, vf = 0.000000, maxvel = 0.313846, current_vel = 0.167211, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.167211, acc = 7.513898,T = 0.002687, P = 0.000230 initial results: dx= 0.002456,dt = 0.029377, a_f = -5.691856, v_f = 0.000000 dt = 0.029377, not at end yet tc id = 34, canon_type = 3, mot type = 2 time: 3.556000 primary movement = 1.634414878670e-04 time: 3.556000000000e+00 total movement = 1.634414878670e-04 vel = 1.672110961467e-01 ------------------- tc state : vr = 0.167211, vf = 0.000000, maxvel = 0.313846, current_vel = 0.167211, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.167211, acc = 0.000000,T = 0.002687, P = 0.000398 initial results: dx= 0.002289,dt = 0.027377, a_f = -6.107666, v_f = 0.000000 dt = 0.027377, not at end yet tc id = 34, canon_type = 3, mot type = 2 time: 3.557000 primary movement = 1.671975439944e-04 time: 3.557000000000e+00 total movement = 1.671975439944e-04 vel = 1.672110961467e-01 ------------------- tc state : vr = 0.167211, vf = 0.000000, maxvel = 0.313846, current_vel = 0.167211, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.167211, acc = 0.000000,T = 0.002687, P = 0.000565 initial results: dx= 0.002122,dt = 0.025377, a_f = -6.589015, v_f = 0.000000 dt = 0.025377, not at end yet tc id = 34, canon_type = 3, mot type = 2 time: 3.558000 primary movement = 1.671975439944e-04 time: 3.558000000000e+00 total movement = 1.671975439944e-04 vel = 1.672110961467e-01 ------------------- tc state : vr = 0.167211, vf = 0.000000, maxvel = 0.313846, current_vel = 0.167211, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.167211, acc = 0.000000,T = 0.002687, P = 0.000732 initial results: dx= 0.001954,dt = 0.023377, a_f = -7.152727, v_f = 0.000000 dt = 0.023377, not at end yet tc id = 34, canon_type = 3, mot type = 2 time: 3.559000 primary movement = 1.671975439943e-04 time: 3.559000000000e+00 total movement = 1.671975439943e-04 vel = 1.672110961467e-01 ------------------- tc state : vr = 0.167211, vf = 0.000000, maxvel = 0.313846, current_vel = 0.167211, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.167211, acc = 0.000000,T = 0.002687, P = 0.000899 initial results: dx= 0.001787,dt = 0.021377, a_f = -7.821918, v_f = 0.000000 dt = 0.021377, not at end yet tc id = 34, canon_type = 3, mot type = 2 time: 3.560000 primary movement = 1.671975439944e-04 time: 3.560000000000e+00 total movement = 1.671975439944e-04 vel = 1.672110961467e-01 ------------------- tc state : vr = 0.167211, vf = 0.000000, maxvel = 0.313846, current_vel = 0.167211, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.167211, acc = 0.000000,T = 0.002687, P = 0.001067 initial results: dx= 0.001620,dt = 0.019377, a_f = -8.629248, v_f = 0.000000 dt = 0.019377, not at end yet tc id = 34, canon_type = 3, mot type = 2 time: 3.561000 primary movement = 1.671975439943e-04 time: 3.561000000000e+00 total movement = 1.671975439943e-04 vel = 1.672110961467e-01 ------------------- tc state : vr = 0.167211, vf = 0.000000, maxvel = 0.313846, current_vel = 0.167211, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.167211, acc = 0.000000,T = 0.002687, P = 0.001234 initial results: dx= 0.001453,dt = 0.017377, a_f = -9.622414, v_f = 0.000000 dt = 0.017377, not at end yet tc id = 34, canon_type = 3, mot type = 2 time: 3.562000 primary movement = 1.671975439944e-04 time: 3.562000000000e+00 total movement = 1.671975439944e-04 vel = 1.672110961467e-01 ------------------- tc state : vr = 0.167211, vf = 0.000000, maxvel = 0.313846, current_vel = 0.167211, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.167211, acc = 0.000000,T = 0.002687, P = 0.001401 initial results: dx= 0.001286,dt = 0.015377, a_f = -10.873926, v_f = 0.000000 dt = 0.015377, not at end yet tc id = 34, canon_type = 3, mot type = 2 time: 3.563000 primary movement = 1.671975439943e-04 time: 3.563000000000e+00 total movement = 1.671975439943e-04 vel = 1.672110961467e-01 ------------------- tc state : vr = 0.167211, vf = 0.000000, maxvel = 0.313846, current_vel = 0.167211, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.167211, acc = 0.000000,T = 0.002687, P = 0.001568 initial results: dx= 0.001118,dt = 0.013377, a_f = -12.499660, v_f = 0.000000 dt = 0.013377, not at end yet tc id = 34, canon_type = 3, mot type = 2 time: 3.564000 primary movement = 1.671975439944e-04 time: 3.564000000000e+00 total movement = 1.671975439944e-04 vel = 1.672110961467e-01 ------------------- tc state : vr = 0.167211, vf = 0.000000, maxvel = 0.313846, current_vel = 0.167211, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.167211, acc = 0.000000,T = 0.002687, P = 0.001735 initial results: dx= 0.000951,dt = 0.011377, a_f = -14.696968, v_f = 0.000000 dt = 0.011377, not at end yet tc id = 34, canon_type = 3, mot type = 2 time: 3.565000 primary movement = 1.671975439943e-04 time: 3.565000000000e+00 total movement = 1.671975439943e-04 vel = 1.672110961467e-01 ------------------- tc state : vr = 0.167211, vf = 0.000000, maxvel = 0.313846, current_vel = 0.154006, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.154006, acc = -13.205298,T = 0.002687, P = 0.001896 on final decel initial results: dx= 0.000791,dt = 0.010267, a_f = -15.000000, v_f = 0.000000 dt = 0.010267, not at end yet tc id = 34, canon_type = 3, mot type = 2 time: 3.566000 primary movement = 1.605964379586e-04 time: 3.566000000000e+00 total movement = 1.605964379586e-04 vel = 1.540057984405e-01 ------------------- tc state : vr = 0.167211, vf = 0.000000, maxvel = 0.313846, current_vel = 0.139006, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.139006, acc = -15.000000,T = 0.002687, P = 0.002042 on final decel initial results: dx= 0.000644,dt = 0.009267, a_f = -15.000000, v_f = 0.000000 dt = 0.009267, not at end yet tc id = 34, canon_type = 3, mot type = 2 time: 3.567000 primary movement = 1.464966829532e-04 time: 3.567000000000e+00 total movement = 1.464966829532e-04 vel = 1.390057984405e-01 ------------------- tc state : vr = 0.167211, vf = 0.000000, maxvel = 0.313846, current_vel = 0.124006, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.124006, acc = -15.000000,T = 0.002687, P = 0.002174 on final decel initial results: dx= 0.000513,dt = 0.008267, a_f = -15.000000, v_f = 0.000000 dt = 0.008267, not at end yet tc id = 34, canon_type = 3, mot type = 2 time: 3.568000 primary movement = 1.314992059164e-04 time: 3.568000000000e+00 total movement = 1.314992059164e-04 vel = 1.240057984405e-01 ------------------- tc state : vr = 0.167211, vf = 0.000000, maxvel = 0.313846, current_vel = 0.109006, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.109006, acc = -15.000000,T = 0.002687, P = 0.002291 on final decel initial results: dx= 0.000396,dt = 0.007267, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.007267 dt = 0.007267, not at end yet tc id = 34, canon_type = 3, mot type = 2 time: 3.569000 primary movement = 1.165012142669e-04 time: 3.569000000000e+00 total movement = 1.165012142669e-04 vel = 1.090057984405e-01 ------------------- tc state : vr = 0.167211, vf = 0.000000, maxvel = 0.313846, current_vel = 0.094006, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.094006, acc = -15.000000,T = 0.002687, P = 0.002392 on final decel initial results: dx= 0.000295,dt = 0.006267, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.006267 dt = 0.006267, not at end yet tc id = 34, canon_type = 3, mot type = 2 time: 3.570000 primary movement = 1.015027666987e-04 time: 3.570000000000e+00 total movement = 1.015027666987e-04 vel = 9.400579844049e-02 ------------------- tc state : vr = 0.167211, vf = 0.000000, maxvel = 0.313846, current_vel = 0.079006, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.079006, acc = -15.000000,T = 0.002687, P = 0.002479 on final decel initial results: dx= 0.000208,dt = 0.005267, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.005267 dt = 0.005267, not at end yet tc id = 34, canon_type = 3, mot type = 2 time: 3.571000 primary movement = 8.650392190669e-05 time: 3.571000000000e+00 total movement = 8.650392190669e-05 vel = 7.900579844049e-02 ------------------- tc state : vr = 0.167211, vf = 0.000000, maxvel = 0.313846, current_vel = 0.064006, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.064006, acc = -15.000000,T = 0.002687, P = 0.002550 on final decel initial results: dx= 0.000137,dt = 0.004267, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.004267 dt = 0.004267, not at end yet tc id = 34, canon_type = 3, mot type = 2 time: 3.572000 primary movement = 7.150473858806e-05 time: 3.572000000000e+00 total movement = 7.150473858806e-05 vel = 6.400579844049e-02 ------------------- tc state : vr = 0.167211, vf = 0.000000, maxvel = 0.313846, current_vel = 0.049006, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.049006, acc = -15.000000,T = 0.002687, P = 0.002607 on final decel initial results: dx= 0.000080,dt = 0.003267, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.003267 dt = 0.003267, not at end yet tc id = 34, canon_type = 3, mot type = 2 time: 3.573000 primary movement = 5.650527544091e-05 time: 3.573000000000e+00 total movement = 5.650527544091e-05 vel = 4.900579844049e-02 ------------------- tc state : vr = 0.167211, vf = 0.000000, maxvel = 0.313846, current_vel = 0.034006, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.034006, acc = -15.000000,T = 0.002687, P = 0.002648 on final decel initial results: dx= 0.000039,dt = 0.002267, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.002267 dt = 0.002267, not at end yet tc id = 34, canon_type = 3, mot type = 2 time: 3.574000 primary movement = 4.150559116437e-05 time: 3.574000000000e+00 total movement = 4.150559116437e-05 vel = 3.400579844049e-02 ------------------- tc state : vr = 0.167211, vf = 0.000000, maxvel = 0.313846, current_vel = 0.019006, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.019006, acc = -15.000000,T = 0.002687, P = 0.002675 on final decel initial results: dx= 0.000012,dt = 0.001267, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.001267 dt = 0.001267, not at end yet tc id = 34, canon_type = 3, mot type = 2 time: 3.575000 primary movement = 2.650574445884e-05 time: 3.575000000000e+00 total movement = 2.650574445884e-05 vel = 1.900579844049e-02 ------------------- tc state : vr = 0.167211, vf = 0.000000, maxvel = 0.313846, current_vel = 0.004006, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.004006, acc = -15.000000,T = 0.002687, P = 0.002686 on final decel initial results: dx= 0.000001,dt = 0.000267, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.000267 actual v_f = 0.000000, a = -15.000000 split time is 0.000267053 tc id = 34, canon_type = 3, mot type = 2 time: 3.576000 primary movement = 1.150579402513e-05 time: 3.576000000000e+00 total movement = 1.150579402513e-05 vel = 4.005798440492e-03 ------------------- tc id 34 done Finishing split-cycle on id 34 tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.011333, fs = 1.000000, tc = 0.000733, term = 2 tc result: v = 0.011333, acc = 15.461646,T = 0.002721, P = 0.000004 secondary movement = 0.000004 tc id = 34, canon_type = 2, mot type = 1 time: 3.577000 primary movement = 5.348807043653e-07 time: 3.577000000000e+00 total movement = 4.687966978995e-06 vel = 1.133256812767e-02 Finished tc id 34 ------------------- Activate tc id = 34 target_vel = 8.589769 final_vel = 0.000000 length = 0.002721 Activate nexttc id 35 tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.026794, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.026794, acc = 15.461646,T = 0.002721, P = 0.000023 tc id = 34, canon_type = 2, mot type = 1 time: 3.578000 primary movement = 1.906339117570e-05 time: 3.578000000000e+00 total movement = 1.906339117570e-05 vel = 2.679421422374e-02 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.042256, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.042256, acc = 15.461646,T = 0.002721, P = 0.000058 tc id = 34, canon_type = 2, mot type = 1 time: 3.579000 primary movement = 3.452503727175e-05 time: 3.579000000000e+00 total movement = 3.452503727175e-05 vel = 4.225586031981e-02 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.057718, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.057718, acc = 15.461646,T = 0.002721, P = 0.000108 tc id = 34, canon_type = 2, mot type = 1 time: 3.580000 primary movement = 4.998668336780e-05 time: 3.580000000000e+00 total movement = 4.998668336780e-05 vel = 5.771750641587e-02 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.073179, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.073179, acc = 15.461646,T = 0.002721, P = 0.000173 tc id = 34, canon_type = 2, mot type = 1 time: 3.581000 primary movement = 6.544832946397e-05 time: 3.581000000000e+00 total movement = 6.544832946397e-05 vel = 7.317915251194e-02 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.088641, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.088641, acc = 15.461646,T = 0.002721, P = 0.000254 tc id = 34, canon_type = 2, mot type = 1 time: 3.582000 primary movement = 8.090997555991e-05 time: 3.582000000000e+00 total movement = 8.090997555991e-05 vel = 8.864079860801e-02 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.104102, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.104102, acc = 15.461646,T = 0.002721, P = 0.000350 tc id = 34, canon_type = 2, mot type = 1 time: 3.583000 primary movement = 9.637162165608e-05 time: 3.583000000000e+00 total movement = 9.637162165608e-05 vel = 1.041024447041e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.119564, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.119564, acc = 15.461646,T = 0.002721, P = 0.000462 tc id = 34, canon_type = 2, mot type = 1 time: 3.584000 primary movement = 1.118332677521e-04 time: 3.584000000000e+00 total movement = 1.118332677521e-04 vel = 1.195640908001e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.135026, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.135026, acc = 15.461646,T = 0.002721, P = 0.000590 tc id = 34, canon_type = 2, mot type = 1 time: 3.585000 primary movement = 1.272949138482e-04 time: 3.585000000000e+00 total movement = 1.272949138482e-04 vel = 1.350257368962e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.150487, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.150487, acc = 15.461646,T = 0.002721, P = 0.000732 tc id = 34, canon_type = 2, mot type = 1 time: 3.586000 primary movement = 1.427565599442e-04 time: 3.586000000000e+00 total movement = 1.427565599442e-04 vel = 1.504873829923e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.165949, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.165949, acc = 15.461646,T = 0.002721, P = 0.000891 tc id = 34, canon_type = 2, mot type = 1 time: 3.587000 primary movement = 1.582182060403e-04 time: 3.587000000000e+00 total movement = 1.582182060403e-04 vel = 1.659490290883e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.181411, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.181411, acc = 15.461646,T = 0.002721, P = 0.001064 tc id = 34, canon_type = 2, mot type = 1 time: 3.588000 primary movement = 1.736798521363e-04 time: 3.588000000000e+00 total movement = 1.736798521363e-04 vel = 1.814106751844e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.196872, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.196872, acc = 15.461646,T = 0.002721, P = 0.001253 tc id = 34, canon_type = 2, mot type = 1 time: 3.589000 primary movement = 1.891414982324e-04 time: 3.589000000000e+00 total movement = 1.891414982324e-04 vel = 1.968723212805e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.198152, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.198152, acc = 1.280156,T = 0.002721, P = 0.001451 tc id = 34, canon_type = 2, mot type = 1 time: 3.590000 primary movement = 1.975123990887e-04 time: 3.590000000000e+00 total movement = 1.975123990887e-04 vel = 1.981524768969e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.182691, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.182691, acc = -15.461646,T = 0.002721, P = 0.001641 on final decel tc id = 34, canon_type = 2, mot type = 1 tc state : vr = 0.015462, vf = 0.000000, maxvel = 8.421664, current_vel = 0.015159, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.015159, acc = 15.158995,T = 0.013845, P = 0.000008 tc id = 34, canon_type = 2, mot type = 1 secondary movement = 0.000008 time: 3.591000 primary movement = 1.904216538489e-04 time: 3.591000000000e+00 total movement = 1.980011515388e-04 vel = 1.978498261806e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.167229, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.167229, acc = -15.461646,T = 0.002721, P = 0.001816 on final decel tc id = 34, canon_type = 2, mot type = 1 tc state : vr = 0.030923, vf = 0.000000, maxvel = 8.421664, current_vel = 0.030318, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.030318, acc = 15.158995,T = 0.013845, P = 0.000030 tc id = 34, canon_type = 2, mot type = 1 secondary movement = 0.000023 time: 3.592000 primary movement = 1.749600077528e-04 time: 3.592000000000e+00 total movement = 1.976985008225e-04 vel = 1.975471754643e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.151768, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.151768, acc = -15.461646,T = 0.002721, P = 0.001976 on final decel tc id = 34, canon_type = 2, mot type = 1 tc state : vr = 0.046385, vf = 0.000000, maxvel = 8.421664, current_vel = 0.045477, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.045477, acc = 15.158995,T = 0.013845, P = 0.000068 tc id = 34, canon_type = 2, mot type = 1 secondary movement = 0.000038 time: 3.593000 primary movement = 1.594983616567e-04 time: 3.593000000000e+00 total movement = 1.973958501061e-04 vel = 1.972445247480e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.136306, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.136306, acc = -15.461646,T = 0.002721, P = 0.002120 on final decel tc id = 34, canon_type = 2, mot type = 1 tc state : vr = 0.061847, vf = 0.000000, maxvel = 8.421664, current_vel = 0.060636, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.060636, acc = 15.158995,T = 0.013845, P = 0.000121 tc id = 34, canon_type = 2, mot type = 1 secondary movement = 0.000053 time: 3.594000 primary movement = 1.440367155607e-04 time: 3.594000000000e+00 total movement = 1.970931993899e-04 vel = 1.969418740317e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.120844, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.120844, acc = -15.461646,T = 0.002721, P = 0.002248 on final decel tc id = 34, canon_type = 2, mot type = 1 tc state : vr = 0.077308, vf = 0.000000, maxvel = 8.421664, current_vel = 0.075795, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.075795, acc = 15.158995,T = 0.013845, P = 0.000189 tc id = 34, canon_type = 2, mot type = 1 secondary movement = 0.000068 time: 3.595000 primary movement = 1.285750694646e-04 time: 3.595000000000e+00 total movement = 1.967905486735e-04 vel = 1.966392233154e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.105383, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.105383, acc = -15.461646,T = 0.002721, P = 0.002362 on final decel tc id = 34, canon_type = 2, mot type = 1 tc state : vr = 0.092770, vf = 0.000000, maxvel = 8.421664, current_vel = 0.090954, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.090954, acc = 15.158995,T = 0.013845, P = 0.000273 tc id = 34, canon_type = 2, mot type = 1 secondary movement = 0.000083 time: 3.596000 primary movement = 1.131134233685e-04 time: 3.596000000000e+00 total movement = 1.964878979572e-04 vel = 1.963365725991e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.089921, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.089921, acc = -15.461646,T = 0.002721, P = 0.002459 on final decel tc id = 34, canon_type = 2, mot type = 1 tc state : vr = 0.108232, vf = 0.000000, maxvel = 8.421664, current_vel = 0.106113, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.106113, acc = 15.158995,T = 0.013845, P = 0.000371 tc id = 35, canon_type = 2, mot type = 1 secondary movement = 0.000099 time: 3.597000 primary movement = 9.765177727246e-05 time: 3.597000000000e+00 total movement = 1.961852472410e-04 vel = 1.960339218828e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.074459, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.074459, acc = -15.461646,T = 0.002721, P = 0.002541 on final decel tc id = 34, canon_type = 2, mot type = 1 tc state : vr = 0.123693, vf = 0.000000, maxvel = 8.421664, current_vel = 0.121272, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.121272, acc = 15.158995,T = 0.013845, P = 0.000485 tc id = 35, canon_type = 2, mot type = 1 secondary movement = 0.000114 time: 3.598000 primary movement = 8.219013117641e-05 time: 3.598000000000e+00 total movement = 1.958825965247e-04 vel = 1.957312711665e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.058998, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.058998, acc = -15.461646,T = 0.002721, P = 0.002608 on final decel tc id = 34, canon_type = 2, mot type = 1 tc state : vr = 0.139155, vf = 0.000000, maxvel = 8.421664, current_vel = 0.136431, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.136431, acc = 15.158995,T = 0.013845, P = 0.000614 tc id = 35, canon_type = 2, mot type = 1 secondary movement = 0.000129 time: 3.599000 primary movement = 6.672848508035e-05 time: 3.599000000000e+00 total movement = 1.955799458084e-04 vel = 1.954286204502e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.043536, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.043536, acc = -15.461646,T = 0.002721, P = 0.002659 on final decel tc id = 34, canon_type = 2, mot type = 1 tc state : vr = 0.154616, vf = 0.000000, maxvel = 8.421664, current_vel = 0.151590, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.151590, acc = 15.158995,T = 0.013845, P = 0.000758 tc id = 35, canon_type = 2, mot type = 1 secondary movement = 0.000144 time: 3.600000 primary movement = 5.126683898430e-05 time: 3.600000000000e+00 total movement = 1.952772950921e-04 vel = 1.951259697339e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.028074, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.028074, acc = -15.461646,T = 0.002721, P = 0.002695 on final decel tc id = 34, canon_type = 2, mot type = 1 tc state : vr = 0.170078, vf = 0.000000, maxvel = 8.421664, current_vel = 0.166749, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.166749, acc = 15.158995,T = 0.013845, P = 0.000917 tc id = 35, canon_type = 2, mot type = 1 secondary movement = 0.000159 time: 3.601000 primary movement = 3.580519288813e-05 time: 3.601000000000e+00 total movement = 1.949746443757e-04 vel = 1.948233190176e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.012613, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.012613, acc = -15.461646,T = 0.002721, P = 0.002715 on final decel tc id = 34, canon_type = 2, mot type = 1 tc state : vr = 0.185540, vf = 0.000000, maxvel = 8.421664, current_vel = 0.181908, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.181908, acc = 15.158995,T = 0.013845, P = 0.001091 tc id = 35, canon_type = 2, mot type = 1 secondary movement = 0.000174 time: 3.602000 primary movement = 2.034354679220e-05 time: 3.602000000000e+00 total movement = 1.946719936595e-04 vel = 1.945206683013e-01 ------------------- Found newvel = -0.002849, assuming segment is done segment 34 at target in runcycle tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.002721, P = 0.002721 tc id = 34, canon_type = 2, mot type = 1 tc state : vr = 0.198152, vf = 0.000000, maxvel = 8.421664, current_vel = 0.197067, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.197067, acc = 15.158995,T = 0.013845, P = 0.001281 tc id = 35, canon_type = 2, mot type = 1 secondary movement = 0.000189 time: 3.603000 primary movement = 5.144368175834e-06 time: 3.603000000000e+00 total movement = 1.946318104230e-04 vel = 1.970669399370e-01 Finished tc id 34 ------------------- Activate nexttc id 36 tc state : vr = 8.421664, vf = 0.000000, maxvel = 8.421664, current_vel = 0.212226, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.212226, acc = 15.158995,T = 0.013845, P = 0.001486 tc id = 35, canon_type = 2, mot type = 1 time: 3.604000 primary movement = 2.046464376269e-04 time: 3.604000000000e+00 total movement = 2.046464376269e-04 vel = 2.122259353168e-01 ------------------- tc state : vr = 8.421664, vf = 0.000000, maxvel = 8.421664, current_vel = 0.227385, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.227385, acc = 15.158995,T = 0.013845, P = 0.001705 tc id = 35, canon_type = 2, mot type = 1 time: 3.605000 primary movement = 2.198054330067e-04 time: 3.605000000000e+00 total movement = 2.198054330067e-04 vel = 2.273849306965e-01 ------------------- tc state : vr = 8.421664, vf = 0.000000, maxvel = 8.421664, current_vel = 0.242544, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.242544, acc = 15.158995,T = 0.013845, P = 0.001940 tc id = 35, canon_type = 2, mot type = 1 time: 3.606000 primary movement = 2.349644283864e-04 time: 3.606000000000e+00 total movement = 2.349644283864e-04 vel = 2.425439260763e-01 ------------------- tc state : vr = 8.421664, vf = 0.000000, maxvel = 8.421664, current_vel = 0.257703, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.257703, acc = 15.158995,T = 0.013845, P = 0.002190 tc id = 35, canon_type = 2, mot type = 1 time: 3.607000 primary movement = 2.501234237662e-04 time: 3.607000000000e+00 total movement = 2.501234237662e-04 vel = 2.577029214561e-01 ------------------- tc state : vr = 8.421664, vf = 0.000000, maxvel = 8.421664, current_vel = 0.272862, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.272862, acc = 15.158995,T = 0.013845, P = 0.002456 tc id = 35, canon_type = 2, mot type = 1 time: 3.608000 primary movement = 2.652824191460e-04 time: 3.608000000000e+00 total movement = 2.652824191460e-04 vel = 2.728619168358e-01 ------------------- tc state : vr = 8.421664, vf = 0.000000, maxvel = 8.421664, current_vel = 0.288021, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.288021, acc = 15.158995,T = 0.013845, P = 0.002736 tc id = 35, canon_type = 2, mot type = 1 time: 3.609000 primary movement = 2.804414145257e-04 time: 3.609000000000e+00 total movement = 2.804414145257e-04 vel = 2.880209122156e-01 ------------------- tc state : vr = 8.421664, vf = 0.000000, maxvel = 8.421664, current_vel = 0.303180, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.303180, acc = 15.158995,T = 0.013845, P = 0.003032 tc id = 35, canon_type = 2, mot type = 1 time: 3.610000 primary movement = 2.956004099055e-04 time: 3.610000000000e+00 total movement = 2.956004099055e-04 vel = 3.031799075954e-01 ------------------- tc state : vr = 8.421664, vf = 0.000000, maxvel = 8.421664, current_vel = 0.318339, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.318339, acc = 15.158995,T = 0.013845, P = 0.003343 tc id = 35, canon_type = 2, mot type = 1 time: 3.611000 primary movement = 3.107594052853e-04 time: 3.611000000000e+00 total movement = 3.107594052853e-04 vel = 3.183389029752e-01 ------------------- tc state : vr = 8.421664, vf = 0.000000, maxvel = 8.421664, current_vel = 0.333498, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.333498, acc = 15.158995,T = 0.013845, P = 0.003668 tc id = 35, canon_type = 2, mot type = 1 time: 3.612000 primary movement = 3.259184006650e-04 time: 3.612000000000e+00 total movement = 3.259184006650e-04 vel = 3.334978983549e-01 ------------------- tc state : vr = 8.421664, vf = 0.000000, maxvel = 8.421664, current_vel = 0.348657, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.348657, acc = 15.158995,T = 0.013845, P = 0.004010 tc id = 35, canon_type = 2, mot type = 1 time: 3.613000 primary movement = 3.410773960448e-04 time: 3.613000000000e+00 total movement = 3.410773960448e-04 vel = 3.486568937347e-01 ------------------- tc state : vr = 8.421664, vf = 0.000000, maxvel = 8.421664, current_vel = 0.363816, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.363816, acc = 15.158995,T = 0.013845, P = 0.004366 tc id = 35, canon_type = 2, mot type = 1 time: 3.614000 primary movement = 3.562363914246e-04 time: 3.614000000000e+00 total movement = 3.562363914246e-04 vel = 3.638158891145e-01 ------------------- tc state : vr = 8.421664, vf = 0.000000, maxvel = 8.421664, current_vel = 0.378975, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.378975, acc = 15.158995,T = 0.013845, P = 0.004737 tc id = 35, canon_type = 2, mot type = 1 time: 3.615000 primary movement = 3.713953868044e-04 time: 3.615000000000e+00 total movement = 3.713953868044e-04 vel = 3.789748844942e-01 ------------------- tc state : vr = 8.421664, vf = 0.000000, maxvel = 8.421664, current_vel = 0.394134, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.394134, acc = 15.158995,T = 0.013845, P = 0.005124 tc id = 35, canon_type = 2, mot type = 1 time: 3.616000 primary movement = 3.865543821841e-04 time: 3.616000000000e+00 total movement = 3.865543821841e-04 vel = 3.941338798740e-01 ------------------- tc state : vr = 8.421664, vf = 0.000000, maxvel = 8.421664, current_vel = 0.409293, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.409293, acc = 15.158995,T = 0.013845, P = 0.005525 tc id = 35, canon_type = 2, mot type = 1 time: 3.617000 primary movement = 4.017133775639e-04 time: 3.617000000000e+00 total movement = 4.017133775639e-04 vel = 4.092928752538e-01 ------------------- tc state : vr = 8.421664, vf = 0.000000, maxvel = 8.421664, current_vel = 0.424452, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.424452, acc = 15.158995,T = 0.013845, P = 0.005942 tc id = 35, canon_type = 2, mot type = 1 time: 3.618000 primary movement = 4.168723729436e-04 time: 3.618000000000e+00 total movement = 4.168723729436e-04 vel = 4.244518706335e-01 ------------------- tc state : vr = 8.421664, vf = 0.000000, maxvel = 8.421664, current_vel = 0.439611, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.439611, acc = 15.158995,T = 0.013845, P = 0.006374 tc id = 35, canon_type = 2, mot type = 1 time: 3.619000 primary movement = 4.320313683234e-04 time: 3.619000000000e+00 total movement = 4.320313683234e-04 vel = 4.396108660133e-01 ------------------- tc state : vr = 8.421664, vf = 0.000000, maxvel = 8.421664, current_vel = 0.454770, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.454770, acc = 15.158995,T = 0.013845, P = 0.006822 tc id = 35, canon_type = 2, mot type = 1 time: 3.620000 primary movement = 4.471903637032e-04 time: 3.620000000000e+00 total movement = 4.471903637032e-04 vel = 4.547698613931e-01 ------------------- tc state : vr = 8.421664, vf = 0.000000, maxvel = 8.421664, current_vel = 0.446411, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.446411, acc = -8.359170,T = 0.013845, P = 0.007272 on final decel tc id = 35, canon_type = 2, mot type = 1 time: 3.621000 primary movement = 4.505902764096e-04 time: 3.621000000000e+00 total movement = 4.505902764096e-04 vel = 4.464106914262e-01 ------------------- tc state : vr = 8.421664, vf = 0.000000, maxvel = 8.421664, current_vel = 0.431252, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.431252, acc = -15.158995,T = 0.013845, P = 0.007711 on final decel tc id = 35, canon_type = 2, mot type = 1 time: 3.622000 primary movement = 4.388311937363e-04 time: 3.622000000000e+00 total movement = 4.388311937363e-04 vel = 4.312516960464e-01 ------------------- tc state : vr = 8.421664, vf = 0.000000, maxvel = 8.421664, current_vel = 0.416093, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.416093, acc = -15.158995,T = 0.013845, P = 0.008135 on final decel tc id = 35, canon_type = 2, mot type = 1 time: 3.623000 primary movement = 4.236721983565e-04 time: 3.623000000000e+00 total movement = 4.236721983565e-04 vel = 4.160927006666e-01 ------------------- tc state : vr = 8.421664, vf = 0.000000, maxvel = 8.421664, current_vel = 0.400934, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.400934, acc = -15.158995,T = 0.013845, P = 0.008543 on final decel tc id = 35, canon_type = 2, mot type = 1 time: 3.624000 primary movement = 4.085132029768e-04 time: 3.624000000000e+00 total movement = 4.085132029768e-04 vel = 4.009337052869e-01 ------------------- tc state : vr = 8.421664, vf = 0.000000, maxvel = 8.421664, current_vel = 0.385775, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.385775, acc = -15.158995,T = 0.013845, P = 0.008937 on final decel tc id = 35, canon_type = 2, mot type = 1 time: 3.625000 primary movement = 3.933542075970e-04 time: 3.625000000000e+00 total movement = 3.933542075970e-04 vel = 3.857747099071e-01 ------------------- tc state : vr = 8.421664, vf = 0.000000, maxvel = 8.421664, current_vel = 0.370616, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.370616, acc = -15.158995,T = 0.013845, P = 0.009315 on final decel tc id = 35, canon_type = 2, mot type = 1 time: 3.626000 primary movement = 3.781952122172e-04 time: 3.626000000000e+00 total movement = 3.781952122172e-04 vel = 3.706157145273e-01 ------------------- tc state : vr = 8.421664, vf = 0.000000, maxvel = 8.421664, current_vel = 0.355457, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.355457, acc = -15.158995,T = 0.013845, P = 0.009678 on final decel tc id = 35, canon_type = 2, mot type = 1 time: 3.627000 primary movement = 3.630362168374e-04 time: 3.627000000000e+00 total movement = 3.630362168374e-04 vel = 3.554567191476e-01 ------------------- tc state : vr = 8.421664, vf = 0.000000, maxvel = 8.421664, current_vel = 0.340298, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.340298, acc = -15.158995,T = 0.013845, P = 0.010026 on final decel tc id = 35, canon_type = 2, mot type = 1 time: 3.628000 primary movement = 3.478772214577e-04 time: 3.628000000000e+00 total movement = 3.478772214577e-04 vel = 3.402977237678e-01 ------------------- tc state : vr = 8.421664, vf = 0.000000, maxvel = 8.421664, current_vel = 0.325139, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.325139, acc = -15.158995,T = 0.013845, P = 0.010358 on final decel tc id = 35, canon_type = 2, mot type = 1 time: 3.629000 primary movement = 3.327182260779e-04 time: 3.629000000000e+00 total movement = 3.327182260779e-04 vel = 3.251387283880e-01 ------------------- tc state : vr = 8.421664, vf = 0.000000, maxvel = 8.421664, current_vel = 0.309980, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.309980, acc = -15.158995,T = 0.013845, P = 0.010676 on final decel tc id = 35, canon_type = 2, mot type = 1 time: 3.630000 primary movement = 3.175592306981e-04 time: 3.630000000000e+00 total movement = 3.175592306981e-04 vel = 3.099797330082e-01 ------------------- tc state : vr = 8.421664, vf = 0.000000, maxvel = 8.421664, current_vel = 0.294821, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.294821, acc = -15.158995,T = 0.013845, P = 0.010978 on final decel tc id = 35, canon_type = 2, mot type = 1 time: 3.631000 primary movement = 3.024002353184e-04 time: 3.631000000000e+00 total movement = 3.024002353184e-04 vel = 2.948207376285e-01 ------------------- tc state : vr = 8.421664, vf = 0.000000, maxvel = 8.421664, current_vel = 0.279662, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.279662, acc = -15.158995,T = 0.013845, P = 0.011266 on final decel tc id = 35, canon_type = 2, mot type = 1 time: 3.632000 primary movement = 2.872412399386e-04 time: 3.632000000000e+00 total movement = 2.872412399386e-04 vel = 2.796617422487e-01 ------------------- tc state : vr = 8.421664, vf = 0.000000, maxvel = 8.421664, current_vel = 0.264503, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.264503, acc = -15.158995,T = 0.013845, P = 0.011538 on final decel tc id = 35, canon_type = 2, mot type = 1 time: 3.633000 primary movement = 2.720822445588e-04 time: 3.633000000000e+00 total movement = 2.720822445588e-04 vel = 2.645027468689e-01 ------------------- tc state : vr = 8.421664, vf = 0.000000, maxvel = 8.421664, current_vel = 0.249344, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.249344, acc = -15.158995,T = 0.013845, P = 0.011795 on final decel tc id = 35, canon_type = 2, mot type = 1 time: 3.634000 primary movement = 2.569232491791e-04 time: 3.634000000000e+00 total movement = 2.569232491791e-04 vel = 2.493437514892e-01 ------------------- tc state : vr = 8.421664, vf = 0.000000, maxvel = 8.421664, current_vel = 0.234185, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.234185, acc = -15.158995,T = 0.013845, P = 0.012036 on final decel tc id = 35, canon_type = 2, mot type = 1 time: 3.635000 primary movement = 2.417642537993e-04 time: 3.635000000000e+00 total movement = 2.417642537993e-04 vel = 2.341847561094e-01 ------------------- tc state : vr = 8.421664, vf = 0.000000, maxvel = 8.421664, current_vel = 0.219026, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.219026, acc = -15.158995,T = 0.013845, P = 0.012263 on final decel tc id = 35, canon_type = 2, mot type = 1 time: 3.636000 primary movement = 2.266052584195e-04 time: 3.636000000000e+00 total movement = 2.266052584195e-04 vel = 2.190257607296e-01 ------------------- tc state : vr = 8.421664, vf = 0.000000, maxvel = 8.421664, current_vel = 0.203867, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.203867, acc = -15.158995,T = 0.013845, P = 0.012474 on final decel tc id = 35, canon_type = 2, mot type = 1 time: 3.637000 primary movement = 2.114462630398e-04 time: 3.637000000000e+00 total movement = 2.114462630398e-04 vel = 2.038667653499e-01 ------------------- tc state : vr = 8.421664, vf = 0.000000, maxvel = 8.421664, current_vel = 0.188708, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.188708, acc = -15.158995,T = 0.013845, P = 0.012671 on final decel tc id = 35, canon_type = 2, mot type = 1 time: 3.638000 primary movement = 1.962872676600e-04 time: 3.638000000000e+00 total movement = 1.962872676600e-04 vel = 1.887077699701e-01 ------------------- tc state : vr = 8.421664, vf = 0.000000, maxvel = 8.421664, current_vel = 0.173549, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.173549, acc = -15.158995,T = 0.013845, P = 0.012852 on final decel tc id = 35, canon_type = 2, mot type = 1 time: 3.639000 primary movement = 1.811282722802e-04 time: 3.639000000000e+00 total movement = 1.811282722802e-04 vel = 1.735487745903e-01 ------------------- tc state : vr = 8.421664, vf = 0.000000, maxvel = 8.421664, current_vel = 0.158390, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.158390, acc = -15.158995,T = 0.013845, P = 0.013018 on final decel tc id = 35, canon_type = 2, mot type = 1 time: 3.640000 primary movement = 1.659692769004e-04 time: 3.640000000000e+00 total movement = 1.659692769004e-04 vel = 1.583897792106e-01 ------------------- tc state : vr = 8.421664, vf = 0.000000, maxvel = 8.421664, current_vel = 0.143231, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.143231, acc = -15.158995,T = 0.013845, P = 0.013169 on final decel tc id = 35, canon_type = 2, mot type = 1 time: 3.641000 primary movement = 1.508102815207e-04 time: 3.641000000000e+00 total movement = 1.508102815207e-04 vel = 1.432307838308e-01 ------------------- tc state : vr = 8.421664, vf = 0.000000, maxvel = 8.421664, current_vel = 0.128072, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.128072, acc = -15.158995,T = 0.013845, P = 0.013304 on final decel tc id = 35, canon_type = 2, mot type = 1 time: 3.642000 primary movement = 1.356512861409e-04 time: 3.642000000000e+00 total movement = 1.356512861409e-04 vel = 1.280717884510e-01 ------------------- tc state : vr = 8.421664, vf = 0.000000, maxvel = 8.421664, current_vel = 0.112913, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.112913, acc = -15.158995,T = 0.013845, P = 0.013425 on final decel tc id = 35, canon_type = 2, mot type = 1 time: 3.643000 primary movement = 1.204922907611e-04 time: 3.643000000000e+00 total movement = 1.204922907611e-04 vel = 1.129127930712e-01 ------------------- tc state : vr = 8.421664, vf = 0.000000, maxvel = 8.421664, current_vel = 0.097754, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.097754, acc = -15.158995,T = 0.013845, P = 0.013530 on final decel tc id = 35, canon_type = 2, mot type = 1 tc state : vr = 0.015159, vf = 0.015159, maxvel = 9.316913, current_vel = 0.015159, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.015159, acc = 15.158995,T = 0.000834, P = 0.000008 initial results: dx= 0.000826,dt = 0.009059, a_f = 16.785297, v_f = 0.167211 recalculating with a_f = 16.785297, a = 16.770510 revised dt = 0.009062 dt = 0.009062, not at end yet tc id = 35, canon_type = 2, mot type = 1 secondary movement = 0.000008 time: 3.644000 primary movement = 1.053332953814e-04 time: 3.644000000000e+00 total movement = 1.129127930713e-04 vel = 1.129127930712e-01 ------------------- tc state : vr = 8.421664, vf = 0.000000, maxvel = 8.421664, current_vel = 0.082595, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.082595, acc = -15.158995,T = 0.013845, P = 0.013620 on final decel tc id = 35, canon_type = 2, mot type = 1 tc state : vr = 0.030318, vf = 0.030318, maxvel = 9.316913, current_vel = 0.030318, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.030318, acc = 15.158995,T = 0.000834, P = 0.000030 initial results: dx= 0.000803,dt = 0.008133, a_f = 16.831333, v_f = 0.167211 recalculating with a_f = 16.831333, a = 16.770510 revised dt = 0.008145 dt = 0.008145, not at end yet tc id = 35, canon_type = 2, mot type = 1 secondary movement = 0.000023 time: 3.645000 primary movement = 9.017430000161e-05 time: 3.645000000000e+00 total movement = 1.129127930712e-04 vel = 1.129127930712e-01 ------------------- tc state : vr = 8.421664, vf = 0.000000, maxvel = 8.421664, current_vel = 0.067436, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.067436, acc = -15.158995,T = 0.013845, P = 0.013695 on final decel tc id = 35, canon_type = 2, mot type = 1 tc state : vr = 0.045477, vf = 0.045477, maxvel = 9.316913, current_vel = 0.045477, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.045477, acc = 15.158995,T = 0.000834, P = 0.000068 initial results: dx= 0.000765,dt = 0.007197, a_f = 16.914139, v_f = 0.167211 recalculating with a_f = 16.914139, a = 16.770510 revised dt = 0.007220 dt = 0.007220, not at end yet tc id = 35, canon_type = 2, mot type = 1 secondary movement = 0.000038 time: 3.646000 primary movement = 7.501530462180e-05 time: 3.646000000000e+00 total movement = 1.129127930712e-04 vel = 1.129127930712e-01 ------------------- tc state : vr = 8.421664, vf = 0.000000, maxvel = 8.421664, current_vel = 0.052277, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.052277, acc = -15.158995,T = 0.013845, P = 0.013755 on final decel tc id = 35, canon_type = 2, mot type = 1 tc state : vr = 0.060636, vf = 0.060636, maxvel = 9.316913, current_vel = 0.060636, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.060636, acc = 15.158995,T = 0.000834, P = 0.000121 initial results: dx= 0.000712,dt = 0.006253, a_f = 17.044869, v_f = 0.167211 recalculating with a_f = 17.044869, a = 16.770510 revised dt = 0.006285 dt = 0.006285, not at end yet tc id = 36, canon_type = 2, mot type = 1 secondary movement = 0.000053 time: 3.647000 primary movement = 5.985630924205e-05 time: 3.647000000000e+00 total movement = 1.129127930713e-04 vel = 1.129127930712e-01 ------------------- tc state : vr = 8.421664, vf = 0.000000, maxvel = 8.421664, current_vel = 0.037118, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.037118, acc = -15.158995,T = 0.013845, P = 0.013800 on final decel tc id = 35, canon_type = 2, mot type = 1 tc state : vr = 0.075795, vf = 0.075795, maxvel = 9.316913, current_vel = 0.075795, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.075795, acc = 15.158995,T = 0.000834, P = 0.000189 initial results: dx= 0.000644,dt = 0.005301, a_f = 17.244597, v_f = 0.167211 recalculating with a_f = 17.244597, a = 16.770510 revised dt = 0.005342 dt = 0.005342, not at end yet tc id = 36, canon_type = 2, mot type = 1 secondary movement = 0.000068 time: 3.648000 primary movement = 4.469731386230e-05 time: 3.648000000000e+00 total movement = 1.129127930712e-04 vel = 1.129127930712e-01 ------------------- tc state : vr = 8.421664, vf = 0.000000, maxvel = 8.421664, current_vel = 0.021959, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.021959, acc = -15.158995,T = 0.013845, P = 0.013829 on final decel tc id = 35, canon_type = 2, mot type = 1 tc state : vr = 0.090954, vf = 0.090954, maxvel = 9.316913, current_vel = 0.090954, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.090954, acc = 15.158995,T = 0.000834, P = 0.000273 initial results: dx= 0.000561,dt = 0.004344, a_f = 17.554702, v_f = 0.167211 recalculating with a_f = 17.554702, a = 16.770510 revised dt = 0.004389 dt = 0.004389, not at end yet tc id = 36, canon_type = 2, mot type = 1 secondary movement = 0.000083 time: 3.649000 primary movement = 2.953831848251e-05 time: 3.649000000000e+00 total movement = 1.129127930713e-04 vel = 1.129127930712e-01 ------------------- tc state : vr = 8.421664, vf = 0.000000, maxvel = 8.421664, current_vel = 0.006800, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.006800, acc = -15.158995,T = 0.013845, P = 0.013844 on final decel tc id = 35, canon_type = 2, mot type = 1 tc state : vr = 0.106113, vf = 0.106113, maxvel = 9.316913, current_vel = 0.106113, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.106113, acc = 15.158995,T = 0.000834, P = 0.000371 initial results: dx= 0.000462,dt = 0.003382, a_f = 18.065431, v_f = 0.167211 recalculating with a_f = 18.065431, a = 16.770510 revised dt = 0.003427 dt = 0.003427, not at end yet tc id = 36, canon_type = 2, mot type = 1 secondary movement = 0.000099 time: 3.650000 primary movement = 1.437932310276e-05 time: 3.650000000000e+00 total movement = 1.129127930712e-04 vel = 1.129127930712e-01 ------------------- Found newvel = -0.006800, assuming segment is done segment 35 at target in runcycle tc state : vr = 8.421664, vf = 0.000000, maxvel = 8.421664, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.013845, P = 0.013845 tc id = 35, canon_type = 2, mot type = 1 tc state : vr = 0.112913, vf = 0.112913, maxvel = 9.316913, current_vel = 0.112913, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.112913, acc = 6.799825,T = 0.000834, P = 0.000481 initial results: dx= 0.000353,dt = 0.002518, a_f = 21.563540, v_f = 0.167211 recalculating with a_f = 21.563540, a = 16.770510 revised dt = 0.002615 dt = 0.002615, not at end yet tc id = 36, canon_type = 2, mot type = 1 secondary movement = 0.000110 time: 3.651000 primary movement = 1.525088717510e-06 time: 3.651000000000e+00 total movement = 1.110379690824e-04 vel = 1.129127930712e-01 Finished tc id 35 ------------------- tc state : vr = 0.396949, vf = 0.167211, maxvel = 9.316913, current_vel = 0.129683, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.129683, acc = 16.770510,T = 0.000834, P = 0.000602 initial results: dx= 0.000231,dt = 0.001559, a_f = 24.076156, v_f = 0.167211 recalculating with a_f = 24.076156, a = 16.770510 revised dt = 0.001615 dt = 0.001615, not at end yet tc id = 36, canon_type = 2, mot type = 1 time: 3.652000 primary movement = 1.212980479869e-04 time: 3.652000000000e+00 total movement = 1.212980479869e-04 vel = 1.296833029025e-01 ------------------- tc state : vr = 0.396949, vf = 0.167211, maxvel = 9.316913, current_vel = 0.146454, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.146454, acc = 16.770510,T = 0.000834, P = 0.000740 initial results: dx= 0.000093,dt = 0.000595, a_f = 34.885233, v_f = 0.167211 recalculating with a_f = 34.885233, a = 16.770510 revised dt = 0.000615 actual v_f = 0.156776, a = 16.770510 split time is 0.000615493 tc id = 36, canon_type = 2, mot type = 1 time: 3.653000 primary movement = 1.380685578181e-04 time: 3.653000000000e+00 total movement = 1.380685578181e-04 vel = 1.464538127337e-01 ------------------- tc id 36 done Finishing split-cycle on id 37 tc state : vr = 0.167211, vf = 0.000000, maxvel = 0.313846, current_vel = 0.162544, fs = 1.000000, tc = 0.000385, term = 3 tc result: v = 0.162544, acc = 15.000000,T = 0.002687, P = 0.000061 initial results: dx= 0.002625,dt = 0.032301, a_f = -5.032094, v_f = 0.000000 dt = 0.032301, not at end yet secondary movement = 0.000061 tc id = 37, canon_type = 3, mot type = 2 time: 3.654000 primary movement = 9.331787274205e-05 time: 3.654000000000e+00 total movement = 1.547075157835e-04 vel = 1.625435488744e-01 Finished tc id 36 ------------------- Activate tc id = 37 target_vel = 0.167211 final_vel = 0.000000 length = 0.002687 tc state : vr = 0.167211, vf = 0.000000, maxvel = 0.313846, current_vel = 0.167211, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.167211, acc = 4.667547,T = 0.002687, P = 0.000226 initial results: dx= 0.002460,dt = 0.029428, a_f = -5.682113, v_f = 0.000000 dt = 0.029428, not at end yet tc id = 37, canon_type = 3, mot type = 2 time: 3.655000 primary movement = 1.648643299106e-04 time: 3.655000000000e+00 total movement = 1.648643299106e-04 vel = 1.672110961467e-01 ------------------- tc state : vr = 0.167211, vf = 0.000000, maxvel = 0.313846, current_vel = 0.167211, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.167211, acc = 0.000000,T = 0.002687, P = 0.000393 initial results: dx= 0.002293,dt = 0.027428, a_f = -6.096448, v_f = 0.000000 dt = 0.027428, not at end yet tc id = 37, canon_type = 3, mot type = 2 time: 3.656000 primary movement = 1.671975439944e-04 time: 3.656000000000e+00 total movement = 1.671975439944e-04 vel = 1.672110961467e-01 ------------------- tc state : vr = 0.167211, vf = 0.000000, maxvel = 0.313846, current_vel = 0.167211, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.167211, acc = 0.000000,T = 0.002687, P = 0.000561 initial results: dx= 0.002126,dt = 0.025428, a_f = -6.575962, v_f = 0.000000 dt = 0.025428, not at end yet tc id = 37, canon_type = 3, mot type = 2 time: 3.657000 primary movement = 1.671975439943e-04 time: 3.657000000000e+00 total movement = 1.671975439943e-04 vel = 1.672110961467e-01 ------------------- tc state : vr = 0.167211, vf = 0.000000, maxvel = 0.313846, current_vel = 0.167211, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.167211, acc = 0.000000,T = 0.002687, P = 0.000728 initial results: dx= 0.001959,dt = 0.023428, a_f = -7.137347, v_f = 0.000000 dt = 0.023428, not at end yet tc id = 37, canon_type = 3, mot type = 2 time: 3.658000 primary movement = 1.671975439943e-04 time: 3.658000000000e+00 total movement = 1.671975439943e-04 vel = 1.672110961467e-01 ------------------- tc state : vr = 0.167211, vf = 0.000000, maxvel = 0.313846, current_vel = 0.167211, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.167211, acc = 0.000000,T = 0.002687, P = 0.000895 initial results: dx= 0.001791,dt = 0.021428, a_f = -7.803529, v_f = 0.000000 dt = 0.021428, not at end yet tc id = 37, canon_type = 3, mot type = 2 time: 3.659000 primary movement = 1.671975439944e-04 time: 3.659000000000e+00 total movement = 1.671975439944e-04 vel = 1.672110961467e-01 ------------------- tc state : vr = 0.167211, vf = 0.000000, maxvel = 0.313846, current_vel = 0.167211, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.167211, acc = 0.000000,T = 0.002687, P = 0.001062 initial results: dx= 0.001624,dt = 0.019428, a_f = -8.606872, v_f = 0.000000 dt = 0.019428, not at end yet tc id = 37, canon_type = 3, mot type = 2 time: 3.660000 primary movement = 1.671975439944e-04 time: 3.660000000000e+00 total movement = 1.671975439944e-04 vel = 1.672110961467e-01 ------------------- tc state : vr = 0.167211, vf = 0.000000, maxvel = 0.313846, current_vel = 0.167211, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.167211, acc = 0.000000,T = 0.002687, P = 0.001230 initial results: dx= 0.001457,dt = 0.017428, a_f = -9.594600, v_f = 0.000000 dt = 0.017428, not at end yet tc id = 37, canon_type = 3, mot type = 2 time: 3.661000 primary movement = 1.671975439944e-04 time: 3.661000000000e+00 total movement = 1.671975439944e-04 vel = 1.672110961467e-01 ------------------- tc state : vr = 0.167211, vf = 0.000000, maxvel = 0.313846, current_vel = 0.167211, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.167211, acc = 0.000000,T = 0.002687, P = 0.001397 initial results: dx= 0.001290,dt = 0.015428, a_f = -10.838420, v_f = 0.000000 dt = 0.015428, not at end yet tc id = 37, canon_type = 3, mot type = 2 time: 3.662000 primary movement = 1.671975439943e-04 time: 3.662000000000e+00 total movement = 1.671975439943e-04 vel = 1.672110961467e-01 ------------------- tc state : vr = 0.167211, vf = 0.000000, maxvel = 0.313846, current_vel = 0.167211, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.167211, acc = 0.000000,T = 0.002687, P = 0.001564 initial results: dx= 0.001123,dt = 0.013428, a_f = -12.452767, v_f = 0.000000 dt = 0.013428, not at end yet tc id = 37, canon_type = 3, mot type = 2 time: 3.663000 primary movement = 1.671975439944e-04 time: 3.663000000000e+00 total movement = 1.671975439944e-04 vel = 1.672110961467e-01 ------------------- tc state : vr = 0.167211, vf = 0.000000, maxvel = 0.313846, current_vel = 0.167211, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.167211, acc = 0.000000,T = 0.002687, P = 0.001731 initial results: dx= 0.000955,dt = 0.011428, a_f = -14.632181, v_f = 0.000000 dt = 0.011428, not at end yet tc id = 37, canon_type = 3, mot type = 2 time: 3.664000 primary movement = 1.671975439943e-04 time: 3.664000000000e+00 total movement = 1.671975439943e-04 vel = 1.672110961467e-01 ------------------- tc state : vr = 0.167211, vf = 0.000000, maxvel = 0.313846, current_vel = 0.154396, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.154396, acc = -12.814610,T = 0.002687, P = 0.001892 on final decel initial results: dx= 0.000795,dt = 0.010293, a_f = -15.000000, v_f = 0.000000 dt = 0.010293, not at end yet tc id = 37, canon_type = 3, mot type = 2 time: 3.665000 primary movement = 1.607917381201e-04 time: 3.665000000000e+00 total movement = 1.607917381201e-04 vel = 1.543964865087e-01 ------------------- tc state : vr = 0.167211, vf = 0.000000, maxvel = 0.313846, current_vel = 0.139396, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.139396, acc = -15.000000,T = 0.002687, P = 0.002039 on final decel initial results: dx= 0.000648,dt = 0.009293, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.009293 dt = 0.009293, not at end yet tc id = 37, canon_type = 3, mot type = 2 time: 3.666000 primary movement = 1.468872979028e-04 time: 3.666000000000e+00 total movement = 1.468872979028e-04 vel = 1.393964865087e-01 ------------------- tc state : vr = 0.167211, vf = 0.000000, maxvel = 0.313846, current_vel = 0.124396, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.124396, acc = -15.000000,T = 0.002687, P = 0.002171 on final decel initial results: dx= 0.000516,dt = 0.008293, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.008293 dt = 0.008293, not at end yet tc id = 37, canon_type = 3, mot type = 2 time: 3.667000 primary movement = 1.318898350536e-04 time: 3.667000000000e+00 total movement = 1.318898350536e-04 vel = 1.243964865087e-01 ------------------- tc state : vr = 0.167211, vf = 0.000000, maxvel = 0.313846, current_vel = 0.109396, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.109396, acc = -15.000000,T = 0.002687, P = 0.002288 on final decel initial results: dx= 0.000399,dt = 0.007293, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.007293 dt = 0.007293, not at end yet tc id = 37, canon_type = 3, mot type = 2 time: 3.668000 primary movement = 1.168918560634e-04 time: 3.668000000000e+00 total movement = 1.168918560634e-04 vel = 1.093964865087e-01 ------------------- tc state : vr = 0.167211, vf = 0.000000, maxvel = 0.313846, current_vel = 0.094396, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.094396, acc = -15.000000,T = 0.002687, P = 0.002390 on final decel initial results: dx= 0.000297,dt = 0.006293, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.006293 dt = 0.006293, not at end yet tc id = 37, canon_type = 3, mot type = 2 time: 3.669000 primary movement = 1.018934196253e-04 time: 3.669000000000e+00 total movement = 1.018934196253e-04 vel = 9.439648650873e-02 ------------------- tc state : vr = 0.167211, vf = 0.000000, maxvel = 0.313846, current_vel = 0.079396, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.079396, acc = -15.000000,T = 0.002687, P = 0.002476 on final decel initial results: dx= 0.000210,dt = 0.005293, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.005293 dt = 0.005293, not at end yet tc id = 37, canon_type = 3, mot type = 2 time: 3.670000 primary movement = 8.689458443506e-05 time: 3.670000000000e+00 total movement = 8.689458443506e-05 vel = 7.939648650873e-02 ------------------- tc state : vr = 0.167211, vf = 0.000000, maxvel = 0.313846, current_vel = 0.064396, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.064396, acc = -15.000000,T = 0.002687, P = 0.002548 on final decel initial results: dx= 0.000138,dt = 0.004293, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.004293 dt = 0.004293, not at end yet tc id = 37, canon_type = 3, mot type = 2 time: 3.671000 primary movement = 7.189540918895e-05 time: 3.671000000000e+00 total movement = 7.189540918895e-05 vel = 6.439648650873e-02 ------------------- tc state : vr = 0.167211, vf = 0.000000, maxvel = 0.313846, current_vel = 0.049396, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.049396, acc = -15.000000,T = 0.002687, P = 0.002605 on final decel initial results: dx= 0.000081,dt = 0.003293, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.003293 dt = 0.003293, not at end yet tc id = 37, canon_type = 3, mot type = 2 time: 3.672000 primary movement = 5.689595258565e-05 time: 3.672000000000e+00 total movement = 5.689595258565e-05 vel = 4.939648650873e-02 ------------------- tc state : vr = 0.167211, vf = 0.000000, maxvel = 0.313846, current_vel = 0.034396, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.034396, acc = -15.000000,T = 0.002687, P = 0.002647 on final decel initial results: dx= 0.000039,dt = 0.002293, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.002293 dt = 0.002293, not at end yet tc id = 37, canon_type = 3, mot type = 2 time: 3.673000 primary movement = 4.189627332424e-05 time: 3.673000000000e+00 total movement = 4.189627332424e-05 vel = 3.439648650873e-02 ------------------- tc state : vr = 0.167211, vf = 0.000000, maxvel = 0.313846, current_vel = 0.019396, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.019396, acc = -15.000000,T = 0.002687, P = 0.002674 on final decel initial results: dx= 0.000013,dt = 0.001293, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.001293 dt = 0.001293, not at end yet tc id = 37, canon_type = 3, mot type = 2 time: 3.674000 primary movement = 2.689643010472e-05 time: 3.674000000000e+00 total movement = 2.689643010472e-05 vel = 1.939648650873e-02 ------------------- tc state : vr = 0.167211, vf = 0.000000, maxvel = 0.313846, current_vel = 0.004396, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.004396, acc = -15.000000,T = 0.002687, P = 0.002686 on final decel initial results: dx= 0.000001,dt = 0.000293, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.000293 actual v_f = 0.000000, a = -15.000000 split time is 0.000293099 tc id = 37, canon_type = 3, mot type = 2 time: 3.675000 primary movement = 1.189648162808e-05 time: 3.675000000000e+00 total movement = 1.189648162808e-05 vel = 4.396486508731e-03 ------------------- tc id 37 done Finishing split-cycle on id 37 tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.010930, fs = 1.000000, tc = 0.000707, term = 2 tc result: v = 0.010930, acc = 15.461646,T = 0.002721, P = 0.000004 secondary movement = 0.000004 tc id = 37, canon_type = 2, mot type = 1 time: 3.676000 primary movement = 6.443031199304e-07 time: 3.676000000000e+00 total movement = 4.507467321713e-06 vel = 1.092985614710e-02 Finished tc id 37 ------------------- Activate tc id = 37 target_vel = 8.589769 final_vel = 0.000000 length = 0.002721 Activate nexttc id 38 tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.026392, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.026392, acc = 15.461646,T = 0.002721, P = 0.000023 tc id = 37, canon_type = 2, mot type = 1 time: 3.677000 primary movement = 1.866067919507e-05 time: 3.677000000000e+00 total movement = 1.866067919507e-05 vel = 2.639150224317e-02 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.041853, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.041853, acc = 15.461646,T = 0.002721, P = 0.000057 tc id = 37, canon_type = 2, mot type = 1 time: 3.678000 primary movement = 3.412232529124e-05 time: 3.678000000000e+00 total movement = 3.412232529124e-05 vel = 4.185314833924e-02 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.057315, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.057315, acc = 15.461646,T = 0.002721, P = 0.000106 tc id = 37, canon_type = 2, mot type = 1 time: 3.679000 primary movement = 4.958397138729e-05 time: 3.679000000000e+00 total movement = 4.958397138729e-05 vel = 5.731479443530e-02 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.072776, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.072776, acc = 15.461646,T = 0.002721, P = 0.000171 tc id = 37, canon_type = 2, mot type = 1 time: 3.680000 primary movement = 6.504561748334e-05 time: 3.680000000000e+00 total movement = 6.504561748334e-05 vel = 7.277644053137e-02 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.088238, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.088238, acc = 15.461646,T = 0.002721, P = 0.000252 tc id = 37, canon_type = 2, mot type = 1 time: 3.681000 primary movement = 8.050726357940e-05 time: 3.681000000000e+00 total movement = 8.050726357940e-05 vel = 8.823808662743e-02 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.103700, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.103700, acc = 15.461646,T = 0.002721, P = 0.000348 tc id = 37, canon_type = 2, mot type = 1 time: 3.682000 primary movement = 9.596890967545e-05 time: 3.682000000000e+00 total movement = 9.596890967545e-05 vel = 1.036997327235e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.119161, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.119161, acc = 15.461646,T = 0.002721, P = 0.000459 tc id = 37, canon_type = 2, mot type = 1 time: 3.683000 primary movement = 1.114305557715e-04 time: 3.683000000000e+00 total movement = 1.114305557715e-04 vel = 1.191613788196e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.134623, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.134623, acc = 15.461646,T = 0.002721, P = 0.000586 tc id = 37, canon_type = 2, mot type = 1 time: 3.684000 primary movement = 1.268922018676e-04 time: 3.684000000000e+00 total movement = 1.268922018676e-04 vel = 1.346230249156e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.150085, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.150085, acc = 15.461646,T = 0.002721, P = 0.000728 tc id = 37, canon_type = 2, mot type = 1 time: 3.685000 primary movement = 1.423538479637e-04 time: 3.685000000000e+00 total movement = 1.423538479637e-04 vel = 1.500846710117e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.165546, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.165546, acc = 15.461646,T = 0.002721, P = 0.000886 tc id = 37, canon_type = 2, mot type = 1 time: 3.686000 primary movement = 1.578154940598e-04 time: 3.686000000000e+00 total movement = 1.578154940598e-04 vel = 1.655463171078e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.181008, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.181008, acc = 15.461646,T = 0.002721, P = 0.001060 tc id = 37, canon_type = 2, mot type = 1 time: 3.687000 primary movement = 1.732771401557e-04 time: 3.687000000000e+00 total movement = 1.732771401557e-04 vel = 1.810079632038e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.196470, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.196470, acc = 15.461646,T = 0.002721, P = 0.001248 tc id = 37, canon_type = 2, mot type = 1 time: 3.688000 primary movement = 1.887387862519e-04 time: 3.688000000000e+00 total movement = 1.887387862519e-04 vel = 1.964696092999e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.198552, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.198552, acc = 2.082294,T = 0.002721, P = 0.001446 tc id = 37, canon_type = 2, mot type = 1 time: 3.689000 primary movement = 1.975107564268e-04 time: 3.689000000000e+00 total movement = 1.975107564268e-04 vel = 1.985519035537e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.183090, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.183090, acc = -15.461646,T = 0.002721, P = 0.001637 on final decel tc id = 37, canon_type = 2, mot type = 1 tc state : vr = 0.015462, vf = 0.000000, maxvel = 8.530081, current_vel = 0.015354, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.015354, acc = 15.354146,T = 0.018732, P = 0.000008 tc id = 37, canon_type = 2, mot type = 1 secondary movement = 0.000008 time: 3.690000 primary movement = 1.908210805057e-04 time: 3.690000000000e+00 total movement = 1.984981534903e-04 vel = 1.984444034268e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.167629, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.167629, acc = -15.461646,T = 0.002721, P = 0.001812 on final decel tc id = 37, canon_type = 2, mot type = 1 tc state : vr = 0.030923, vf = 0.000000, maxvel = 8.530081, current_vel = 0.030708, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.030708, acc = 15.354146,T = 0.018732, P = 0.000031 tc id = 37, canon_type = 2, mot type = 1 secondary movement = 0.000023 time: 3.691000 primary movement = 1.753594344095e-04 time: 3.691000000000e+00 total movement = 1.983906533632e-04 vel = 1.983369032998e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.152167, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.152167, acc = -15.461646,T = 0.002721, P = 0.001972 on final decel tc id = 37, canon_type = 2, mot type = 1 tc state : vr = 0.046385, vf = 0.000000, maxvel = 8.530081, current_vel = 0.046062, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.046062, acc = 15.354146,T = 0.018732, P = 0.000069 tc id = 37, canon_type = 2, mot type = 1 secondary movement = 0.000038 time: 3.692000 primary movement = 1.598977883135e-04 time: 3.692000000000e+00 total movement = 1.982831532363e-04 vel = 1.982294031729e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.136705, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.136705, acc = -15.461646,T = 0.002721, P = 0.002116 on final decel tc id = 37, canon_type = 2, mot type = 1 tc state : vr = 0.061847, vf = 0.000000, maxvel = 8.530081, current_vel = 0.061417, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.061417, acc = 15.354146,T = 0.018732, P = 0.000123 tc id = 37, canon_type = 2, mot type = 1 secondary movement = 0.000054 time: 3.693000 primary movement = 1.444361422175e-04 time: 3.693000000000e+00 total movement = 1.981756531095e-04 vel = 1.981219030459e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.121244, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.121244, acc = -15.461646,T = 0.002721, P = 0.002245 on final decel tc id = 37, canon_type = 2, mot type = 1 tc state : vr = 0.077308, vf = 0.000000, maxvel = 8.530081, current_vel = 0.076771, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.076771, acc = 15.354146,T = 0.018732, P = 0.000192 tc id = 37, canon_type = 2, mot type = 1 secondary movement = 0.000069 time: 3.694000 primary movement = 1.289744961214e-04 time: 3.694000000000e+00 total movement = 1.980681529825e-04 vel = 1.980144029190e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.105782, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.105782, acc = -15.461646,T = 0.002721, P = 0.002359 on final decel tc id = 37, canon_type = 2, mot type = 1 tc state : vr = 0.092770, vf = 0.000000, maxvel = 8.530081, current_vel = 0.092125, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.092125, acc = 15.354146,T = 0.018732, P = 0.000276 tc id = 37, canon_type = 2, mot type = 1 secondary movement = 0.000084 time: 3.695000 primary movement = 1.135128500253e-04 time: 3.695000000000e+00 total movement = 1.979606528555e-04 vel = 1.979069027921e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.090320, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.090320, acc = -15.461646,T = 0.002721, P = 0.002457 on final decel tc id = 37, canon_type = 2, mot type = 1 tc state : vr = 0.108232, vf = 0.000000, maxvel = 8.530081, current_vel = 0.107479, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.107479, acc = 15.354146,T = 0.018732, P = 0.000376 tc id = 38, canon_type = 2, mot type = 1 secondary movement = 0.000100 time: 3.696000 primary movement = 9.805120392928e-05 time: 3.696000000000e+00 total movement = 1.978531527286e-04 vel = 1.977994026651e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.074859, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.074859, acc = -15.461646,T = 0.002721, P = 0.002539 on final decel tc id = 37, canon_type = 2, mot type = 1 tc state : vr = 0.123693, vf = 0.000000, maxvel = 8.530081, current_vel = 0.122833, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.122833, acc = 15.354146,T = 0.018732, P = 0.000491 tc id = 38, canon_type = 2, mot type = 1 secondary movement = 0.000115 time: 3.697000 primary movement = 8.258955783322e-05 time: 3.697000000000e+00 total movement = 1.977456526017e-04 vel = 1.976919025382e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.059397, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.059397, acc = -15.461646,T = 0.002721, P = 0.002607 on final decel tc id = 37, canon_type = 2, mot type = 1 tc state : vr = 0.139155, vf = 0.000000, maxvel = 8.530081, current_vel = 0.138187, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.138187, acc = 15.354146,T = 0.018732, P = 0.000622 tc id = 38, canon_type = 2, mot type = 1 secondary movement = 0.000131 time: 3.698000 primary movement = 6.712791173706e-05 time: 3.698000000000e+00 total movement = 1.976381524746e-04 vel = 1.975844024113e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.043935, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.043935, acc = -15.461646,T = 0.002721, P = 0.002658 on final decel tc id = 37, canon_type = 2, mot type = 1 tc state : vr = 0.154616, vf = 0.000000, maxvel = 8.530081, current_vel = 0.153541, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.153541, acc = 15.354146,T = 0.018732, P = 0.000768 tc id = 38, canon_type = 2, mot type = 1 secondary movement = 0.000146 time: 3.699000 primary movement = 5.166626564112e-05 time: 3.699000000000e+00 total movement = 1.975306523478e-04 vel = 1.974769022843e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.028474, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.028474, acc = -15.461646,T = 0.002721, P = 0.002694 on final decel tc id = 37, canon_type = 2, mot type = 1 tc state : vr = 0.170078, vf = 0.000000, maxvel = 8.530081, current_vel = 0.168896, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.168896, acc = 15.354146,T = 0.018732, P = 0.000929 tc id = 38, canon_type = 2, mot type = 1 secondary movement = 0.000161 time: 3.700000 primary movement = 3.620461954495e-05 time: 3.700000000000e+00 total movement = 1.974231522208e-04 vel = 1.973694021574e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.013012, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.013012, acc = -15.461646,T = 0.002721, P = 0.002715 on final decel tc id = 37, canon_type = 2, mot type = 1 tc state : vr = 0.185540, vf = 0.000000, maxvel = 8.530081, current_vel = 0.184250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.184250, acc = 15.354146,T = 0.018732, P = 0.001105 tc id = 38, canon_type = 2, mot type = 1 secondary movement = 0.000177 time: 3.701000 primary movement = 2.074297344901e-05 time: 3.701000000000e+00 total movement = 1.973156520940e-04 vel = 1.972619020304e-01 ------------------- Found newvel = -0.002449, assuming segment is done segment 37 at target in runcycle tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.002721, P = 0.002721 tc id = 37, canon_type = 2, mot type = 1 tc state : vr = 0.198552, vf = 0.000000, maxvel = 8.530081, current_vel = 0.198552, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.198552, acc = 14.302152,T = 0.018732, P = 0.001297 tc id = 38, canon_type = 2, mot type = 1 secondary movement = 0.000191 time: 3.702000 primary movement = 5.475356795863e-06 time: 3.702000000000e+00 total movement = 1.968761843875e-04 vel = 1.985519035537e-01 Finished tc id 37 ------------------- Activate nexttc id 39 tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.213906, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.213906, acc = 15.354146,T = 0.018732, P = 0.001503 tc id = 38, canon_type = 2, mot type = 1 time: 3.703000 primary movement = 2.062289765382e-04 time: 3.703000000000e+00 total movement = 2.062289765382e-04 vel = 2.139060495228e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.229260, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.229260, acc = 15.354146,T = 0.018732, P = 0.001725 tc id = 38, canon_type = 2, mot type = 1 time: 3.704000 primary movement = 2.215831225074e-04 time: 3.704000000000e+00 total movement = 2.215831225074e-04 vel = 2.292601954920e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.244614, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.244614, acc = 15.354146,T = 0.018732, P = 0.001962 tc id = 38, canon_type = 2, mot type = 1 time: 3.705000 primary movement = 2.369372684765e-04 time: 3.705000000000e+00 total movement = 2.369372684765e-04 vel = 2.446143414611e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.259968, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.259968, acc = 15.354146,T = 0.018732, P = 0.002214 tc id = 38, canon_type = 2, mot type = 1 time: 3.706000 primary movement = 2.522914144456e-04 time: 3.706000000000e+00 total movement = 2.522914144456e-04 vel = 2.599684874302e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.275323, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.275323, acc = 15.354146,T = 0.018732, P = 0.002482 tc id = 38, canon_type = 2, mot type = 1 time: 3.707000 primary movement = 2.676455604148e-04 time: 3.707000000000e+00 total movement = 2.676455604148e-04 vel = 2.753226333993e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.290677, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.290677, acc = 15.354146,T = 0.018732, P = 0.002765 tc id = 38, canon_type = 2, mot type = 1 time: 3.708000 primary movement = 2.829997063839e-04 time: 3.708000000000e+00 total movement = 2.829997063839e-04 vel = 2.906767793685e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.306031, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.306031, acc = 15.354146,T = 0.018732, P = 0.003063 tc id = 38, canon_type = 2, mot type = 1 time: 3.709000 primary movement = 2.983538523530e-04 time: 3.709000000000e+00 total movement = 2.983538523530e-04 vel = 3.060309253376e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.321385, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.321385, acc = 15.354146,T = 0.018732, P = 0.003377 tc id = 38, canon_type = 2, mot type = 1 time: 3.710000 primary movement = 3.137079983221e-04 time: 3.710000000000e+00 total movement = 3.137079983221e-04 vel = 3.213850713067e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.336739, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.336739, acc = 15.354146,T = 0.018732, P = 0.003706 tc id = 38, canon_type = 2, mot type = 1 time: 3.711000 primary movement = 3.290621442913e-04 time: 3.711000000000e+00 total movement = 3.290621442913e-04 vel = 3.367392172758e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.352093, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.352093, acc = 15.354146,T = 0.018732, P = 0.004050 tc id = 38, canon_type = 2, mot type = 1 time: 3.712000 primary movement = 3.444162902604e-04 time: 3.712000000000e+00 total movement = 3.444162902604e-04 vel = 3.520933632450e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.367448, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.367448, acc = 15.354146,T = 0.018732, P = 0.004410 tc id = 38, canon_type = 2, mot type = 1 time: 3.713000 primary movement = 3.597704362295e-04 time: 3.713000000000e+00 total movement = 3.597704362295e-04 vel = 3.674475092141e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.382802, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.382802, acc = 15.354146,T = 0.018732, P = 0.004785 tc id = 38, canon_type = 2, mot type = 1 time: 3.714000 primary movement = 3.751245821987e-04 time: 3.714000000000e+00 total movement = 3.751245821987e-04 vel = 3.828016551832e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.398156, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.398156, acc = 15.354146,T = 0.018732, P = 0.005175 tc id = 38, canon_type = 2, mot type = 1 time: 3.715000 primary movement = 3.904787281678e-04 time: 3.715000000000e+00 total movement = 3.904787281678e-04 vel = 3.981558011524e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.413510, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.413510, acc = 15.354146,T = 0.018732, P = 0.005581 tc id = 38, canon_type = 2, mot type = 1 time: 3.716000 primary movement = 4.058328741369e-04 time: 3.716000000000e+00 total movement = 4.058328741369e-04 vel = 4.135099471215e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.428864, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.428864, acc = 15.354146,T = 0.018732, P = 0.006003 tc id = 38, canon_type = 2, mot type = 1 time: 3.717000 primary movement = 4.211870201060e-04 time: 3.717000000000e+00 total movement = 4.211870201060e-04 vel = 4.288640930906e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.444218, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.444218, acc = 15.354146,T = 0.018732, P = 0.006439 tc id = 38, canon_type = 2, mot type = 1 time: 3.718000 primary movement = 4.365411660752e-04 time: 3.718000000000e+00 total movement = 4.365411660752e-04 vel = 4.442182390597e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.459572, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.459572, acc = 15.354146,T = 0.018732, P = 0.006891 tc id = 38, canon_type = 2, mot type = 1 time: 3.719000 primary movement = 4.518953120443e-04 time: 3.719000000000e+00 total movement = 4.518953120443e-04 vel = 4.595723850289e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.474927, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.474927, acc = 15.354146,T = 0.018732, P = 0.007358 tc id = 38, canon_type = 2, mot type = 1 time: 3.720000 primary movement = 4.672494580134e-04 time: 3.720000000000e+00 total movement = 4.672494580134e-04 vel = 4.749265309980e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.490281, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.490281, acc = 15.354146,T = 0.018732, P = 0.007841 tc id = 38, canon_type = 2, mot type = 1 time: 3.721000 primary movement = 4.826036039826e-04 time: 3.721000000000e+00 total movement = 4.826036039826e-04 vel = 4.902806769671e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.505635, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.505635, acc = 15.354146,T = 0.018732, P = 0.008339 tc id = 38, canon_type = 2, mot type = 1 time: 3.722000 primary movement = 4.979577499517e-04 time: 3.722000000000e+00 total movement = 4.979577499517e-04 vel = 5.056348229363e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.520989, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.520989, acc = 15.354146,T = 0.018732, P = 0.008852 tc id = 38, canon_type = 2, mot type = 1 time: 3.723000 primary movement = 5.133118959208e-04 time: 3.723000000000e+00 total movement = 5.133118959208e-04 vel = 5.209889689054e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.535882, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.535882, acc = 14.893425,T = 0.018732, P = 0.009381 tc id = 38, canon_type = 2, mot type = 1 time: 3.724000 primary movement = 5.284356814703e-04 time: 3.724000000000e+00 total movement = 5.284356814703e-04 vel = 5.358823940351e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.520528, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.520528, acc = -15.354146,T = 0.018732, P = 0.009909 on final decel tc id = 38, canon_type = 2, mot type = 1 time: 3.725000 primary movement = 5.282053210505e-04 time: 3.725000000000e+00 total movement = 5.282053210505e-04 vel = 5.205282480660e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.505174, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.505174, acc = -15.354146,T = 0.018732, P = 0.010422 on final decel tc id = 38, canon_type = 2, mot type = 1 time: 3.726000 primary movement = 5.128511750814e-04 time: 3.726000000000e+00 total movement = 5.128511750814e-04 vel = 5.051741020969e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.489820, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.489820, acc = -15.354146,T = 0.018732, P = 0.010919 on final decel tc id = 38, canon_type = 2, mot type = 1 time: 3.727000 primary movement = 4.974970291123e-04 time: 3.727000000000e+00 total movement = 4.974970291123e-04 vel = 4.898199561277e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.474466, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.474466, acc = -15.354146,T = 0.018732, P = 0.011401 on final decel tc id = 38, canon_type = 2, mot type = 1 time: 3.728000 primary movement = 4.821428831432e-04 time: 3.728000000000e+00 total movement = 4.821428831432e-04 vel = 4.744658101586e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.459112, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.459112, acc = -15.354146,T = 0.018732, P = 0.011868 on final decel tc id = 38, canon_type = 2, mot type = 1 time: 3.729000 primary movement = 4.667887371740e-04 time: 3.729000000000e+00 total movement = 4.667887371740e-04 vel = 4.591116641895e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.443758, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.443758, acc = -15.354146,T = 0.018732, P = 0.012319 on final decel tc id = 38, canon_type = 2, mot type = 1 time: 3.730000 primary movement = 4.514345912049e-04 time: 3.730000000000e+00 total movement = 4.514345912049e-04 vel = 4.437575182203e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.428403, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.428403, acc = -15.354146,T = 0.018732, P = 0.012756 on final decel tc id = 38, canon_type = 2, mot type = 1 time: 3.731000 primary movement = 4.360804452358e-04 time: 3.731000000000e+00 total movement = 4.360804452358e-04 vel = 4.284033722512e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.413049, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.413049, acc = -15.354146,T = 0.018732, P = 0.013176 on final decel tc id = 38, canon_type = 2, mot type = 1 time: 3.732000 primary movement = 4.207262992666e-04 time: 3.732000000000e+00 total movement = 4.207262992666e-04 vel = 4.130492262821e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.397695, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.397695, acc = -15.354146,T = 0.018732, P = 0.013582 on final decel tc id = 38, canon_type = 2, mot type = 1 time: 3.733000 primary movement = 4.053721532975e-04 time: 3.733000000000e+00 total movement = 4.053721532975e-04 vel = 3.976950803130e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.382341, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.382341, acc = -15.354146,T = 0.018732, P = 0.013972 on final decel tc id = 38, canon_type = 2, mot type = 1 time: 3.734000 primary movement = 3.900180073284e-04 time: 3.734000000000e+00 total movement = 3.900180073284e-04 vel = 3.823409343438e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.366987, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.366987, acc = -15.354146,T = 0.018732, P = 0.014346 on final decel tc id = 38, canon_type = 2, mot type = 1 time: 3.735000 primary movement = 3.746638613593e-04 time: 3.735000000000e+00 total movement = 3.746638613593e-04 vel = 3.669867883747e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.351633, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.351633, acc = -15.354146,T = 0.018732, P = 0.014706 on final decel tc id = 38, canon_type = 2, mot type = 1 time: 3.736000 primary movement = 3.593097153902e-04 time: 3.736000000000e+00 total movement = 3.593097153902e-04 vel = 3.516326424056e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.336278, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.336278, acc = -15.354146,T = 0.018732, P = 0.015050 on final decel tc id = 38, canon_type = 2, mot type = 1 time: 3.737000 primary movement = 3.439555694210e-04 time: 3.737000000000e+00 total movement = 3.439555694210e-04 vel = 3.362784964364e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.320924, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.320924, acc = -15.354146,T = 0.018732, P = 0.015378 on final decel tc id = 38, canon_type = 2, mot type = 1 time: 3.738000 primary movement = 3.286014234519e-04 time: 3.738000000000e+00 total movement = 3.286014234519e-04 vel = 3.209243504673e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.305570, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.305570, acc = -15.354146,T = 0.018732, P = 0.015691 on final decel tc id = 38, canon_type = 2, mot type = 1 time: 3.739000 primary movement = 3.132472774827e-04 time: 3.739000000000e+00 total movement = 3.132472774827e-04 vel = 3.055702044982e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.290216, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.290216, acc = -15.354146,T = 0.018732, P = 0.015989 on final decel tc id = 38, canon_type = 2, mot type = 1 time: 3.740000 primary movement = 2.978931315136e-04 time: 3.740000000000e+00 total movement = 2.978931315136e-04 vel = 2.902160585291e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.274862, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.274862, acc = -15.354146,T = 0.018732, P = 0.016272 on final decel tc id = 38, canon_type = 2, mot type = 1 time: 3.741000 primary movement = 2.825389855445e-04 time: 3.741000000000e+00 total movement = 2.825389855445e-04 vel = 2.748619125599e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.259508, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.259508, acc = -15.354146,T = 0.018732, P = 0.016539 on final decel tc id = 38, canon_type = 2, mot type = 1 time: 3.742000 primary movement = 2.671848395754e-04 time: 3.742000000000e+00 total movement = 2.671848395754e-04 vel = 2.595077665908e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.244154, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.244154, acc = -15.354146,T = 0.018732, P = 0.016791 on final decel tc id = 38, canon_type = 2, mot type = 1 time: 3.743000 primary movement = 2.518306936063e-04 time: 3.743000000000e+00 total movement = 2.518306936063e-04 vel = 2.441536206217e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.228799, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.228799, acc = -15.354146,T = 0.018732, P = 0.017027 on final decel tc id = 38, canon_type = 2, mot type = 1 time: 3.744000 primary movement = 2.364765476371e-04 time: 3.744000000000e+00 total movement = 2.364765476371e-04 vel = 2.287994746526e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.213445, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.213445, acc = -15.354146,T = 0.018732, P = 0.017248 on final decel tc id = 38, canon_type = 2, mot type = 1 time: 3.745000 primary movement = 2.211224016680e-04 time: 3.745000000000e+00 total movement = 2.211224016680e-04 vel = 2.134453286834e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.198091, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.198091, acc = -15.354146,T = 0.018732, P = 0.017454 on final decel tc id = 38, canon_type = 2, mot type = 1 time: 3.746000 primary movement = 2.057682556988e-04 time: 3.746000000000e+00 total movement = 2.057682556988e-04 vel = 1.980911827143e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.182737, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.182737, acc = -15.354146,T = 0.018732, P = 0.017645 on final decel tc id = 38, canon_type = 2, mot type = 1 time: 3.747000 primary movement = 1.904141097298e-04 time: 3.747000000000e+00 total movement = 1.904141097298e-04 vel = 1.827370367452e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.167383, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.167383, acc = -15.354146,T = 0.018732, P = 0.017820 on final decel tc id = 38, canon_type = 2, mot type = 1 time: 3.748000 primary movement = 1.750599637606e-04 time: 3.748000000000e+00 total movement = 1.750599637606e-04 vel = 1.673828907760e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.152029, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.152029, acc = -15.354146,T = 0.018732, P = 0.017979 on final decel tc id = 38, canon_type = 2, mot type = 1 time: 3.749000 primary movement = 1.597058177915e-04 time: 3.749000000000e+00 total movement = 1.597058177915e-04 vel = 1.520287448069e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.136675, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.136675, acc = -15.354146,T = 0.018732, P = 0.018124 on final decel tc id = 38, canon_type = 2, mot type = 1 time: 3.750000 primary movement = 1.443516718223e-04 time: 3.750000000000e+00 total movement = 1.443516718223e-04 vel = 1.366745988378e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.121320, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.121320, acc = -15.354146,T = 0.018732, P = 0.018253 on final decel tc id = 38, canon_type = 2, mot type = 1 tc state : vr = 0.015354, vf = 0.015354, maxvel = 8.426528, current_vel = 0.015168, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.015168, acc = 15.167811,T = 0.001199, P = 0.000008 initial results: dx= 0.001191,dt = 0.011574, a_f = 15.167811, v_f = 0.190717 recalculating with a_f = 15.167811, a = 15.167811 revised dt = 0.011574 dt = 0.011574, not at end yet tc id = 38, canon_type = 2, mot type = 1 secondary movement = 0.000008 time: 3.751000 primary movement = 1.289975258532e-04 time: 3.751000000000e+00 total movement = 1.365814315093e-04 vel = 1.364882641808e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.105966, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.105966, acc = -15.354146,T = 0.018732, P = 0.018366 on final decel tc id = 38, canon_type = 2, mot type = 1 tc state : vr = 0.030708, vf = 0.030708, maxvel = 8.426528, current_vel = 0.030336, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.030336, acc = 15.167811,T = 0.001199, P = 0.000030 initial results: dx= 0.001169,dt = 0.010574, a_f = 15.167811, v_f = 0.190717 dt = 0.010574, not at end yet tc id = 38, canon_type = 2, mot type = 1 secondary movement = 0.000023 time: 3.752000 primary movement = 1.136433798841e-04 time: 3.752000000000e+00 total movement = 1.363950968522e-04 vel = 1.363019295238e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.090612, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.090612, acc = -15.354146,T = 0.018732, P = 0.018465 on final decel tc id = 38, canon_type = 2, mot type = 1 tc state : vr = 0.046062, vf = 0.046062, maxvel = 8.426528, current_vel = 0.045503, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.045503, acc = 15.167811,T = 0.001199, P = 0.000068 initial results: dx= 0.001131,dt = 0.009574, a_f = 15.167811, v_f = 0.190717 dt = 0.009574, not at end yet tc id = 38, canon_type = 2, mot type = 1 secondary movement = 0.000038 time: 3.753000 primary movement = 9.828923391497e-05 time: 3.753000000000e+00 total movement = 1.362087621953e-04 vel = 1.361155948668e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.075258, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.075258, acc = -15.354146,T = 0.018732, P = 0.018548 on final decel tc id = 38, canon_type = 2, mot type = 1 tc state : vr = 0.061417, vf = 0.061417, maxvel = 8.426528, current_vel = 0.060671, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.060671, acc = 15.167811,T = 0.001199, P = 0.000121 initial results: dx= 0.001078,dt = 0.008574, a_f = 15.167811, v_f = 0.190717 dt = 0.008574, not at end yet tc id = 38, canon_type = 2, mot type = 1 secondary movement = 0.000053 time: 3.754000 primary movement = 8.293508794583e-05 time: 3.754000000000e+00 total movement = 1.360224275383e-04 vel = 1.359292602097e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.059904, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.059904, acc = -15.354146,T = 0.018732, P = 0.018615 on final decel tc id = 38, canon_type = 2, mot type = 1 tc state : vr = 0.076771, vf = 0.076771, maxvel = 8.426528, current_vel = 0.075839, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.075839, acc = 15.167811,T = 0.001199, P = 0.000190 initial results: dx= 0.001009,dt = 0.007574, a_f = 15.167811, v_f = 0.190717 dt = 0.007574, not at end yet tc id = 39, canon_type = 2, mot type = 1 secondary movement = 0.000068 time: 3.755000 primary movement = 6.758094197672e-05 time: 3.755000000000e+00 total movement = 1.358360928813e-04 vel = 1.357429255527e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.044550, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.044550, acc = -15.354146,T = 0.018732, P = 0.018667 on final decel tc id = 38, canon_type = 2, mot type = 1 tc state : vr = 0.092125, vf = 0.092125, maxvel = 8.426528, current_vel = 0.091007, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.091007, acc = 15.167811,T = 0.001199, P = 0.000273 initial results: dx= 0.000926,dt = 0.006574, a_f = 15.167811, v_f = 0.190717 dt = 0.006574, not at end yet tc id = 39, canon_type = 2, mot type = 1 secondary movement = 0.000083 time: 3.756000 primary movement = 5.222679600759e-05 time: 3.756000000000e+00 total movement = 1.356497582242e-04 vel = 1.355565908957e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.029196, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.029196, acc = -15.354146,T = 0.018732, P = 0.018704 on final decel tc id = 38, canon_type = 2, mot type = 1 tc state : vr = 0.107479, vf = 0.107479, maxvel = 8.426528, current_vel = 0.106175, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.106175, acc = 15.167811,T = 0.001199, P = 0.000372 initial results: dx= 0.000827,dt = 0.005574, a_f = 15.167811, v_f = 0.190717 dt = 0.005574, not at end yet tc id = 39, canon_type = 2, mot type = 1 secondary movement = 0.000099 time: 3.757000 primary movement = 3.687265003845e-05 time: 3.757000000000e+00 total movement = 1.354634235672e-04 vel = 1.353702562387e-01 ------------------- tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.013841, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.013841, acc = -15.354146,T = 0.018732, P = 0.018726 on final decel tc id = 38, canon_type = 2, mot type = 1 tc state : vr = 0.122833, vf = 0.122833, maxvel = 8.426528, current_vel = 0.121342, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.121342, acc = 15.167811,T = 0.001199, P = 0.000485 initial results: dx= 0.000714,dt = 0.004574, a_f = 15.167811, v_f = 0.190717 dt = 0.004574, not at end yet tc id = 39, canon_type = 2, mot type = 1 secondary movement = 0.000114 time: 3.758000 primary movement = 2.151850406932e-05 time: 3.758000000000e+00 total movement = 1.352770889103e-04 vel = 1.351839215817e-01 ------------------- Found newvel = -0.001513, assuming segment is done segment 38 at target in runcycle tc state : vr = 8.530081, vf = 0.000000, maxvel = 8.530081, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.018732, P = 0.018732 tc id = 38, canon_type = 2, mot type = 1 tc state : vr = 0.136675, vf = 0.136675, maxvel = 8.426528, current_vel = 0.136510, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.136510, acc = 15.167811,T = 0.001199, P = 0.000614 initial results: dx= 0.000585,dt = 0.003574, a_f = 15.167811, v_f = 0.190717 dt = 0.003574, not at end yet tc id = 39, canon_type = 2, mot type = 1 secondary movement = 0.000129 time: 3.759000 primary movement = 6.238875638537e-06 time: 3.759000000000e+00 total movement = 1.351652717915e-04 vel = 1.365103018091e-01 Finished tc id 38 ------------------- tc state : vr = 0.570963, vf = 0.190717, maxvel = 8.426528, current_vel = 0.151678, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.151678, acc = 15.167811,T = 0.001199, P = 0.000758 initial results: dx= 0.000441,dt = 0.002574, a_f = 15.167811, v_f = 0.190717 dt = 0.002574, not at end yet tc id = 39, canon_type = 2, mot type = 1 time: 3.760000 primary movement = 1.440942074652e-04 time: 3.760000000000e+00 total movement = 1.440942074652e-04 vel = 1.516781131212e-01 ------------------- tc state : vr = 0.570963, vf = 0.190717, maxvel = 8.426528, current_vel = 0.166846, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.166846, acc = 15.167811,T = 0.001199, P = 0.000918 initial results: dx= 0.000281,dt = 0.001574, a_f = 15.167811, v_f = 0.190717 dt = 0.001574, not at end yet tc id = 39, canon_type = 2, mot type = 1 time: 3.761000 primary movement = 1.592620187772e-04 time: 3.761000000000e+00 total movement = 1.592620187772e-04 vel = 1.668459244333e-01 ------------------- tc state : vr = 0.570963, vf = 0.190717, maxvel = 8.426528, current_vel = 0.182014, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.182014, acc = 15.167811,T = 0.001199, P = 0.001092 initial results: dx= 0.000107,dt = 0.000574, a_f = 15.167811, v_f = 0.190717 recalculating with a_f = 15.167811, a = 15.167811 revised dt = 0.000574 actual v_f = 0.190717, a = 15.167811 split time is 0.000573817 tc id = 39, canon_type = 2, mot type = 1 time: 3.762000 primary movement = 1.744298300894e-04 time: 3.762000000000e+00 total movement = 1.744298300894e-04 vel = 1.820137357454e-01 ------------------- tc id 39 done Finishing split-cycle on id 40 tc state : vr = 0.561249, vf = 0.561249, maxvel = 0.570963, current_vel = 0.197110, fs = 1.000000, tc = 0.000426, term = 3 tc result: v = 0.197110, acc = 15.000000,T = 0.009288, P = 0.000083 initial results: dx= 0.009205,dt = 0.024276, a_f = 15.000000, v_f = 0.561249 dt = 0.024276, not at end yet secondary movement = 0.000083 tc id = 40, canon_type = 3, mot type = 2 time: 3.763000 primary movement = 1.069397530167e-04 time: 3.763000000000e+00 total movement = 1.895822521009e-04 vel = 1.971100287778e-01 Finished tc id 39 ------------------- Activate tc id = 40 target_vel = 0.561249 final_vel = 0.561249 length = 0.009288 tc state : vr = 0.561249, vf = 0.561249, maxvel = 0.570963, current_vel = 0.212110, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.212110, acc = 15.000000,T = 0.009288, P = 0.000287 initial results: dx= 0.009000,dt = 0.023276, a_f = 15.000000, v_f = 0.561249 dt = 0.023276, not at end yet tc id = 40, canon_type = 3, mot type = 2 time: 3.764000 primary movement = 2.046077618370e-04 time: 3.764000000000e+00 total movement = 2.046077618370e-04 vel = 2.121100287778e-01 ------------------- tc state : vr = 0.561249, vf = 0.561249, maxvel = 0.570963, current_vel = 0.227110, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.227110, acc = 15.000000,T = 0.009288, P = 0.000507 initial results: dx= 0.008781,dt = 0.022276, a_f = 15.000000, v_f = 0.561249 recalculating with a_f = 15.000000, a = 15.000000 revised dt = 0.022276 dt = 0.022276, not at end yet tc id = 40, canon_type = 3, mot type = 2 time: 3.765000 primary movement = 2.196072258255e-04 time: 3.765000000000e+00 total movement = 2.196072258255e-04 vel = 2.271100287778e-01 ------------------- tc state : vr = 0.561249, vf = 0.561249, maxvel = 0.570963, current_vel = 0.242110, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.242110, acc = 15.000000,T = 0.009288, P = 0.000741 initial results: dx= 0.008546,dt = 0.021276, a_f = 15.000000, v_f = 0.561249 recalculating with a_f = 15.000000, a = 15.000000 revised dt = 0.021276 dt = 0.021276, not at end yet tc id = 40, canon_type = 3, mot type = 2 time: 3.766000 primary movement = 2.346066113552e-04 time: 3.766000000000e+00 total movement = 2.346066113552e-04 vel = 2.421100287778e-01 ------------------- tc state : vr = 0.561249, vf = 0.561249, maxvel = 0.570963, current_vel = 0.257110, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.257110, acc = 15.000000,T = 0.009288, P = 0.000991 initial results: dx= 0.008296,dt = 0.020276, a_f = 15.000000, v_f = 0.561249 dt = 0.020276, not at end yet tc id = 40, canon_type = 3, mot type = 2 time: 3.767000 primary movement = 2.496059130674e-04 time: 3.767000000000e+00 total movement = 2.496059130674e-04 vel = 2.571100287778e-01 ------------------- tc state : vr = 0.561249, vf = 0.561249, maxvel = 0.570963, current_vel = 0.272110, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.272110, acc = 15.000000,T = 0.009288, P = 0.001256 initial results: dx= 0.008032,dt = 0.019276, a_f = 15.000000, v_f = 0.561249 dt = 0.019276, not at end yet tc id = 40, canon_type = 3, mot type = 2 time: 3.768000 primary movement = 2.646051256034e-04 time: 3.768000000000e+00 total movement = 2.646051256034e-04 vel = 2.721100287778e-01 ------------------- tc state : vr = 0.561249, vf = 0.561249, maxvel = 0.570963, current_vel = 0.287110, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.287110, acc = 15.000000,T = 0.009288, P = 0.001535 initial results: dx= 0.007752,dt = 0.018276, a_f = 15.000000, v_f = 0.561249 dt = 0.018276, not at end yet tc id = 40, canon_type = 3, mot type = 2 time: 3.769000 primary movement = 2.796042436041e-04 time: 3.769000000000e+00 total movement = 2.796042436041e-04 vel = 2.871100287778e-01 ------------------- tc state : vr = 0.561249, vf = 0.561249, maxvel = 0.570963, current_vel = 0.302110, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.302110, acc = 15.000000,T = 0.009288, P = 0.001830 initial results: dx= 0.007458,dt = 0.017276, a_f = 15.000000, v_f = 0.561249 dt = 0.017276, not at end yet tc id = 40, canon_type = 3, mot type = 2 time: 3.770000 primary movement = 2.946032617113e-04 time: 3.770000000000e+00 total movement = 2.946032617113e-04 vel = 3.021100287778e-01 ------------------- tc state : vr = 0.561249, vf = 0.561249, maxvel = 0.570963, current_vel = 0.317110, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.317110, acc = 15.000000,T = 0.009288, P = 0.002140 initial results: dx= 0.007148,dt = 0.016276, a_f = 15.000000, v_f = 0.561249 dt = 0.016276, not at end yet tc id = 40, canon_type = 3, mot type = 2 time: 3.771000 primary movement = 3.096021745659e-04 time: 3.771000000000e+00 total movement = 3.096021745659e-04 vel = 3.171100287778e-01 ------------------- tc state : vr = 0.561249, vf = 0.561249, maxvel = 0.570963, current_vel = 0.332110, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.332110, acc = 15.000000,T = 0.009288, P = 0.002464 initial results: dx= 0.006823,dt = 0.015276, a_f = 15.000000, v_f = 0.561249 dt = 0.015276, not at end yet tc id = 40, canon_type = 3, mot type = 2 time: 3.772000 primary movement = 3.246009768094e-04 time: 3.772000000000e+00 total movement = 3.246009768094e-04 vel = 3.321100287778e-01 ------------------- tc state : vr = 0.561249, vf = 0.561249, maxvel = 0.570963, current_vel = 0.347110, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.347110, acc = 15.000000,T = 0.009288, P = 0.002804 initial results: dx= 0.006484,dt = 0.014276, a_f = 15.000000, v_f = 0.561249 dt = 0.014276, not at end yet tc id = 40, canon_type = 3, mot type = 2 time: 3.773000 primary movement = 3.395996630833e-04 time: 3.773000000000e+00 total movement = 3.395996630833e-04 vel = 3.471100287778e-01 ------------------- tc state : vr = 0.561249, vf = 0.561249, maxvel = 0.570963, current_vel = 0.362110, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.362110, acc = 15.000000,T = 0.009288, P = 0.003158 initial results: dx= 0.006129,dt = 0.013276, a_f = 15.000000, v_f = 0.561249 dt = 0.013276, not at end yet tc id = 40, canon_type = 3, mot type = 2 time: 3.774000 primary movement = 3.545982280289e-04 time: 3.774000000000e+00 total movement = 3.545982280289e-04 vel = 3.621100287778e-01 ------------------- tc state : vr = 0.561249, vf = 0.561249, maxvel = 0.570963, current_vel = 0.377110, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.377110, acc = 15.000000,T = 0.009288, P = 0.003528 initial results: dx= 0.005760,dt = 0.012276, a_f = 15.000000, v_f = 0.561249 dt = 0.012276, not at end yet tc id = 40, canon_type = 3, mot type = 2 time: 3.775000 primary movement = 3.695966662880e-04 time: 3.775000000000e+00 total movement = 3.695966662880e-04 vel = 3.771100287778e-01 ------------------- tc state : vr = 0.561249, vf = 0.561249, maxvel = 0.570963, current_vel = 0.392110, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.392110, acc = 15.000000,T = 0.009288, P = 0.003913 initial results: dx= 0.005375,dt = 0.011276, a_f = 15.000000, v_f = 0.561249 dt = 0.011276, not at end yet tc id = 40, canon_type = 3, mot type = 2 time: 3.776000 primary movement = 3.845949725015e-04 time: 3.776000000000e+00 total movement = 3.845949725015e-04 vel = 3.921100287778e-01 ------------------- tc state : vr = 0.561249, vf = 0.561249, maxvel = 0.570963, current_vel = 0.407110, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.407110, acc = 15.000000,T = 0.009288, P = 0.004312 initial results: dx= 0.004975,dt = 0.010276, a_f = 15.000000, v_f = 0.561249 dt = 0.010276, not at end yet tc id = 40, canon_type = 3, mot type = 2 time: 3.777000 primary movement = 3.995931413116e-04 time: 3.777000000000e+00 total movement = 3.995931413116e-04 vel = 4.071100287778e-01 ------------------- tc state : vr = 0.561249, vf = 0.561249, maxvel = 0.570963, current_vel = 0.422110, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.422110, acc = 15.000000,T = 0.009288, P = 0.004727 initial results: dx= 0.004561,dt = 0.009276, a_f = 15.000000, v_f = 0.561249 dt = 0.009276, not at end yet tc id = 40, canon_type = 3, mot type = 2 time: 3.778000 primary movement = 4.145911673597e-04 time: 3.778000000000e+00 total movement = 4.145911673597e-04 vel = 4.221100287778e-01 ------------------- tc state : vr = 0.561249, vf = 0.561249, maxvel = 0.570963, current_vel = 0.437110, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.437110, acc = 15.000000,T = 0.009288, P = 0.005156 initial results: dx= 0.004131,dt = 0.008276, a_f = 15.000000, v_f = 0.561249 dt = 0.008276, not at end yet tc id = 40, canon_type = 3, mot type = 2 time: 3.779000 primary movement = 4.295890452874e-04 time: 3.779000000000e+00 total movement = 4.295890452874e-04 vel = 4.371100287778e-01 ------------------- tc state : vr = 0.561249, vf = 0.561249, maxvel = 0.570963, current_vel = 0.452110, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.452110, acc = 15.000000,T = 0.009288, P = 0.005601 initial results: dx= 0.003687,dt = 0.007276, a_f = 15.000000, v_f = 0.561249 dt = 0.007276, not at end yet tc id = 40, canon_type = 3, mot type = 2 time: 3.780000 primary movement = 4.445867697366e-04 time: 3.780000000000e+00 total movement = 4.445867697366e-04 vel = 4.521100287778e-01 ------------------- tc state : vr = 0.561249, vf = 0.561249, maxvel = 0.570963, current_vel = 0.467110, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.467110, acc = 15.000000,T = 0.009288, P = 0.006061 initial results: dx= 0.003227,dt = 0.006276, a_f = 15.000000, v_f = 0.561249 dt = 0.006276, not at end yet tc id = 40, canon_type = 3, mot type = 2 time: 3.781000 primary movement = 4.595843353488e-04 time: 3.781000000000e+00 total movement = 4.595843353488e-04 vel = 4.671100287778e-01 ------------------- tc state : vr = 0.561249, vf = 0.561249, maxvel = 0.570963, current_vel = 0.482110, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.482110, acc = 15.000000,T = 0.009288, P = 0.006535 initial results: dx= 0.002752,dt = 0.005276, a_f = 15.000000, v_f = 0.561249 dt = 0.005276, not at end yet tc id = 40, canon_type = 3, mot type = 2 time: 3.782000 primary movement = 4.745817367662e-04 time: 3.782000000000e+00 total movement = 4.745817367662e-04 vel = 4.821100287778e-01 ------------------- tc state : vr = 0.561249, vf = 0.561249, maxvel = 0.570963, current_vel = 0.497110, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.497110, acc = 15.000000,T = 0.009288, P = 0.007025 initial results: dx= 0.002263,dt = 0.004276, a_f = 15.000000, v_f = 0.561249 dt = 0.004276, not at end yet tc id = 40, canon_type = 3, mot type = 2 time: 3.783000 primary movement = 4.895789686306e-04 time: 3.783000000000e+00 total movement = 4.895789686306e-04 vel = 4.971100287778e-01 ------------------- tc state : vr = 0.561249, vf = 0.561249, maxvel = 0.570963, current_vel = 0.512110, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.512110, acc = 15.000000,T = 0.009288, P = 0.007529 initial results: dx= 0.001758,dt = 0.003276, a_f = 15.000000, v_f = 0.561249 dt = 0.003276, not at end yet tc id = 40, canon_type = 3, mot type = 2 time: 3.784000 primary movement = 5.045760255838e-04 time: 3.784000000000e+00 total movement = 5.045760255838e-04 vel = 5.121100287778e-01 ------------------- tc state : vr = 0.561249, vf = 0.561249, maxvel = 0.570963, current_vel = 0.527110, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.527110, acc = 15.000000,T = 0.009288, P = 0.008049 initial results: dx= 0.001239,dt = 0.002276, a_f = 15.000000, v_f = 0.561249 dt = 0.002276, not at end yet tc id = 40, canon_type = 3, mot type = 2 time: 3.785000 primary movement = 5.195729022679e-04 time: 3.785000000000e+00 total movement = 5.195729022679e-04 vel = 5.271100287778e-01 ------------------- tc state : vr = 0.561249, vf = 0.561249, maxvel = 0.570963, current_vel = 0.542110, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.542110, acc = 15.000000,T = 0.009288, P = 0.008584 initial results: dx= 0.000704,dt = 0.001276, a_f = 15.000000, v_f = 0.561249 dt = 0.001276, not at end yet tc id = 40, canon_type = 3, mot type = 2 time: 3.786000 primary movement = 5.345695933250e-04 time: 3.786000000000e+00 total movement = 5.345695933250e-04 vel = 5.421100287778e-01 ------------------- tc state : vr = 0.561249, vf = 0.561249, maxvel = 0.570963, current_vel = 0.557110, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.557110, acc = 15.000000,T = 0.009288, P = 0.009133 initial results: dx= 0.000154,dt = 0.000276, a_f = 15.000000, v_f = 0.561249 actual v_f = 0.561249, a = 15.000000 split time is 0.000275931 tc id = 40, canon_type = 3, mot type = 2 time: 3.787000 primary movement = 5.495660933973e-04 time: 3.787000000000e+00 total movement = 5.495660933973e-04 vel = 5.571100287778e-01 ------------------- tc id 40 done Finishing split-cycle on id 40 tc state : vr = 4.130190, vf = 0.421178, maxvel = 10.037446, current_vel = 0.587413, fs = 1.000000, tc = 0.000724, term = 3 tc result: v = 0.587413, acc = 36.134951,T = 0.008673, P = 0.000416 initial results: dx= 0.008258,dt = 0.016374, a_f = -10.152158, v_f = 0.421178 dt = 0.016374, not at end yet secondary movement = 0.000416 tc id = 40, canon_type = 2, mot type = 1 time: 3.788000 primary movement = 1.542937308019e-04 time: 3.788000000000e+00 total movement = 5.701493366723e-04 vel = 5.874132014610e-01 Finished tc id 40 ------------------- Activate tc id = 40 target_vel = 4.130190 final_vel = 0.421178 length = 0.008673 tc state : vr = 4.130190, vf = 0.421178, maxvel = 10.037446, current_vel = 0.623548, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.623548, acc = 36.134951,T = 0.008673, P = 0.001021 initial results: dx= 0.007652,dt = 0.014649, a_f = -13.814693, v_f = 0.421178 dt = 0.014649, not at end yet tc id = 40, canon_type = 2, mot type = 1 time: 3.789000 primary movement = 6.054806770309e-04 time: 3.789000000000e+00 total movement = 6.054806770309e-04 vel = 6.235481526008e-01 ------------------- tc state : vr = 4.130190, vf = 0.421178, maxvel = 10.037446, current_vel = 0.659683, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.659683, acc = 36.134951,T = 0.008673, P = 0.001663 initial results: dx= 0.007010,dt = 0.012972, a_f = -18.386223, v_f = 0.421178 dt = 0.012972, not at end yet tc id = 40, canon_type = 2, mot type = 1 time: 3.790000 primary movement = 6.416156281708e-04 time: 3.790000000000e+00 total movement = 6.416156281708e-04 vel = 6.596831037407e-01 ------------------- tc state : vr = 4.130190, vf = 0.421178, maxvel = 10.037446, current_vel = 0.695818, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.695818, acc = 36.134951,T = 0.008673, P = 0.002341 initial results: dx= 0.006333,dt = 0.011339, a_f = -24.221297, v_f = 0.421178 dt = 0.011339, not at end yet tc id = 40, canon_type = 2, mot type = 1 time: 3.791000 primary movement = 6.777505793106e-04 time: 3.791000000000e+00 total movement = 6.777505793106e-04 vel = 6.958180548805e-01 ------------------- tc state : vr = 4.130190, vf = 0.421178, maxvel = 10.037446, current_vel = 0.731953, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.731953, acc = 36.134951,T = 0.008673, P = 0.003055 initial results: dx= 0.005619,dt = 0.009745, a_f = -31.889725, v_f = 0.421178 dt = 0.009745, not at end yet tc id = 40, canon_type = 2, mot type = 1 time: 3.792000 primary movement = 7.138855304504e-04 time: 3.792000000000e+00 total movement = 7.138855304504e-04 vel = 7.319530060203e-01 ------------------- tc state : vr = 4.130190, vf = 0.421178, maxvel = 10.037446, current_vel = 0.728484, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.728484, acc = -3.469213,T = 0.008673, P = 0.003785 on final decel initial results: dx= 0.004889,dt = 0.008504, a_f = -36.134951, v_f = 0.421178 dt = 0.008504, not at end yet tc id = 40, canon_type = 2, mot type = 1 time: 3.793000 primary movement = 7.302183996028e-04 time: 3.793000000000e+00 total movement = 7.302183996028e-04 vel = 7.284837931854e-01 ------------------- tc state : vr = 4.130190, vf = 0.421178, maxvel = 10.037446, current_vel = 0.692349, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.692349, acc = -36.134951,T = 0.008673, P = 0.004495 on final decel initial results: dx= 0.004178,dt = 0.007504, a_f = -36.134951, v_f = 0.421178 dt = 0.007504, not at end yet tc id = 40, canon_type = 2, mot type = 1 time: 3.794000 primary movement = 7.104163176156e-04 time: 3.794000000000e+00 total movement = 7.104163176156e-04 vel = 6.923488420456e-01 ------------------- tc state : vr = 4.130190, vf = 0.421178, maxvel = 10.037446, current_vel = 0.656214, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.656214, acc = -36.134951,T = 0.008673, P = 0.005170 on final decel initial results: dx= 0.003504,dt = 0.006504, a_f = -36.134951, v_f = 0.421178 recalculating with a_f = -36.134951, a = -36.134951 revised dt = 0.006504 dt = 0.006504, not at end yet tc id = 40, canon_type = 2, mot type = 1 time: 3.795000 primary movement = 6.742813664757e-04 time: 3.795000000000e+00 total movement = 6.742813664757e-04 vel = 6.562138909058e-01 ------------------- tc state : vr = 4.130190, vf = 0.421178, maxvel = 10.037446, current_vel = 0.620079, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.620079, acc = -36.134951,T = 0.008673, P = 0.005808 on final decel initial results: dx= 0.002866,dt = 0.005504, a_f = -36.134951, v_f = 0.421178 dt = 0.005504, not at end yet tc id = 40, canon_type = 2, mot type = 1 time: 3.796000 primary movement = 6.381464153359e-04 time: 3.796000000000e+00 total movement = 6.381464153359e-04 vel = 6.200789397660e-01 ------------------- tc state : vr = 4.130190, vf = 0.421178, maxvel = 10.037446, current_vel = 0.583944, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.583944, acc = -36.134951,T = 0.008673, P = 0.006410 on final decel initial results: dx= 0.002264,dt = 0.004504, a_f = -36.134951, v_f = 0.421178 dt = 0.004504, not at end yet tc id = 40, canon_type = 2, mot type = 1 time: 3.797000 primary movement = 6.020114641961e-04 time: 3.797000000000e+00 total movement = 6.020114641961e-04 vel = 5.839439886261e-01 ------------------- tc state : vr = 4.130190, vf = 0.421178, maxvel = 10.037446, current_vel = 0.547809, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.547809, acc = -36.134951,T = 0.008673, P = 0.006976 on final decel initial results: dx= 0.001698,dt = 0.003504, a_f = -36.134951, v_f = 0.421178 recalculating with a_f = -36.134951, a = -36.134951 revised dt = 0.003504 dt = 0.003504, not at end yet tc id = 40, canon_type = 2, mot type = 1 time: 3.798000 primary movement = 5.658765130563e-04 time: 3.798000000000e+00 total movement = 5.658765130563e-04 vel = 5.478090374863e-01 ------------------- tc state : vr = 4.130190, vf = 0.421178, maxvel = 10.037446, current_vel = 0.511674, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.511674, acc = -36.134951,T = 0.008673, P = 0.007505 on final decel initial results: dx= 0.001168,dt = 0.002504, a_f = -36.134951, v_f = 0.421178 dt = 0.002504, not at end yet tc id = 40, canon_type = 2, mot type = 1 time: 3.799000 primary movement = 5.297415619164e-04 time: 3.799000000000e+00 total movement = 5.297415619164e-04 vel = 5.116740863465e-01 ------------------- tc state : vr = 4.130190, vf = 0.421178, maxvel = 10.037446, current_vel = 0.475539, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.475539, acc = -36.134951,T = 0.008673, P = 0.007999 on final decel initial results: dx= 0.000675,dt = 0.001504, a_f = -36.134951, v_f = 0.421178 dt = 0.001504, not at end yet tc id = 40, canon_type = 2, mot type = 1 time: 3.800000 primary movement = 4.936066107766e-04 time: 3.800000000000e+00 total movement = 4.936066107766e-04 vel = 4.755391352067e-01 ------------------- tc state : vr = 4.130190, vf = 0.421178, maxvel = 10.037446, current_vel = 0.439404, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.439404, acc = -36.134951,T = 0.008673, P = 0.008456 on final decel initial results: dx= 0.000217,dt = 0.000504, a_f = -36.134951, v_f = 0.421178 actual v_f = 0.421178, a = -36.134951 split time is 0.000504406 tc id = 40, canon_type = 2, mot type = 1 time: 3.801000 primary movement = 4.574716596368e-04 time: 3.801000000000e+00 total movement = 4.574716596368e-04 vel = 4.394041840668e-01 ------------------- tc id 40 done Finishing split-cycle on id 41 tc state : vr = 0.421178, vf = 0.421178, maxvel = 0.421178, current_vel = 0.421178, fs = 1.000000, tc = 0.000496, term = 3 tc result: v = 0.421178, acc = 0.000000,T = 0.006183, P = 0.000209 initial results: dx= 0.005974,dt = 0.014184, a_f = 0.000000, v_f = 0.421178 dt = 0.014184, not at end yet secondary movement = 0.000209 tc id = 41, canon_type = 3, mot type = 2 time: 3.802000 primary movement = 2.170411179584e-04 time: 3.802000000000e+00 total movement = 4.257662014735e-04 vel = 4.211775119708e-01 Finished tc id 40 ------------------- Activate tc id = 41 target_vel = 0.421178 final_vel = 0.421178 length = 0.006183 tc state : vr = 0.421178, vf = 0.421178, maxvel = 0.421178, current_vel = 0.421178, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.421178, acc = 0.000000,T = 0.006183, P = 0.000630 initial results: dx= 0.005553,dt = 0.013184, a_f = 0.000000, v_f = 0.421178 dt = 0.013184, not at end yet tc id = 41, canon_type = 3, mot type = 2 time: 3.803000 primary movement = 4.211107380774e-04 time: 3.803000000000e+00 total movement = 4.211107380774e-04 vel = 4.211775119708e-01 ------------------- tc state : vr = 0.421178, vf = 0.421178, maxvel = 0.421178, current_vel = 0.421178, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.421178, acc = 0.000000,T = 0.006183, P = 0.001051 initial results: dx= 0.005132,dt = 0.012184, a_f = 0.000000, v_f = 0.421178 dt = 0.012184, not at end yet tc id = 41, canon_type = 3, mot type = 2 time: 3.804000 primary movement = 4.211107380774e-04 time: 3.804000000000e+00 total movement = 4.211107380774e-04 vel = 4.211775119708e-01 ------------------- tc state : vr = 0.421178, vf = 0.421178, maxvel = 0.421178, current_vel = 0.421178, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.421178, acc = 0.000000,T = 0.006183, P = 0.001472 initial results: dx= 0.004710,dt = 0.011184, a_f = 0.000000, v_f = 0.421178 dt = 0.011184, not at end yet tc id = 41, canon_type = 3, mot type = 2 time: 3.805000 primary movement = 4.211107380774e-04 time: 3.805000000000e+00 total movement = 4.211107380774e-04 vel = 4.211775119708e-01 ------------------- tc state : vr = 0.421178, vf = 0.421178, maxvel = 0.421178, current_vel = 0.421178, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.421178, acc = 0.000000,T = 0.006183, P = 0.001893 initial results: dx= 0.004289,dt = 0.010184, a_f = 0.000000, v_f = 0.421178 dt = 0.010184, not at end yet tc id = 41, canon_type = 3, mot type = 2 time: 3.806000 primary movement = 4.211107380775e-04 time: 3.806000000000e+00 total movement = 4.211107380775e-04 vel = 4.211775119708e-01 ------------------- tc state : vr = 0.421178, vf = 0.421178, maxvel = 0.421178, current_vel = 0.421178, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.421178, acc = 0.000000,T = 0.006183, P = 0.002315 initial results: dx= 0.003868,dt = 0.009184, a_f = 0.000000, v_f = 0.421178 dt = 0.009184, not at end yet tc id = 41, canon_type = 3, mot type = 2 time: 3.807000 primary movement = 4.211107380773e-04 time: 3.807000000000e+00 total movement = 4.211107380773e-04 vel = 4.211775119708e-01 ------------------- tc state : vr = 0.421178, vf = 0.421178, maxvel = 0.421178, current_vel = 0.421178, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.421178, acc = 0.000000,T = 0.006183, P = 0.002736 initial results: dx= 0.003447,dt = 0.008184, a_f = 0.000000, v_f = 0.421178 dt = 0.008184, not at end yet tc id = 41, canon_type = 3, mot type = 2 time: 3.808000 primary movement = 4.211107380775e-04 time: 3.808000000000e+00 total movement = 4.211107380775e-04 vel = 4.211775119708e-01 ------------------- tc state : vr = 0.421178, vf = 0.421178, maxvel = 0.421178, current_vel = 0.421178, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.421178, acc = 0.000000,T = 0.006183, P = 0.003157 initial results: dx= 0.003026,dt = 0.007184, a_f = 0.000000, v_f = 0.421178 dt = 0.007184, not at end yet tc id = 41, canon_type = 3, mot type = 2 time: 3.809000 primary movement = 4.211107380774e-04 time: 3.809000000000e+00 total movement = 4.211107380774e-04 vel = 4.211775119708e-01 ------------------- tc state : vr = 0.421178, vf = 0.421178, maxvel = 0.421178, current_vel = 0.421178, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.421178, acc = 0.000000,T = 0.006183, P = 0.003578 initial results: dx= 0.002605,dt = 0.006184, a_f = 0.000000, v_f = 0.421178 dt = 0.006184, not at end yet tc id = 41, canon_type = 3, mot type = 2 time: 3.810000 primary movement = 4.211107380774e-04 time: 3.810000000000e+00 total movement = 4.211107380774e-04 vel = 4.211775119708e-01 ------------------- tc state : vr = 0.421178, vf = 0.421178, maxvel = 0.421178, current_vel = 0.421178, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.421178, acc = 0.000000,T = 0.006183, P = 0.003999 initial results: dx= 0.002183,dt = 0.005184, a_f = 0.000000, v_f = 0.421178 dt = 0.005184, not at end yet tc id = 41, canon_type = 3, mot type = 2 time: 3.811000 primary movement = 4.211107380775e-04 time: 3.811000000000e+00 total movement = 4.211107380775e-04 vel = 4.211775119708e-01 ------------------- tc state : vr = 0.421178, vf = 0.421178, maxvel = 0.421178, current_vel = 0.421178, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.421178, acc = 0.000000,T = 0.006183, P = 0.004421 initial results: dx= 0.001762,dt = 0.004184, a_f = 0.000000, v_f = 0.421178 dt = 0.004184, not at end yet tc id = 41, canon_type = 3, mot type = 2 time: 3.812000 primary movement = 4.211107380774e-04 time: 3.812000000000e+00 total movement = 4.211107380774e-04 vel = 4.211775119708e-01 ------------------- tc state : vr = 0.421178, vf = 0.421178, maxvel = 0.421178, current_vel = 0.421178, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.421178, acc = 0.000000,T = 0.006183, P = 0.004842 initial results: dx= 0.001341,dt = 0.003184, a_f = 0.000000, v_f = 0.421178 dt = 0.003184, not at end yet tc id = 41, canon_type = 3, mot type = 2 time: 3.813000 primary movement = 4.211107380774e-04 time: 3.813000000000e+00 total movement = 4.211107380774e-04 vel = 4.211775119708e-01 ------------------- tc state : vr = 0.421178, vf = 0.421178, maxvel = 0.421178, current_vel = 0.421178, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.421178, acc = 0.000000,T = 0.006183, P = 0.005263 initial results: dx= 0.000920,dt = 0.002184, a_f = 0.000000, v_f = 0.421178 dt = 0.002184, not at end yet tc id = 41, canon_type = 3, mot type = 2 time: 3.814000 primary movement = 4.211107380774e-04 time: 3.814000000000e+00 total movement = 4.211107380774e-04 vel = 4.211775119708e-01 ------------------- tc state : vr = 0.421178, vf = 0.421178, maxvel = 0.421178, current_vel = 0.421178, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.421178, acc = 0.000000,T = 0.006183, P = 0.005684 initial results: dx= 0.000499,dt = 0.001184, a_f = 0.000000, v_f = 0.421178 dt = 0.001184, not at end yet tc id = 41, canon_type = 3, mot type = 2 time: 3.815000 primary movement = 4.211107380775e-04 time: 3.815000000000e+00 total movement = 4.211107380775e-04 vel = 4.211775119708e-01 ------------------- tc state : vr = 0.421178, vf = 0.421178, maxvel = 0.421178, current_vel = 0.421178, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.421178, acc = 0.000000,T = 0.006183, P = 0.006105 initial results: dx= 0.000077,dt = 0.000184, a_f = 0.000000, v_f = 0.421178 actual v_f = 0.421178, a = 0.000000 split time is 0.000183972 tc id = 41, canon_type = 3, mot type = 2 time: 3.816000 primary movement = 4.211107380774e-04 time: 3.816000000000e+00 total movement = 4.211107380774e-04 vel = 4.211775119708e-01 ------------------- tc id 41 done Finishing split-cycle on id 41 tc state : vr = 1.274332, vf = 0.407254, maxvel = 8.762357, current_vel = 0.446919, fs = 1.000000, tc = 0.000816, term = 3 tc result: v = 0.446919, acc = 31.544611,T = 0.002676, P = 0.000354 initial results: dx= 0.002322,dt = 0.005437, a_f = -7.295909, v_f = 0.407254 dt = 0.005437, not at end yet secondary movement = 0.000354 tc id = 41, canon_type = 2, mot type = 1 time: 3.817000 primary movement = 7.748458452351e-05 time: 3.817000000000e+00 total movement = 4.316798932429e-04 vel = 4.469187881958e-01 Finished tc id 41 ------------------- Activate tc id = 41 target_vel = 1.274332 final_vel = 0.407254 length = 0.002676 tc state : vr = 1.274332, vf = 0.407254, maxvel = 8.762357, current_vel = 0.478463, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.478463, acc = 31.544611,T = 0.002676, P = 0.000817 initial results: dx= 0.001859,dt = 0.004198, a_f = -16.961926, v_f = 0.407254 dt = 0.004198, not at end yet tc id = 41, canon_type = 2, mot type = 1 time: 3.818000 primary movement = 4.626910938293e-04 time: 3.818000000000e+00 total movement = 4.626910938293e-04 vel = 4.784633994630e-01 ------------------- tc state : vr = 1.274332, vf = 0.407254, maxvel = 8.762357, current_vel = 0.502212, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.502212, acc = 23.748488,T = 0.002676, P = 0.001307 initial results: dx= 0.001369,dt = 0.003010, a_f = -31.544611, v_f = 0.407254 recalculating with a_f = -31.544611, a = -31.544611 revised dt = 0.003010 dt = 0.003010, not at end yet tc id = 41, canon_type = 2, mot type = 1 time: 3.819000 primary movement = 4.903376435289e-04 time: 3.819000000000e+00 total movement = 4.903376435289e-04 vel = 5.022118875948e-01 ------------------- tc state : vr = 1.274332, vf = 0.407254, maxvel = 8.762357, current_vel = 0.470667, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.470667, acc = -31.544611,T = 0.002676, P = 0.001794 on final decel initial results: dx= 0.000882,dt = 0.002010, a_f = -31.544611, v_f = 0.407254 recalculating with a_f = -31.544611, a = -31.544611 revised dt = 0.002010 dt = 0.002010, not at end yet tc id = 41, canon_type = 2, mot type = 1 time: 3.820000 primary movement = 4.864395819612e-04 time: 3.820000000000e+00 total movement = 4.864395819612e-04 vel = 4.706672763276e-01 ------------------- tc state : vr = 1.274332, vf = 0.407254, maxvel = 8.762357, current_vel = 0.439123, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.439123, acc = -31.544611,T = 0.002676, P = 0.002249 on final decel initial results: dx= 0.000428,dt = 0.001010, a_f = -31.544611, v_f = 0.407254 recalculating with a_f = -31.544611, a = -31.544611 revised dt = 0.001010 dt = 0.001010, not at end yet tc id = 41, canon_type = 2, mot type = 1 time: 3.821000 primary movement = 4.548949706939e-04 time: 3.821000000000e+00 total movement = 4.548949706939e-04 vel = 4.391226650604e-01 ------------------- tc state : vr = 1.274332, vf = 0.407254, maxvel = 8.762357, current_vel = 0.407578, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.407578, acc = -31.544611,T = 0.002676, P = 0.002672 on final decel initial results: dx= 0.000004,dt = 0.000010, a_f = -31.544611, v_f = 0.407254 recalculating with a_f = -31.544611, a = -31.544611 revised dt = 0.000010 actual v_f = 0.407254, a = -31.544611 split time is 1.02803e-05 tc id = 41, canon_type = 2, mot type = 1 time: 3.822000 primary movement = 4.233503594267e-04 time: 3.822000000000e+00 total movement = 4.233503594267e-04 vel = 4.075780537931e-01 ------------------- tc id 41 done Finishing split-cycle on id 42 tc state : vr = 0.407254, vf = 0.407254, maxvel = 0.407254, current_vel = 0.407254, fs = 1.000000, tc = 0.000990, term = 3 tc result: v = 0.407254, acc = -0.000000,T = 0.004616, P = 0.000403 initial results: dx= 0.004213,dt = 0.010346, a_f = 0.000000, v_f = 0.407254 dt = 0.010346, not at end yet secondary movement = 0.000403 tc id = 42, canon_type = 3, mot type = 2 time: 3.823000 primary movement = 4.188350324194e-06 time: 3.823000000000e+00 total movement = 4.071884844404e-04 vel = 4.072537663032e-01 Finished tc id 41 ------------------- Activate tc id = 42 target_vel = 0.407254 final_vel = 0.407254 length = 0.004616 tc state : vr = 0.407254, vf = 0.407254, maxvel = 0.407254, current_vel = 0.407254, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.407254, acc = 0.000000,T = 0.004616, P = 0.000810 initial results: dx= 0.003806,dt = 0.009346, a_f = 0.000000, v_f = 0.407254 dt = 0.009346, not at end yet tc id = 42, canon_type = 3, mot type = 2 time: 3.824000 primary movement = 4.071847096816e-04 time: 3.824000000000e+00 total movement = 4.071847096816e-04 vel = 4.072537663032e-01 ------------------- tc state : vr = 0.407254, vf = 0.407254, maxvel = 0.407254, current_vel = 0.407254, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.407254, acc = 0.000000,T = 0.004616, P = 0.001218 initial results: dx= 0.003399,dt = 0.008346, a_f = 0.000000, v_f = 0.407254 dt = 0.008346, not at end yet tc id = 42, canon_type = 3, mot type = 2 time: 3.825000 primary movement = 4.071847096816e-04 time: 3.825000000000e+00 total movement = 4.071847096816e-04 vel = 4.072537663032e-01 ------------------- tc state : vr = 0.407254, vf = 0.407254, maxvel = 0.407254, current_vel = 0.407254, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.407254, acc = 0.000000,T = 0.004616, P = 0.001625 initial results: dx= 0.002992,dt = 0.007346, a_f = 0.000000, v_f = 0.407254 dt = 0.007346, not at end yet tc id = 42, canon_type = 3, mot type = 2 time: 3.826000 primary movement = 4.071847096816e-04 time: 3.826000000000e+00 total movement = 4.071847096816e-04 vel = 4.072537663032e-01 ------------------- tc state : vr = 0.407254, vf = 0.407254, maxvel = 0.407254, current_vel = 0.407254, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.407254, acc = 0.000000,T = 0.004616, P = 0.002032 initial results: dx= 0.002584,dt = 0.006346, a_f = 0.000000, v_f = 0.407254 dt = 0.006346, not at end yet tc id = 42, canon_type = 3, mot type = 2 time: 3.827000 primary movement = 4.071847096816e-04 time: 3.827000000000e+00 total movement = 4.071847096816e-04 vel = 4.072537663032e-01 ------------------- tc state : vr = 0.407254, vf = 0.407254, maxvel = 0.407254, current_vel = 0.407254, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.407254, acc = 0.000000,T = 0.004616, P = 0.002439 initial results: dx= 0.002177,dt = 0.005346, a_f = 0.000000, v_f = 0.407254 dt = 0.005346, not at end yet tc id = 42, canon_type = 3, mot type = 2 time: 3.828000 primary movement = 4.071847096816e-04 time: 3.828000000000e+00 total movement = 4.071847096816e-04 vel = 4.072537663032e-01 ------------------- tc state : vr = 0.407254, vf = 0.407254, maxvel = 0.407254, current_vel = 0.407254, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.407254, acc = 0.000000,T = 0.004616, P = 0.002847 initial results: dx= 0.001770,dt = 0.004346, a_f = 0.000000, v_f = 0.407254 dt = 0.004346, not at end yet tc id = 42, canon_type = 3, mot type = 2 time: 3.829000 primary movement = 4.071847096816e-04 time: 3.829000000000e+00 total movement = 4.071847096816e-04 vel = 4.072537663032e-01 ------------------- tc state : vr = 0.407254, vf = 0.407254, maxvel = 0.407254, current_vel = 0.407254, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.407254, acc = 0.000000,T = 0.004616, P = 0.003254 initial results: dx= 0.001363,dt = 0.003346, a_f = 0.000000, v_f = 0.407254 dt = 0.003346, not at end yet tc id = 42, canon_type = 3, mot type = 2 time: 3.830000 primary movement = 4.071847096816e-04 time: 3.830000000000e+00 total movement = 4.071847096816e-04 vel = 4.072537663032e-01 ------------------- tc state : vr = 0.407254, vf = 0.407254, maxvel = 0.407254, current_vel = 0.407254, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.407254, acc = 0.000000,T = 0.004616, P = 0.003661 initial results: dx= 0.000955,dt = 0.002346, a_f = 0.000000, v_f = 0.407254 dt = 0.002346, not at end yet tc id = 42, canon_type = 3, mot type = 2 time: 3.831000 primary movement = 4.071847096815e-04 time: 3.831000000000e+00 total movement = 4.071847096815e-04 vel = 4.072537663032e-01 ------------------- tc state : vr = 0.407254, vf = 0.407254, maxvel = 0.407254, current_vel = 0.407254, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.407254, acc = 0.000000,T = 0.004616, P = 0.004068 initial results: dx= 0.000548,dt = 0.001346, a_f = 0.000000, v_f = 0.407254 dt = 0.001346, not at end yet tc id = 42, canon_type = 3, mot type = 2 time: 3.832000 primary movement = 4.071847096816e-04 time: 3.832000000000e+00 total movement = 4.071847096816e-04 vel = 4.072537663032e-01 ------------------- tc state : vr = 0.407254, vf = 0.407254, maxvel = 0.407254, current_vel = 0.407254, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.407254, acc = 0.000000,T = 0.004616, P = 0.004476 initial results: dx= 0.000141,dt = 0.000346, a_f = 0.000000, v_f = 0.407254 actual v_f = 0.407254, a = 0.000000 split time is 0.000345644 tc id = 42, canon_type = 3, mot type = 2 time: 3.833000 primary movement = 4.071847096817e-04 time: 3.833000000000e+00 total movement = 4.071847096817e-04 vel = 4.072537663032e-01 ------------------- tc id 42 done Finishing split-cycle on id 42 tc state : vr = 0.433006, vf = 0.433006, maxvel = 9.082065, current_vel = 0.428648, fs = 1.000000, tc = 0.000654, term = 3 tc result: v = 0.428648, acc = 32.695565,T = 0.000956, P = 0.000273 initial results: dx= 0.000682,dt = 0.001584, a_f = 2.751661, v_f = 0.433006 dt = 0.001584, not at end yet secondary movement = 0.000273 tc id = 42, canon_type = 2, mot type = 1 time: 3.834000 primary movement = 1.407618055699e-04 time: 3.834000000000e+00 total movement = 4.142507457690e-04 vel = 4.286483188531e-01 Finished tc id 42 ------------------- Activate tc id = 42 target_vel = 0.433006 final_vel = 0.433006 length = 0.000956 tc state : vr = 0.433006, vf = 0.433006, maxvel = 9.082065, current_vel = 0.433006, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.433006, acc = 4.357597,T = 0.000956, P = 0.000704 initial results: dx= 0.000251,dt = 0.000581, a_f = 0.000000, v_f = 0.433006 actual v_f = 0.433006, a = 0.000000 split time is 0.000580687 tc id = 42, canon_type = 2, mot type = 1 time: 3.835000 primary movement = 4.308271175929e-04 time: 3.835000000000e+00 total movement = 4.308271175929e-04 vel = 4.330059163327e-01 ------------------- tc id 42 done Finishing split-cycle on id 43 tc state : vr = 0.455122, vf = 0.455122, maxvel = 0.455122, current_vel = 0.439296, fs = 1.000000, tc = 0.000419, term = 3 tc result: v = 0.439296, acc = 15.000000,T = 0.006033, P = 0.000183 initial results: dx= 0.005850,dt = 0.013081, a_f = 1.209931, v_f = 0.455122 dt = 0.013081, not at end yet secondary movement = 0.000183 tc id = 43, canon_type = 3, mot type = 2 time: 3.836000 primary movement = 2.514410966668e-04 time: 3.836000000000e+00 total movement = 4.343205794191e-04 vel = 4.392956047463e-01 Finished tc id 42 ------------------- Activate tc id = 43 target_vel = 0.455122 final_vel = 0.455122 length = 0.006033 tc state : vr = 0.455122, vf = 0.455122, maxvel = 0.455122, current_vel = 0.454296, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.454296, acc = 15.000000,T = 0.006033, P = 0.000630 initial results: dx= 0.005403,dt = 0.011882, a_f = 0.069586, v_f = 0.455122 dt = 0.011882, not at end yet tc id = 43, canon_type = 3, mot type = 2 time: 3.837000 primary movement = 4.467371406682e-04 time: 3.837000000000e+00 total movement = 4.467371406682e-04 vel = 4.542956047463e-01 ------------------- tc state : vr = 0.455122, vf = 0.455122, maxvel = 0.455122, current_vel = 0.455122, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.455122, acc = 0.826850,T = 0.006033, P = 0.001084 initial results: dx= 0.004948,dt = 0.010873, a_f = 0.000000, v_f = 0.455122 dt = 0.010873, not at end yet tc id = 43, canon_type = 3, mot type = 2 time: 3.838000 primary movement = 4.546474038271e-04 time: 3.838000000000e+00 total movement = 4.546474038271e-04 vel = 4.551224545042e-01 ------------------- tc state : vr = 0.455122, vf = 0.455122, maxvel = 0.455122, current_vel = 0.455122, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.455122, acc = 0.000000,T = 0.006033, P = 0.001540 initial results: dx= 0.004493,dt = 0.009873, a_f = 0.000000, v_f = 0.455122 dt = 0.009873, not at end yet tc id = 43, canon_type = 3, mot type = 2 time: 3.839000 primary movement = 4.550606604659e-04 time: 3.839000000000e+00 total movement = 4.550606604659e-04 vel = 4.551224545042e-01 ------------------- tc state : vr = 0.455122, vf = 0.455122, maxvel = 0.455122, current_vel = 0.455122, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.455122, acc = 0.000000,T = 0.006033, P = 0.001995 initial results: dx= 0.004038,dt = 0.008873, a_f = 0.000000, v_f = 0.455122 dt = 0.008873, not at end yet tc id = 43, canon_type = 3, mot type = 2 time: 3.840000 primary movement = 4.550606604659e-04 time: 3.840000000000e+00 total movement = 4.550606604659e-04 vel = 4.551224545042e-01 ------------------- tc state : vr = 0.455122, vf = 0.455122, maxvel = 0.455122, current_vel = 0.455122, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.455122, acc = 0.000000,T = 0.006033, P = 0.002450 initial results: dx= 0.003583,dt = 0.007873, a_f = 0.000000, v_f = 0.455122 dt = 0.007873, not at end yet tc id = 43, canon_type = 3, mot type = 2 time: 3.841000 primary movement = 4.550606604660e-04 time: 3.841000000000e+00 total movement = 4.550606604660e-04 vel = 4.551224545042e-01 ------------------- tc state : vr = 0.455122, vf = 0.455122, maxvel = 0.455122, current_vel = 0.455122, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.455122, acc = 0.000000,T = 0.006033, P = 0.002905 initial results: dx= 0.003128,dt = 0.006873, a_f = 0.000000, v_f = 0.455122 dt = 0.006873, not at end yet tc id = 43, canon_type = 3, mot type = 2 time: 3.842000 primary movement = 4.550606604658e-04 time: 3.842000000000e+00 total movement = 4.550606604658e-04 vel = 4.551224545042e-01 ------------------- tc state : vr = 0.455122, vf = 0.455122, maxvel = 0.455122, current_vel = 0.455122, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.455122, acc = 0.000000,T = 0.006033, P = 0.003360 initial results: dx= 0.002673,dt = 0.005873, a_f = 0.000000, v_f = 0.455122 dt = 0.005873, not at end yet tc id = 43, canon_type = 3, mot type = 2 time: 3.843000 primary movement = 4.550606604659e-04 time: 3.843000000000e+00 total movement = 4.550606604659e-04 vel = 4.551224545042e-01 ------------------- tc state : vr = 0.455122, vf = 0.455122, maxvel = 0.455122, current_vel = 0.455122, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.455122, acc = 0.000000,T = 0.006033, P = 0.003815 initial results: dx= 0.002218,dt = 0.004873, a_f = 0.000000, v_f = 0.455122 dt = 0.004873, not at end yet tc id = 43, canon_type = 3, mot type = 2 time: 3.844000 primary movement = 4.550606604659e-04 time: 3.844000000000e+00 total movement = 4.550606604659e-04 vel = 4.551224545042e-01 ------------------- tc state : vr = 0.455122, vf = 0.455122, maxvel = 0.455122, current_vel = 0.455122, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.455122, acc = 0.000000,T = 0.006033, P = 0.004270 initial results: dx= 0.001762,dt = 0.003873, a_f = 0.000000, v_f = 0.455122 dt = 0.003873, not at end yet tc id = 43, canon_type = 3, mot type = 2 time: 3.845000 primary movement = 4.550606604659e-04 time: 3.845000000000e+00 total movement = 4.550606604659e-04 vel = 4.551224545042e-01 ------------------- tc state : vr = 0.455122, vf = 0.455122, maxvel = 0.455122, current_vel = 0.455122, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.455122, acc = 0.000000,T = 0.006033, P = 0.004725 initial results: dx= 0.001307,dt = 0.002873, a_f = 0.000000, v_f = 0.455122 dt = 0.002873, not at end yet tc id = 43, canon_type = 3, mot type = 2 time: 3.846000 primary movement = 4.550606604659e-04 time: 3.846000000000e+00 total movement = 4.550606604659e-04 vel = 4.551224545042e-01 ------------------- tc state : vr = 0.455122, vf = 0.455122, maxvel = 0.455122, current_vel = 0.455122, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.455122, acc = 0.000000,T = 0.006033, P = 0.005180 initial results: dx= 0.000852,dt = 0.001873, a_f = 0.000000, v_f = 0.455122 dt = 0.001873, not at end yet tc id = 43, canon_type = 3, mot type = 2 time: 3.847000 primary movement = 4.550606604659e-04 time: 3.847000000000e+00 total movement = 4.550606604659e-04 vel = 4.551224545042e-01 ------------------- tc state : vr = 0.455122, vf = 0.455122, maxvel = 0.455122, current_vel = 0.455122, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.455122, acc = 0.000000,T = 0.006033, P = 0.005636 initial results: dx= 0.000397,dt = 0.000873, a_f = 0.000000, v_f = 0.455122 actual v_f = 0.455122, a = 0.000000 split time is 0.000872551 tc id = 43, canon_type = 3, mot type = 2 time: 3.848000 primary movement = 4.550606604659e-04 time: 3.848000000000e+00 total movement = 4.550606604659e-04 vel = 4.551224545042e-01 ------------------- tc id 43 done Finishing split-cycle on id 43 tc state : vr = 2.062052, vf = 0.242837, maxvel = 8.863930, current_vel = 0.459189, fs = 1.000000, tc = 0.000127, term = 3 tc result: v = 0.459189, acc = 31.910275,T = 0.004330, P = 0.000058 initial results: dx= 0.004272,dt = 0.012171, a_f = -17.776648, v_f = 0.242837 dt = 0.012171, not at end yet secondary movement = 0.000058 tc id = 43, canon_type = 2, mot type = 1 time: 3.849000 primary movement = 3.970767109620e-04 time: 3.849000000000e+00 total movement = 4.553405648611e-04 vel = 4.591893724251e-01 Finished tc id 43 ------------------- Activate tc id = 43 target_vel = 2.062052 final_vel = 0.242837 length = 0.004330 tc state : vr = 2.062052, vf = 0.242837, maxvel = 8.863930, current_vel = 0.491100, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.491100, acc = 31.910275,T = 0.004330, P = 0.000533 initial results: dx= 0.003797,dt = 0.010347, a_f = -23.994474, v_f = 0.242837 dt = 0.010347, not at end yet tc id = 43, canon_type = 2, mot type = 1 time: 3.850000 primary movement = 4.751445097247e-04 time: 3.850000000000e+00 total movement = 4.751445097247e-04 vel = 4.910996470244e-01 ------------------- tc state : vr = 2.062052, vf = 0.242837, maxvel = 8.863930, current_vel = 0.518716, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.518716, acc = 27.616438,T = 0.004330, P = 0.001038 initial results: dx= 0.003292,dt = 0.008645, a_f = -31.910275, v_f = 0.242837 recalculating with a_f = -31.910275, a = -31.910275 revised dt = 0.008645 dt = 0.008645, not at end yet tc id = 43, canon_type = 2, mot type = 1 time: 3.851000 primary movement = 5.049078661238e-04 time: 3.851000000000e+00 total movement = 5.049078661238e-04 vel = 5.187160852232e-01 ------------------- tc state : vr = 2.062052, vf = 0.242837, maxvel = 8.863930, current_vel = 0.486806, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.486806, acc = -31.910275,T = 0.004330, P = 0.001541 on final decel initial results: dx= 0.002789,dt = 0.007645, a_f = -31.910275, v_f = 0.242837 recalculating with a_f = -31.910275, a = -31.910275 revised dt = 0.007645 dt = 0.007645, not at end yet tc id = 43, canon_type = 2, mot type = 1 time: 3.852000 primary movement = 5.027609479237e-04 time: 3.852000000000e+00 total movement = 5.027609479237e-04 vel = 4.868058106240e-01 ------------------- tc state : vr = 2.062052, vf = 0.242837, maxvel = 8.863930, current_vel = 0.454896, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.454896, acc = -31.910275,T = 0.004330, P = 0.002012 on final decel initial results: dx= 0.002318,dt = 0.006645, a_f = -31.910275, v_f = 0.242837 recalculating with a_f = -31.910275, a = -31.910275 revised dt = 0.006645 dt = 0.006645, not at end yet tc id = 43, canon_type = 2, mot type = 1 time: 3.853000 primary movement = 4.708506733243e-04 time: 3.853000000000e+00 total movement = 4.708506733243e-04 vel = 4.548955360247e-01 ------------------- tc state : vr = 2.062052, vf = 0.242837, maxvel = 8.863930, current_vel = 0.422985, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.422985, acc = -31.910275,T = 0.004330, P = 0.002451 on final decel initial results: dx= 0.001879,dt = 0.005645, a_f = -31.910275, v_f = 0.242837 recalculating with a_f = -31.910275, a = -31.910275 revised dt = 0.005645 dt = 0.005645, not at end yet tc id = 43, canon_type = 2, mot type = 1 time: 3.854000 primary movement = 4.389403987250e-04 time: 3.854000000000e+00 total movement = 4.389403987250e-04 vel = 4.229852614254e-01 ------------------- tc state : vr = 2.062052, vf = 0.242837, maxvel = 8.863930, current_vel = 0.391075, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.391075, acc = -31.910275,T = 0.004330, P = 0.002858 on final decel initial results: dx= 0.001472,dt = 0.004645, a_f = -31.910275, v_f = 0.242837 recalculating with a_f = -31.910275, a = -31.910275 revised dt = 0.004645 dt = 0.004645, not at end yet tc id = 43, canon_type = 2, mot type = 1 time: 3.855000 primary movement = 4.070301241259e-04 time: 3.855000000000e+00 total movement = 4.070301241259e-04 vel = 3.910749868262e-01 ------------------- tc state : vr = 2.062052, vf = 0.242837, maxvel = 8.863930, current_vel = 0.359165, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.359165, acc = -31.910275,T = 0.004330, P = 0.003233 on final decel initial results: dx= 0.001097,dt = 0.003645, a_f = -31.910275, v_f = 0.242837 recalculating with a_f = -31.910275, a = -31.910275 revised dt = 0.003645 dt = 0.003645, not at end yet tc id = 43, canon_type = 2, mot type = 1 time: 3.856000 primary movement = 3.751198495265e-04 time: 3.856000000000e+00 total movement = 3.751198495265e-04 vel = 3.591647122269e-01 ------------------- tc state : vr = 2.062052, vf = 0.242837, maxvel = 8.863930, current_vel = 0.327254, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.327254, acc = -31.910275,T = 0.004330, P = 0.003576 on final decel initial results: dx= 0.000754,dt = 0.002645, a_f = -31.910275, v_f = 0.242837 recalculating with a_f = -31.910275, a = -31.910275 revised dt = 0.002645 dt = 0.002645, not at end yet tc id = 43, canon_type = 2, mot type = 1 time: 3.857000 primary movement = 3.432095749273e-04 time: 3.857000000000e+00 total movement = 3.432095749273e-04 vel = 3.272544376277e-01 ------------------- tc state : vr = 2.062052, vf = 0.242837, maxvel = 8.863930, current_vel = 0.295344, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.295344, acc = -31.910275,T = 0.004330, P = 0.003888 on final decel initial results: dx= 0.000443,dt = 0.001645, a_f = -31.910275, v_f = 0.242837 recalculating with a_f = -31.910275, a = -31.910275 revised dt = 0.001645 dt = 0.001645, not at end yet tc id = 43, canon_type = 2, mot type = 1 time: 3.858000 primary movement = 3.112993003281e-04 time: 3.858000000000e+00 total movement = 3.112993003281e-04 vel = 2.953441630284e-01 ------------------- tc state : vr = 2.062052, vf = 0.242837, maxvel = 8.863930, current_vel = 0.263434, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.263434, acc = -31.910275,T = 0.004330, P = 0.004167 on final decel initial results: dx= 0.000163,dt = 0.000645, a_f = -31.910275, v_f = 0.242837 recalculating with a_f = -31.910275, a = -31.910275 revised dt = 0.000645 actual v_f = 0.242837, a = -31.910275 split time is 0.000645476 tc id = 43, canon_type = 2, mot type = 1 time: 3.859000 primary movement = 2.793890257288e-04 time: 3.859000000000e+00 total movement = 2.793890257288e-04 vel = 2.634338884292e-01 ------------------- tc id 43 done Finishing split-cycle on id 44 tc state : vr = 0.300027, vf = 0.000000, maxvel = 0.300027, current_vel = 0.237519, fs = 1.000000, tc = 0.000355, term = 3 tc result: v = 0.237519, acc = -15.000000,T = 0.001966, P = 0.000085 on final decel initial results: dx= 0.001881,dt = 0.015835, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.015835 dt = 0.015835, not at end yet secondary movement = 0.000085 tc id = 44, canon_type = 3, mot type = 2 time: 3.860000 primary movement = 1.633926008229e-04 time: 3.860000000000e+00 total movement = 2.485393142480e-04 vel = 2.375187200330e-01 Finished tc id 43 ------------------- Activate tc id = 44 target_vel = 0.300027 final_vel = 0.000000 length = 0.001966 tc state : vr = 0.300027, vf = 0.000000, maxvel = 0.300027, current_vel = 0.222519, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.222519, acc = -15.000000,T = 0.001966, P = 0.000315 on final decel initial results: dx= 0.001650,dt = 0.014835, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.014835 dt = 0.014835, not at end yet tc id = 44, canon_type = 3, mot type = 2 time: 3.861000 primary movement = 2.299764806478e-04 time: 3.861000000000e+00 total movement = 2.299764806478e-04 vel = 2.225187200330e-01 ------------------- tc state : vr = 0.300027, vf = 0.000000, maxvel = 0.300027, current_vel = 0.207519, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.207519, acc = -15.000000,T = 0.001966, P = 0.000530 on final decel initial results: dx= 0.001435,dt = 0.013835, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.013835 dt = 0.013835, not at end yet tc id = 44, canon_type = 3, mot type = 2 time: 3.862000 primary movement = 2.149842167932e-04 time: 3.862000000000e+00 total movement = 2.149842167932e-04 vel = 2.075187200330e-01 ------------------- tc state : vr = 0.300027, vf = 0.000000, maxvel = 0.300027, current_vel = 0.192519, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.192519, acc = -15.000000,T = 0.001966, P = 0.000730 on final decel initial results: dx= 0.001235,dt = 0.012835, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.012835 dt = 0.012835, not at end yet tc id = 44, canon_type = 3, mot type = 2 time: 3.863000 primary movement = 1.999909455613e-04 time: 3.863000000000e+00 total movement = 1.999909455613e-04 vel = 1.925187200330e-01 ------------------- tc state : vr = 0.300027, vf = 0.000000, maxvel = 0.300027, current_vel = 0.177519, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.177519, acc = -15.000000,T = 0.001966, P = 0.000915 on final decel initial results: dx= 0.001050,dt = 0.011835, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.011835 dt = 0.011835, not at end yet tc id = 44, canon_type = 3, mot type = 2 time: 3.864000 primary movement = 1.849967372080e-04 time: 3.864000000000e+00 total movement = 1.849967372080e-04 vel = 1.775187200330e-01 ------------------- tc state : vr = 0.300027, vf = 0.000000, maxvel = 0.300027, current_vel = 0.162519, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.162519, acc = -15.000000,T = 0.001966, P = 0.001085 on final decel initial results: dx= 0.000880,dt = 0.010835, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.010835 dt = 0.010835, not at end yet tc id = 44, canon_type = 3, mot type = 2 time: 3.865000 primary movement = 1.700016619934e-04 time: 3.865000000000e+00 total movement = 1.700016619934e-04 vel = 1.625187200330e-01 ------------------- tc state : vr = 0.300027, vf = 0.000000, maxvel = 0.300027, current_vel = 0.147519, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.147519, acc = -15.000000,T = 0.001966, P = 0.001240 on final decel initial results: dx= 0.000725,dt = 0.009835, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.009835 dt = 0.009835, not at end yet tc id = 44, canon_type = 3, mot type = 2 time: 3.866000 primary movement = 1.550057901814e-04 time: 3.866000000000e+00 total movement = 1.550057901814e-04 vel = 1.475187200330e-01 ------------------- tc state : vr = 0.300027, vf = 0.000000, maxvel = 0.300027, current_vel = 0.132519, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.132519, acc = -15.000000,T = 0.001966, P = 0.001380 on final decel initial results: dx= 0.000585,dt = 0.008835, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.008835 dt = 0.008835, not at end yet tc id = 44, canon_type = 3, mot type = 2 time: 3.867000 primary movement = 1.400091920405e-04 time: 3.867000000000e+00 total movement = 1.400091920405e-04 vel = 1.325187200330e-01 ------------------- tc state : vr = 0.300027, vf = 0.000000, maxvel = 0.300027, current_vel = 0.117519, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.117519, acc = -15.000000,T = 0.001966, P = 0.001505 on final decel initial results: dx= 0.000460,dt = 0.007835, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.007835 dt = 0.007835, not at end yet tc id = 44, canon_type = 3, mot type = 2 time: 3.868000 primary movement = 1.250119378416e-04 time: 3.868000000000e+00 total movement = 1.250119378416e-04 vel = 1.175187200330e-01 ------------------- tc state : vr = 0.300027, vf = 0.000000, maxvel = 0.300027, current_vel = 0.102519, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.102519, acc = -15.000000,T = 0.001966, P = 0.001615 on final decel initial results: dx= 0.000350,dt = 0.006835, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.006835 dt = 0.006835, not at end yet tc id = 44, canon_type = 3, mot type = 2 time: 3.869000 primary movement = 1.100140978594e-04 time: 3.869000000000e+00 total movement = 1.100140978594e-04 vel = 1.025187200330e-01 ------------------- tc state : vr = 0.300027, vf = 0.000000, maxvel = 0.300027, current_vel = 0.087519, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.087519, acc = -15.000000,T = 0.001966, P = 0.001710 on final decel initial results: dx= 0.000255,dt = 0.005835, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.005835 dt = 0.005835, not at end yet tc id = 44, canon_type = 3, mot type = 2 time: 3.870000 primary movement = 9.501574237090e-05 time: 3.870000000000e+00 total movement = 9.501574237090e-05 vel = 8.751872003304e-02 ------------------- tc state : vr = 0.300027, vf = 0.000000, maxvel = 0.300027, current_vel = 0.072519, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.072519, acc = -15.000000,T = 0.001966, P = 0.001790 on final decel initial results: dx= 0.000175,dt = 0.004835, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.004835 dt = 0.004835, not at end yet tc id = 44, canon_type = 3, mot type = 2 time: 3.871000 primary movement = 8.001694165589e-05 time: 3.871000000000e+00 total movement = 8.001694165589e-05 vel = 7.251872003304e-02 ------------------- tc state : vr = 0.300027, vf = 0.000000, maxvel = 0.300027, current_vel = 0.057519, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.057519, acc = -15.000000,T = 0.001966, P = 0.001855 on final decel initial results: dx= 0.000110,dt = 0.003835, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.003835 dt = 0.003835, not at end yet tc id = 44, canon_type = 3, mot type = 2 time: 3.872000 primary movement = 6.501776599589e-05 time: 3.872000000000e+00 total movement = 6.501776599589e-05 vel = 5.751872003304e-02 ------------------- tc state : vr = 0.300027, vf = 0.000000, maxvel = 0.300027, current_vel = 0.042519, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.042519, acc = -15.000000,T = 0.001966, P = 0.001905 on final decel initial results: dx= 0.000060,dt = 0.002835, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.002835 dt = 0.002835, not at end yet tc id = 44, canon_type = 3, mot type = 2 time: 3.873000 primary movement = 5.001828567431e-05 time: 3.873000000000e+00 total movement = 5.001828567431e-05 vel = 4.251872003304e-02 ------------------- tc state : vr = 0.300027, vf = 0.000000, maxvel = 0.300027, current_vel = 0.027519, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.027519, acc = -15.000000,T = 0.001966, P = 0.001940 on final decel initial results: dx= 0.000025,dt = 0.001835, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.001835 dt = 0.001835, not at end yet tc id = 44, canon_type = 3, mot type = 2 time: 3.874000 primary movement = 3.501857097609e-05 time: 3.874000000000e+00 total movement = 3.501857097609e-05 vel = 2.751872003304e-02 ------------------- tc state : vr = 0.300027, vf = 0.000000, maxvel = 0.300027, current_vel = 0.012519, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.012519, acc = -15.000000,T = 0.001966, P = 0.001960 on final decel initial results: dx= 0.000005,dt = 0.000835, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.000835 actual v_f = 0.000000, a = -15.000000 split time is 0.000834581 tc id = 44, canon_type = 3, mot type = 2 time: 3.875000 primary movement = 2.001869218715e-05 time: 3.875000000000e+00 total movement = 2.001869218715e-05 vel = 1.251872003304e-02 ------------------- tc id 44 done Finishing split-cycle on id 44 tc state : vr = 10.513602, vf = 0.000000, maxvel = 10.513602, current_vel = 0.003130, fs = 1.000000, tc = 0.000165, term = 2 tc result: v = 0.003130, acc = 18.924484,T = 0.002270, P = 0.000000 secondary movement = 0.000000 tc id = 44, canon_type = 2, mot type = 1 time: 3.876000 primary movement = 5.223944547402e-06 time: 3.876000000000e+00 total movement = 5.482864940097e-06 vel = 3.130474350419e-03 Finished tc id 44 ------------------- Activate tc id = 44 target_vel = 10.513602 final_vel = 0.000000 length = 0.002270 Activate nexttc id 45 tc state : vr = 10.513602, vf = 0.000000, maxvel = 10.513602, current_vel = 0.022055, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.022055, acc = 18.924484,T = 0.002270, P = 0.000013 tc id = 44, canon_type = 2, mot type = 1 time: 3.877000 primary movement = 1.259271635055e-05 time: 3.877000000000e+00 total movement = 1.259271635055e-05 vel = 2.205495835064e-02 ------------------- tc state : vr = 10.513602, vf = 0.000000, maxvel = 10.513602, current_vel = 0.040979, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.040979, acc = 18.924484,T = 0.002270, P = 0.000044 tc id = 44, canon_type = 2, mot type = 1 time: 3.878000 primary movement = 3.151720035076e-05 time: 3.878000000000e+00 total movement = 3.151720035076e-05 vel = 4.097944235086e-02 ------------------- tc state : vr = 10.513602, vf = 0.000000, maxvel = 10.513602, current_vel = 0.059904, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.059904, acc = 18.924484,T = 0.002270, P = 0.000095 tc id = 44, canon_type = 2, mot type = 1 time: 3.879000 primary movement = 5.044168435096e-05 time: 3.879000000000e+00 total movement = 5.044168435096e-05 vel = 5.990392635108e-02 ------------------- tc state : vr = 10.513602, vf = 0.000000, maxvel = 10.513602, current_vel = 0.078828, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.078828, acc = 18.924484,T = 0.002270, P = 0.000164 tc id = 44, canon_type = 2, mot type = 1 time: 3.880000 primary movement = 6.936616835118e-05 time: 3.880000000000e+00 total movement = 6.936616835118e-05 vel = 7.882841035130e-02 ------------------- tc state : vr = 10.513602, vf = 0.000000, maxvel = 10.513602, current_vel = 0.097753, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.097753, acc = 18.924484,T = 0.002270, P = 0.000252 tc id = 44, canon_type = 2, mot type = 1 time: 3.881000 primary movement = 8.829065235141e-05 time: 3.881000000000e+00 total movement = 8.829065235141e-05 vel = 9.775289435151e-02 ------------------- tc state : vr = 10.513602, vf = 0.000000, maxvel = 10.513602, current_vel = 0.116677, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.116677, acc = 18.924484,T = 0.002270, P = 0.000360 tc id = 44, canon_type = 2, mot type = 1 time: 3.882000 primary movement = 1.072151363516e-04 time: 3.882000000000e+00 total movement = 1.072151363516e-04 vel = 1.166773783517e-01 ------------------- tc state : vr = 10.513602, vf = 0.000000, maxvel = 10.513602, current_vel = 0.135602, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.135602, acc = 18.924484,T = 0.002270, P = 0.000486 tc id = 44, canon_type = 2, mot type = 1 time: 3.883000 primary movement = 1.261396203518e-04 time: 3.883000000000e+00 total movement = 1.261396203518e-04 vel = 1.356018623520e-01 ------------------- tc state : vr = 10.513602, vf = 0.000000, maxvel = 10.513602, current_vel = 0.154526, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.154526, acc = 18.924484,T = 0.002270, P = 0.000631 tc id = 44, canon_type = 2, mot type = 1 time: 3.884000 primary movement = 1.450641043521e-04 time: 3.884000000000e+00 total movement = 1.450641043521e-04 vel = 1.545263463522e-01 ------------------- tc state : vr = 10.513602, vf = 0.000000, maxvel = 10.513602, current_vel = 0.173451, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.173451, acc = 18.924484,T = 0.002270, P = 0.000795 tc id = 44, canon_type = 2, mot type = 1 time: 3.885000 primary movement = 1.639885883522e-04 time: 3.885000000000e+00 total movement = 1.639885883522e-04 vel = 1.734508303524e-01 ------------------- tc state : vr = 10.513602, vf = 0.000000, maxvel = 10.513602, current_vel = 0.192375, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.192375, acc = 18.924484,T = 0.002270, P = 0.000978 tc id = 44, canon_type = 2, mot type = 1 time: 3.886000 primary movement = 1.829130723525e-04 time: 3.886000000000e+00 total movement = 1.829130723525e-04 vel = 1.923753143526e-01 ------------------- tc state : vr = 10.513602, vf = 0.000000, maxvel = 10.513602, current_vel = 0.203527, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.203527, acc = 11.152061,T = 0.002270, P = 0.001176 tc id = 44, canon_type = 2, mot type = 1 time: 3.887000 primary movement = 1.979513446584e-04 time: 3.887000000000e+00 total movement = 1.979513446584e-04 vel = 2.035273749641e-01 ------------------- tc state : vr = 10.513602, vf = 0.000000, maxvel = 10.513602, current_vel = 0.184603, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.184603, acc = -18.924484,T = 0.002270, P = 0.001370 on final decel tc id = 44, canon_type = 2, mot type = 1 tc state : vr = 0.018924, vf = 0.018924, maxvel = 8.374863, current_vel = 0.015075, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.015075, acc = 15.074813,T = 0.014636, P = 0.000008 initial results: dx= 0.014629,dt = 0.076576, a_f = 4.595768, v_f = 0.366999 dt = 0.076576, not at end yet tc id = 44, canon_type = 2, mot type = 1 secondary movement = 0.000008 time: 3.888000 primary movement = 1.940651329640e-04 time: 3.888000000000e+00 total movement = 2.016025396799e-04 vel = 1.996777043956e-01 ------------------- tc state : vr = 10.513602, vf = 0.000000, maxvel = 10.513602, current_vel = 0.165678, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.165678, acc = -18.924484,T = 0.002270, P = 0.001545 on final decel tc id = 44, canon_type = 2, mot type = 1 tc state : vr = 0.037849, vf = 0.037849, maxvel = 8.374863, current_vel = 0.030150, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.030150, acc = 15.074813,T = 0.014636, P = 0.000030 initial results: dx= 0.014606,dt = 0.073555, a_f = 4.579546, v_f = 0.366999 dt = 0.073555, not at end yet tc id = 44, canon_type = 2, mot type = 1 secondary movement = 0.000023 time: 3.889000 primary movement = 1.751406489638e-04 time: 3.889000000000e+00 total movement = 1.977528691112e-04 vel = 1.958280338271e-01 ------------------- tc state : vr = 10.513602, vf = 0.000000, maxvel = 10.513602, current_vel = 0.146754, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.146754, acc = -18.924484,T = 0.002270, P = 0.001701 on final decel tc id = 44, canon_type = 2, mot type = 1 tc state : vr = 0.056773, vf = 0.056773, maxvel = 8.374863, current_vel = 0.045224, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.045224, acc = 15.074813,T = 0.014636, P = 0.000068 initial results: dx= 0.014569,dt = 0.070683, a_f = 4.552396, v_f = 0.366999 dt = 0.070683, not at end yet tc id = 44, canon_type = 2, mot type = 1 secondary movement = 0.000038 time: 3.890000 primary movement = 1.562161649636e-04 time: 3.890000000000e+00 total movement = 1.939031985429e-04 vel = 1.919783632585e-01 ------------------- tc state : vr = 10.513602, vf = 0.000000, maxvel = 10.513602, current_vel = 0.127829, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.127829, acc = -18.924484,T = 0.002270, P = 0.001838 on final decel tc id = 44, canon_type = 2, mot type = 1 tc state : vr = 0.075698, vf = 0.075698, maxvel = 8.374863, current_vel = 0.060299, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.060299, acc = 15.074813,T = 0.014636, P = 0.000121 initial results: dx= 0.014516,dt = 0.067942, a_f = 4.514149, v_f = 0.366999 dt = 0.067942, not at end yet tc id = 44, canon_type = 2, mot type = 1 secondary movement = 0.000053 time: 3.891000 primary movement = 1.372916809634e-04 time: 3.891000000000e+00 total movement = 1.900535279743e-04 vel = 1.881286926900e-01 ------------------- tc state : vr = 10.513602, vf = 0.000000, maxvel = 10.513602, current_vel = 0.108905, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.108905, acc = -18.924484,T = 0.002270, P = 0.001957 on final decel tc id = 44, canon_type = 2, mot type = 1 tc state : vr = 0.094622, vf = 0.094622, maxvel = 8.374863, current_vel = 0.075374, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.075374, acc = 15.074813,T = 0.014636, P = 0.000188 initial results: dx= 0.014448,dt = 0.065320, a_f = 4.464564, v_f = 0.366999 dt = 0.065320, not at end yet tc id = 44, canon_type = 2, mot type = 1 secondary movement = 0.000068 time: 3.892000 primary movement = 1.183671969632e-04 time: 3.892000000000e+00 total movement = 1.862038574057e-04 vel = 1.842790221214e-01 ------------------- tc state : vr = 10.513602, vf = 0.000000, maxvel = 10.513602, current_vel = 0.089980, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.089980, acc = -18.924484,T = 0.002270, P = 0.002056 on final decel tc id = 44, canon_type = 2, mot type = 1 tc state : vr = 0.113547, vf = 0.113547, maxvel = 8.374863, current_vel = 0.090449, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.090449, acc = 15.074813,T = 0.014636, P = 0.000271 initial results: dx= 0.014365,dt = 0.062805, a_f = 4.403324, v_f = 0.366999 dt = 0.062805, not at end yet tc id = 45, canon_type = 2, mot type = 1 secondary movement = 0.000083 time: 3.893000 primary movement = 9.944271296293e-05 time: 3.893000000000e+00 total movement = 1.823541868372e-04 vel = 1.804293515529e-01 ------------------- tc state : vr = 10.513602, vf = 0.000000, maxvel = 10.513602, current_vel = 0.071056, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.071056, acc = -18.924484,T = 0.002270, P = 0.002137 on final decel tc id = 44, canon_type = 2, mot type = 1 tc state : vr = 0.132471, vf = 0.132471, maxvel = 8.374863, current_vel = 0.105524, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.105524, acc = 15.074813,T = 0.014636, P = 0.000369 initial results: dx= 0.014267,dt = 0.060387, a_f = 4.330031, v_f = 0.366999 dt = 0.060387, not at end yet tc id = 45, canon_type = 2, mot type = 1 secondary movement = 0.000098 time: 3.894000 primary movement = 8.051822896266e-05 time: 3.894000000000e+00 total movement = 1.785045162686e-04 vel = 1.765796809844e-01 ------------------- tc state : vr = 10.513602, vf = 0.000000, maxvel = 10.513602, current_vel = 0.052132, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.052132, acc = -18.924484,T = 0.002270, P = 0.002198 on final decel tc id = 44, canon_type = 2, mot type = 1 tc state : vr = 0.151396, vf = 0.151396, maxvel = 8.374863, current_vel = 0.120599, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.120599, acc = 15.074813,T = 0.014636, P = 0.000482 initial results: dx= 0.014154,dt = 0.058056, a_f = 4.244203, v_f = 0.366999 dt = 0.058056, not at end yet tc id = 45, canon_type = 2, mot type = 1 secondary movement = 0.000113 time: 3.895000 primary movement = 6.159374496250e-05 time: 3.895000000000e+00 total movement = 1.746548457002e-04 vel = 1.727300104158e-01 ------------------- tc state : vr = 10.513602, vf = 0.000000, maxvel = 10.513602, current_vel = 0.033207, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.033207, acc = -18.924484,T = 0.002270, P = 0.002241 on final decel tc id = 44, canon_type = 2, mot type = 1 tc state : vr = 0.170320, vf = 0.170320, maxvel = 8.374863, current_vel = 0.135673, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.135673, acc = 15.074813,T = 0.014636, P = 0.000611 initial results: dx= 0.014026,dt = 0.055805, a_f = 4.145257, v_f = 0.366999 dt = 0.055805, not at end yet tc id = 45, canon_type = 2, mot type = 1 secondary movement = 0.000128 time: 3.896000 primary movement = 4.266926096230e-05 time: 3.896000000000e+00 total movement = 1.708051751315e-04 vel = 1.688803398473e-01 ------------------- tc state : vr = 10.513602, vf = 0.000000, maxvel = 10.513602, current_vel = 0.014283, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.014283, acc = -18.924484,T = 0.002270, P = 0.002265 on final decel tc id = 44, canon_type = 2, mot type = 1 tc state : vr = 0.189245, vf = 0.189245, maxvel = 8.374863, current_vel = 0.150748, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.150748, acc = 15.074813,T = 0.014636, P = 0.000754 initial results: dx= 0.013883,dt = 0.053627, a_f = 4.032510, v_f = 0.366999 dt = 0.053627, not at end yet tc id = 45, canon_type = 2, mot type = 1 secondary movement = 0.000143 time: 3.897000 primary movement = 2.374477696200e-05 time: 3.897000000000e+00 total movement = 1.669555045630e-04 vel = 1.650306692788e-01 ------------------- Found newvel = -0.004642, assuming segment is done segment 44 at target in runcycle tc state : vr = 10.513602, vf = 0.000000, maxvel = 10.513602, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.002270, P = 0.002270 tc id = 44, canon_type = 2, mot type = 1 tc state : vr = 0.203527, vf = 0.203527, maxvel = 8.374863, current_vel = 0.165823, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.165823, acc = 15.074813,T = 0.014636, P = 0.000912 initial results: dx= 0.013724,dt = 0.051516, a_f = 3.905156, v_f = 0.366999 dt = 0.051516, not at end yet tc id = 45, canon_type = 2, mot type = 1 secondary movement = 0.000158 time: 3.898000 primary movement = 5.389600185073e-06 time: 3.898000000000e+00 total movement = 1.636751412177e-04 vel = 1.658229477485e-01 Finished tc id 44 ------------------- tc state : vr = 6.969686, vf = 0.366999, maxvel = 8.374863, current_vel = 0.180898, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.180898, acc = 15.074813,T = 0.014636, P = 0.001085 initial results: dx= 0.013551,dt = 0.049465, a_f = 3.762260, v_f = 0.366999 dt = 0.049465, not at end yet tc id = 45, canon_type = 2, mot type = 1 time: 3.899000 primary movement = 1.733603544644e-04 time: 3.899000000000e+00 total movement = 1.733603544644e-04 vel = 1.808977611802e-01 ------------------- tc state : vr = 6.969686, vf = 0.366999, maxvel = 8.374863, current_vel = 0.195973, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.195973, acc = 15.074813,T = 0.014636, P = 0.001274 initial results: dx= 0.013363,dt = 0.047471, a_f = 3.602733, v_f = 0.366999 dt = 0.047471, not at end yet tc id = 45, canon_type = 2, mot type = 1 time: 3.900000 primary movement = 1.884351678960e-04 time: 3.900000000000e+00 total movement = 1.884351678960e-04 vel = 1.959725746119e-01 ------------------- tc state : vr = 6.969686, vf = 0.366999, maxvel = 8.374863, current_vel = 0.211047, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.211047, acc = 15.074813,T = 0.014636, P = 0.001477 initial results: dx= 0.013159,dt = 0.045529, a_f = 3.425312, v_f = 0.366999 dt = 0.045529, not at end yet tc id = 45, canon_type = 2, mot type = 1 time: 3.901000 primary movement = 2.035099813277e-04 time: 3.901000000000e+00 total movement = 2.035099813277e-04 vel = 2.110473880435e-01 ------------------- tc state : vr = 6.969686, vf = 0.366999, maxvel = 8.374863, current_vel = 0.226122, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.226122, acc = 15.074813,T = 0.014636, P = 0.001696 initial results: dx= 0.012940,dt = 0.043635, a_f = 3.228533, v_f = 0.366999 dt = 0.043635, not at end yet tc id = 45, canon_type = 2, mot type = 1 time: 3.902000 primary movement = 2.185847947594e-04 time: 3.902000000000e+00 total movement = 2.185847947594e-04 vel = 2.261222014752e-01 ------------------- tc state : vr = 6.969686, vf = 0.366999, maxvel = 8.374863, current_vel = 0.241197, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.241197, acc = 15.074813,T = 0.014636, P = 0.001930 initial results: dx= 0.012707,dt = 0.041785, a_f = 3.010697, v_f = 0.366999 dt = 0.041785, not at end yet tc id = 45, canon_type = 2, mot type = 1 time: 3.903000 primary movement = 2.336596081911e-04 time: 3.903000000000e+00 total movement = 2.336596081911e-04 vel = 2.411970149069e-01 ------------------- tc state : vr = 6.969686, vf = 0.366999, maxvel = 8.374863, current_vel = 0.256272, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.256272, acc = 15.074813,T = 0.014636, P = 0.002178 initial results: dx= 0.012458,dt = 0.039976, a_f = 2.769827, v_f = 0.366999 dt = 0.039976, not at end yet tc id = 45, canon_type = 2, mot type = 1 time: 3.904000 primary movement = 2.487344216227e-04 time: 3.904000000000e+00 total movement = 2.487344216227e-04 vel = 2.562718283386e-01 ------------------- tc state : vr = 6.969686, vf = 0.366999, maxvel = 8.374863, current_vel = 0.271347, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.271347, acc = 15.074813,T = 0.014636, P = 0.002442 initial results: dx= 0.012194,dt = 0.038206, a_f = 2.503622, v_f = 0.366999 dt = 0.038206, not at end yet tc id = 45, canon_type = 2, mot type = 1 time: 3.905000 primary movement = 2.638092350545e-04 time: 3.905000000000e+00 total movement = 2.638092350545e-04 vel = 2.713466417703e-01 ------------------- tc state : vr = 6.969686, vf = 0.366999, maxvel = 8.374863, current_vel = 0.286421, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.286421, acc = 15.074813,T = 0.014636, P = 0.002721 initial results: dx= 0.011915,dt = 0.036471, a_f = 2.209387, v_f = 0.366999 dt = 0.036471, not at end yet tc id = 45, canon_type = 2, mot type = 1 time: 3.906000 primary movement = 2.788840484860e-04 time: 3.906000000000e+00 total movement = 2.788840484860e-04 vel = 2.864214552019e-01 ------------------- tc state : vr = 6.969686, vf = 0.366999, maxvel = 8.374863, current_vel = 0.301496, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.301496, acc = 15.074813,T = 0.014636, P = 0.003015 initial results: dx= 0.011621,dt = 0.034769, a_f = 1.883960, v_f = 0.366999 dt = 0.034769, not at end yet tc id = 45, canon_type = 2, mot type = 1 time: 3.907000 primary movement = 2.939588619178e-04 time: 3.907000000000e+00 total movement = 2.939588619178e-04 vel = 3.014962686336e-01 ------------------- tc state : vr = 6.969686, vf = 0.366999, maxvel = 8.374863, current_vel = 0.316571, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.316571, acc = 15.074813,T = 0.014636, P = 0.003324 initial results: dx= 0.011312,dt = 0.033098, a_f = 1.523609, v_f = 0.366999 dt = 0.033098, not at end yet tc id = 45, canon_type = 2, mot type = 1 time: 3.908000 primary movement = 3.090336753495e-04 time: 3.908000000000e+00 total movement = 3.090336753495e-04 vel = 3.165710820653e-01 ------------------- tc state : vr = 6.969686, vf = 0.366999, maxvel = 8.374863, current_vel = 0.331646, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.331646, acc = 15.074813,T = 0.014636, P = 0.003648 initial results: dx= 0.010988,dt = 0.031456, a_f = 1.123903, v_f = 0.366999 dt = 0.031456, not at end yet tc id = 45, canon_type = 2, mot type = 1 time: 3.909000 primary movement = 3.241084887812e-04 time: 3.909000000000e+00 total movement = 3.241084887812e-04 vel = 3.316458954970e-01 ------------------- tc state : vr = 6.969686, vf = 0.366999, maxvel = 8.374863, current_vel = 0.346721, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.346721, acc = 15.074813,T = 0.014636, P = 0.003987 initial results: dx= 0.010649,dt = 0.029841, a_f = 0.679553, v_f = 0.366999 dt = 0.029841, not at end yet tc id = 45, canon_type = 2, mot type = 1 time: 3.910000 primary movement = 3.391833022128e-04 time: 3.910000000000e+00 total movement = 3.391833022128e-04 vel = 3.467207089287e-01 ------------------- tc state : vr = 6.969686, vf = 0.366999, maxvel = 8.374863, current_vel = 0.361796, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.361796, acc = 15.074813,T = 0.014636, P = 0.004342 initial results: dx= 0.010295,dt = 0.028252, a_f = 0.184192, v_f = 0.366999 dt = 0.028252, not at end yet tc id = 45, canon_type = 2, mot type = 1 time: 3.911000 primary movement = 3.542581156445e-04 time: 3.911000000000e+00 total movement = 3.542581156445e-04 vel = 3.617955223604e-01 ------------------- tc state : vr = 6.969686, vf = 0.366999, maxvel = 8.374863, current_vel = 0.376870, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.376870, acc = 15.074813,T = 0.014636, P = 0.004711 initial results: dx= 0.009925,dt = 0.026686, a_f = -0.369898, v_f = 0.366999 dt = 0.026686, not at end yet tc id = 45, canon_type = 2, mot type = 1 time: 3.912000 primary movement = 3.693329290762e-04 time: 3.912000000000e+00 total movement = 3.693329290762e-04 vel = 3.768703357920e-01 ------------------- tc state : vr = 6.969686, vf = 0.366999, maxvel = 8.374863, current_vel = 0.391945, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.391945, acc = 15.074813,T = 0.014636, P = 0.005095 initial results: dx= 0.009541,dt = 0.025143, a_f = -0.992163, v_f = 0.366999 dt = 0.025143, not at end yet tc id = 45, canon_type = 2, mot type = 1 time: 3.913000 primary movement = 3.844077425079e-04 time: 3.913000000000e+00 total movement = 3.844077425079e-04 vel = 3.919451492237e-01 ------------------- tc state : vr = 6.969686, vf = 0.366999, maxvel = 8.374863, current_vel = 0.407020, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.407020, acc = 15.074813,T = 0.014636, P = 0.005495 initial results: dx= 0.009142,dt = 0.023621, a_f = -1.694283, v_f = 0.366999 dt = 0.023621, not at end yet tc id = 45, canon_type = 2, mot type = 1 time: 3.914000 primary movement = 3.994825559395e-04 time: 3.914000000000e+00 total movement = 3.994825559395e-04 vel = 4.070199626554e-01 ------------------- tc state : vr = 6.969686, vf = 0.366999, maxvel = 8.374863, current_vel = 0.422095, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.422095, acc = 15.074813,T = 0.014636, P = 0.005909 initial results: dx= 0.008727,dt = 0.022119, a_f = -2.490862, v_f = 0.366999 dt = 0.022119, not at end yet tc id = 45, canon_type = 2, mot type = 1 time: 3.915000 primary movement = 4.145573693713e-04 time: 3.915000000000e+00 total movement = 4.145573693713e-04 vel = 4.220947760871e-01 ------------------- tc state : vr = 6.969686, vf = 0.366999, maxvel = 8.374863, current_vel = 0.437170, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.437170, acc = 15.074813,T = 0.014636, P = 0.006339 initial results: dx= 0.008297,dt = 0.020636, a_f = -3.400399, v_f = 0.366999 dt = 0.020636, not at end yet tc id = 45, canon_type = 2, mot type = 1 time: 3.916000 primary movement = 4.296321828029e-04 time: 3.916000000000e+00 total movement = 4.296321828029e-04 vel = 4.371695895188e-01 ------------------- tc state : vr = 6.969686, vf = 0.366999, maxvel = 8.374863, current_vel = 0.452244, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.452244, acc = 15.074813,T = 0.014636, P = 0.006784 initial results: dx= 0.007853,dt = 0.019171, a_f = -4.446674, v_f = 0.366999 dt = 0.019171, not at end yet tc id = 45, canon_type = 2, mot type = 1 time: 3.917000 primary movement = 4.447069962346e-04 time: 3.917000000000e+00 total movement = 4.447069962346e-04 vel = 4.522444029504e-01 ------------------- tc state : vr = 6.969686, vf = 0.366999, maxvel = 8.374863, current_vel = 0.467319, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.467319, acc = 15.074813,T = 0.014636, P = 0.007243 initial results: dx= 0.007393,dt = 0.017722, a_f = -5.660762, v_f = 0.366999 dt = 0.017722, not at end yet tc id = 45, canon_type = 2, mot type = 1 time: 3.918000 primary movement = 4.597818096663e-04 time: 3.918000000000e+00 total movement = 4.597818096663e-04 vel = 4.673192163821e-01 ------------------- tc state : vr = 6.969686, vf = 0.366999, maxvel = 8.374863, current_vel = 0.482394, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.482394, acc = 15.074813,T = 0.014636, P = 0.007718 initial results: dx= 0.006918,dt = 0.016289, a_f = -7.084060, v_f = 0.366999 dt = 0.016289, not at end yet tc id = 45, canon_type = 2, mot type = 1 time: 3.919000 primary movement = 4.748566230979e-04 time: 3.919000000000e+00 total movement = 4.748566230979e-04 vel = 4.823940298138e-01 ------------------- tc state : vr = 6.969686, vf = 0.366999, maxvel = 8.374863, current_vel = 0.497469, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.497469, acc = 15.074813,T = 0.014636, P = 0.008208 initial results: dx= 0.006428,dt = 0.014872, a_f = -8.772945, v_f = 0.366999 dt = 0.014872, not at end yet tc id = 45, canon_type = 2, mot type = 1 time: 3.920000 primary movement = 4.899314365296e-04 time: 3.920000000000e+00 total movement = 4.899314365296e-04 vel = 4.974688432455e-01 ------------------- tc state : vr = 6.969686, vf = 0.366999, maxvel = 8.374863, current_vel = 0.512544, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.512544, acc = 15.074813,T = 0.014636, P = 0.008713 initial results: dx= 0.005923,dt = 0.013469, a_f = -10.806217, v_f = 0.366999 dt = 0.013469, not at end yet tc id = 45, canon_type = 2, mot type = 1 time: 3.921000 primary movement = 5.050062499613e-04 time: 3.921000000000e+00 total movement = 5.050062499613e-04 vel = 5.125436566772e-01 ------------------- tc state : vr = 6.969686, vf = 0.366999, maxvel = 8.374863, current_vel = 0.527618, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.527618, acc = 15.074813,T = 0.014636, P = 0.009233 initial results: dx= 0.005403,dt = 0.012079, a_f = -13.297461, v_f = 0.366999 dt = 0.012079, not at end yet tc id = 45, canon_type = 2, mot type = 1 time: 3.922000 primary movement = 5.200810633931e-04 time: 3.922000000000e+00 total movement = 5.200810633931e-04 vel = 5.276184701088e-01 ------------------- tc state : vr = 6.969686, vf = 0.366999, maxvel = 8.374863, current_vel = 0.530692, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.530692, acc = 3.073114,T = 0.014636, P = 0.009762 initial results: dx= 0.004874,dt = 0.010859, a_f = -15.074813, v_f = 0.366999 recalculating with a_f = -15.074813, a = -15.074813 revised dt = 0.010859 dt = 0.010859, not at end yet tc id = 45, canon_type = 2, mot type = 1 time: 3.923000 primary movement = 5.291550271311e-04 time: 3.923000000000e+00 total movement = 5.291550271311e-04 vel = 5.306915841535e-01 ------------------- tc state : vr = 6.969686, vf = 0.366999, maxvel = 8.374863, current_vel = 0.515617, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.515617, acc = -15.074813,T = 0.014636, P = 0.010286 on final decel initial results: dx= 0.004351,dt = 0.009859, a_f = -15.074813, v_f = 0.366999 dt = 0.009859, not at end yet tc id = 45, canon_type = 2, mot type = 1 time: 3.924000 primary movement = 5.231541774378e-04 time: 3.924000000000e+00 total movement = 5.231541774378e-04 vel = 5.156167707218e-01 ------------------- tc state : vr = 6.969686, vf = 0.366999, maxvel = 8.374863, current_vel = 0.500542, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.500542, acc = -15.074813,T = 0.014636, P = 0.010794 on final decel initial results: dx= 0.003843,dt = 0.008859, a_f = -15.074813, v_f = 0.366999 dt = 0.008859, not at end yet tc id = 45, canon_type = 2, mot type = 1 time: 3.925000 primary movement = 5.080793640060e-04 time: 3.925000000000e+00 total movement = 5.080793640060e-04 vel = 5.005419572902e-01 ------------------- tc state : vr = 6.969686, vf = 0.366999, maxvel = 8.374863, current_vel = 0.485467, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.485467, acc = -15.074813,T = 0.014636, P = 0.011287 on final decel initial results: dx= 0.003350,dt = 0.007859, a_f = -15.074813, v_f = 0.366999 dt = 0.007859, not at end yet tc id = 45, canon_type = 2, mot type = 1 time: 3.926000 primary movement = 4.930045505743e-04 time: 3.926000000000e+00 total movement = 4.930045505743e-04 vel = 4.854671438585e-01 ------------------- tc state : vr = 6.969686, vf = 0.366999, maxvel = 8.374863, current_vel = 0.470392, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.470392, acc = -15.074813,T = 0.014636, P = 0.011765 on final decel initial results: dx= 0.002872,dt = 0.006859, a_f = -15.074813, v_f = 0.366999 dt = 0.006859, not at end yet tc id = 45, canon_type = 2, mot type = 1 time: 3.927000 primary movement = 4.779297371426e-04 time: 3.927000000000e+00 total movement = 4.779297371426e-04 vel = 4.703923304268e-01 ------------------- tc state : vr = 6.969686, vf = 0.366999, maxvel = 8.374863, current_vel = 0.455318, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.455318, acc = -15.074813,T = 0.014636, P = 0.012228 on final decel initial results: dx= 0.002409,dt = 0.005859, a_f = -15.074813, v_f = 0.366999 dt = 0.005859, not at end yet tc id = 45, canon_type = 2, mot type = 1 time: 3.928000 primary movement = 4.628549237109e-04 time: 3.928000000000e+00 total movement = 4.628549237109e-04 vel = 4.553175169951e-01 ------------------- tc state : vr = 6.969686, vf = 0.366999, maxvel = 8.374863, current_vel = 0.440243, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.440243, acc = -15.074813,T = 0.014636, P = 0.012675 on final decel initial results: dx= 0.001961,dt = 0.004859, a_f = -15.074813, v_f = 0.366999 recalculating with a_f = -15.074813, a = -15.074813 revised dt = 0.004859 dt = 0.004859, not at end yet tc id = 45, canon_type = 2, mot type = 1 time: 3.929000 primary movement = 4.477801102793e-04 time: 3.929000000000e+00 total movement = 4.477801102793e-04 vel = 4.402427035634e-01 ------------------- tc state : vr = 6.969686, vf = 0.366999, maxvel = 8.374863, current_vel = 0.425168, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.425168, acc = -15.074813,T = 0.014636, P = 0.013108 on final decel initial results: dx= 0.001528,dt = 0.003859, a_f = -15.074813, v_f = 0.366999 recalculating with a_f = -15.074813, a = -15.074813 revised dt = 0.003859 dt = 0.003859, not at end yet tc id = 45, canon_type = 2, mot type = 1 time: 3.930000 primary movement = 4.327052968476e-04 time: 3.930000000000e+00 total movement = 4.327052968476e-04 vel = 4.251678901317e-01 ------------------- tc state : vr = 6.969686, vf = 0.366999, maxvel = 8.374863, current_vel = 0.410093, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.410093, acc = -15.074813,T = 0.014636, P = 0.013526 on final decel initial results: dx= 0.001111,dt = 0.002859, a_f = -15.074813, v_f = 0.366999 recalculating with a_f = -15.074813, a = -15.074813 revised dt = 0.002859 dt = 0.002859, not at end yet tc id = 45, canon_type = 2, mot type = 1 time: 3.931000 primary movement = 4.176304834159e-04 time: 3.931000000000e+00 total movement = 4.176304834159e-04 vel = 4.100930767001e-01 ------------------- tc state : vr = 6.969686, vf = 0.366999, maxvel = 8.374863, current_vel = 0.395018, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.395018, acc = -15.074813,T = 0.014636, P = 0.013928 on final decel initial results: dx= 0.000708,dt = 0.001859, a_f = -15.074813, v_f = 0.366999 recalculating with a_f = -15.074813, a = -15.074813 revised dt = 0.001859 dt = 0.001859, not at end yet tc id = 45, canon_type = 2, mot type = 1 time: 3.932000 primary movement = 4.025556699843e-04 time: 3.932000000000e+00 total movement = 4.025556699843e-04 vel = 3.950182632684e-01 ------------------- tc state : vr = 6.969686, vf = 0.366999, maxvel = 8.374863, current_vel = 0.379943, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.379943, acc = -15.074813,T = 0.014636, P = 0.014316 on final decel initial results: dx= 0.000321,dt = 0.000859, a_f = -15.074813, v_f = 0.366999 recalculating with a_f = -15.074813, a = -15.074813 revised dt = 0.000859 actual v_f = 0.366999, a = -15.074813 split time is 0.000858666 tc id = 45, canon_type = 2, mot type = 1 time: 3.933000 primary movement = 3.874808565525e-04 time: 3.933000000000e+00 total movement = 3.874808565525e-04 vel = 3.799434498367e-01 ------------------- tc id 45 done Finishing split-cycle on id 46 tc state : vr = 0.366999, vf = 0.366999, maxvel = 0.366999, current_vel = 0.366999, fs = 1.000000, tc = 0.000141, term = 3 tc result: v = 0.366999, acc = -0.000000,T = 0.002816, P = 0.000052 initial results: dx= 0.002764,dt = 0.007531, a_f = 0.000000, v_f = 0.366999 dt = 0.007531, not at end yet secondary movement = 0.000052 tc id = 46, canon_type = 3, mot type = 2 time: 3.934000 primary movement = 3.206869643582e-04 time: 3.934000000000e+00 total movement = 3.725563897248e-04 vel = 3.669992271906e-01 Finished tc id 45 ------------------- Activate tc id = 46 target_vel = 0.366999 final_vel = 0.366999 length = 0.002816 tc state : vr = 0.366999, vf = 0.366999, maxvel = 0.366999, current_vel = 0.366999, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.366999, acc = 0.000000,T = 0.002816, P = 0.000419 initial results: dx= 0.002397,dt = 0.006531, a_f = 0.000000, v_f = 0.366999 dt = 0.006531, not at end yet tc id = 46, canon_type = 3, mot type = 2 time: 3.935000 primary movement = 3.669225969524e-04 time: 3.935000000000e+00 total movement = 3.669225969524e-04 vel = 3.669992271906e-01 ------------------- tc state : vr = 0.366999, vf = 0.366999, maxvel = 0.366999, current_vel = 0.366999, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.366999, acc = 0.000000,T = 0.002816, P = 0.000786 initial results: dx= 0.002030,dt = 0.005531, a_f = 0.000000, v_f = 0.366999 dt = 0.005531, not at end yet tc id = 46, canon_type = 3, mot type = 2 time: 3.936000 primary movement = 3.669225969525e-04 time: 3.936000000000e+00 total movement = 3.669225969525e-04 vel = 3.669992271906e-01 ------------------- tc state : vr = 0.366999, vf = 0.366999, maxvel = 0.366999, current_vel = 0.366999, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.366999, acc = 0.000000,T = 0.002816, P = 0.001153 initial results: dx= 0.001663,dt = 0.004531, a_f = 0.000000, v_f = 0.366999 dt = 0.004531, not at end yet tc id = 46, canon_type = 3, mot type = 2 time: 3.937000 primary movement = 3.669225969524e-04 time: 3.937000000000e+00 total movement = 3.669225969524e-04 vel = 3.669992271906e-01 ------------------- tc state : vr = 0.366999, vf = 0.366999, maxvel = 0.366999, current_vel = 0.366999, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.366999, acc = 0.000000,T = 0.002816, P = 0.001520 initial results: dx= 0.001296,dt = 0.003531, a_f = 0.000000, v_f = 0.366999 dt = 0.003531, not at end yet tc id = 46, canon_type = 3, mot type = 2 time: 3.938000 primary movement = 3.669225969524e-04 time: 3.938000000000e+00 total movement = 3.669225969524e-04 vel = 3.669992271906e-01 ------------------- tc state : vr = 0.366999, vf = 0.366999, maxvel = 0.366999, current_vel = 0.366999, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.366999, acc = 0.000000,T = 0.002816, P = 0.001887 initial results: dx= 0.000929,dt = 0.002531, a_f = 0.000000, v_f = 0.366999 dt = 0.002531, not at end yet tc id = 46, canon_type = 3, mot type = 2 time: 3.939000 primary movement = 3.669225969525e-04 time: 3.939000000000e+00 total movement = 3.669225969525e-04 vel = 3.669992271906e-01 ------------------- tc state : vr = 0.366999, vf = 0.366999, maxvel = 0.366999, current_vel = 0.366999, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.366999, acc = 0.000000,T = 0.002816, P = 0.002254 initial results: dx= 0.000562,dt = 0.001531, a_f = 0.000000, v_f = 0.366999 dt = 0.001531, not at end yet tc id = 46, canon_type = 3, mot type = 2 time: 3.940000 primary movement = 3.669225969524e-04 time: 3.940000000000e+00 total movement = 3.669225969524e-04 vel = 3.669992271906e-01 ------------------- tc state : vr = 0.366999, vf = 0.366999, maxvel = 0.366999, current_vel = 0.366999, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.366999, acc = 0.000000,T = 0.002816, P = 0.002621 initial results: dx= 0.000195,dt = 0.000531, a_f = 0.000000, v_f = 0.366999 actual v_f = 0.366999, a = 0.000000 split time is 0.000530631 tc id = 46, canon_type = 3, mot type = 2 time: 3.941000 primary movement = 3.669225969525e-04 time: 3.941000000000e+00 total movement = 3.669225969525e-04 vel = 3.669992271906e-01 ------------------- tc id 46 done Finishing split-cycle on id 46 tc state : vr = 0.454157, vf = 0.454157, maxvel = 9.225626, current_vel = 0.382588, fs = 1.000000, tc = 0.000469, term = 3 tc result: v = 0.382588, acc = 33.212385,T = 0.001077, P = 0.000176 initial results: dx= 0.000902,dt = 0.002155, a_f = 33.212385, v_f = 0.454157 dt = 0.002155, not at end yet secondary movement = 0.000176 tc id = 46, canon_type = 2, mot type = 1 time: 3.942000 primary movement = 1.947297927285e-04 time: 3.942000000000e+00 total movement = 3.706462388835e-04 vel = 3.825880841603e-01 Finished tc id 46 ------------------- Activate tc id = 46 target_vel = 0.454157 final_vel = 0.454157 length = 0.001077 tc state : vr = 0.454157, vf = 0.454157, maxvel = 9.225626, current_vel = 0.415800, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.415800, acc = 33.212385,T = 0.001077, P = 0.000575 initial results: dx= 0.000502,dt = 0.001155, a_f = 33.212385, v_f = 0.454157 recalculating with a_f = 33.212385, a = 33.212385 revised dt = 0.001155 dt = 0.001155, not at end yet tc id = 46, canon_type = 2, mot type = 1 time: 3.943000 primary movement = 3.991942765293e-04 time: 3.943000000000e+00 total movement = 3.991942765293e-04 vel = 4.158004688985e-01 ------------------- tc state : vr = 0.454157, vf = 0.454157, maxvel = 9.225626, current_vel = 0.449013, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.449013, acc = 33.212385,T = 0.001077, P = 0.001008 initial results: dx= 0.000070,dt = 0.000155, a_f = 33.212385, v_f = 0.454157 recalculating with a_f = 33.212385, a = 33.212385 revised dt = 0.000155 actual v_f = 0.454157, a = 33.212385 split time is 0.00015488 tc id = 46, canon_type = 2, mot type = 1 time: 3.944000 primary movement = 4.324066612677e-04 time: 3.944000000000e+00 total movement = 4.324066612677e-04 vel = 4.490128536367e-01 ------------------- tc id 46 done Finishing split-cycle on id 47 tc state : vr = 0.513076, vf = 0.513076, maxvel = 0.513076, current_vel = 0.466834, fs = 1.000000, tc = 0.000845, term = 3 tc result: v = 0.466834, acc = 15.000000,T = 0.003771, P = 0.000389 initial results: dx= 0.003381,dt = 0.006902, a_f = 6.700156, v_f = 0.513076 dt = 0.006902, not at end yet secondary movement = 0.000389 tc id = 47, canon_type = 3, mot type = 2 time: 3.945000 primary movement = 6.994164810264e-05 time: 3.945000000000e+00 total movement = 4.590912351059e-04 vel = 4.668335954472e-01 Finished tc id 46 ------------------- Activate tc id = 47 target_vel = 0.513076 final_vel = 0.513076 length = 0.003771 tc state : vr = 0.513076, vf = 0.513076, maxvel = 0.513076, current_vel = 0.481834, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.481834, acc = 15.000000,T = 0.003771, P = 0.000864 initial results: dx= 0.002907,dt = 0.005844, a_f = 5.345951, v_f = 0.513076 dt = 0.005844, not at end yet tc id = 47, canon_type = 3, mot type = 2 time: 3.946000 primary movement = 4.742902836301e-04 time: 3.946000000000e+00 total movement = 4.742902836301e-04 vel = 4.818335954472e-01 ------------------- tc state : vr = 0.513076, vf = 0.513076, maxvel = 0.513076, current_vel = 0.496834, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.496834, acc = 15.000000,T = 0.003771, P = 0.001353 initial results: dx= 0.002418,dt = 0.004788, a_f = 3.392111, v_f = 0.513076 dt = 0.004788, not at end yet tc id = 47, canon_type = 3, mot type = 2 time: 3.947000 primary movement = 4.892860434147e-04 time: 3.947000000000e+00 total movement = 4.892860434147e-04 vel = 4.968335954472e-01 ------------------- tc state : vr = 0.513076, vf = 0.513076, maxvel = 0.513076, current_vel = 0.511834, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.511834, acc = 15.000000,T = 0.003771, P = 0.001857 initial results: dx= 0.001913,dt = 0.003734, a_f = 0.332657, v_f = 0.513076 dt = 0.003734, not at end yet tc id = 47, canon_type = 3, mot type = 2 time: 3.948000 primary movement = 5.042815351200e-04 time: 3.948000000000e+00 total movement = 5.042815351200e-04 vel = 5.118335954472e-01 ------------------- tc state : vr = 0.513076, vf = 0.513076, maxvel = 0.513076, current_vel = 0.513076, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.513076, acc = 1.242134,T = 0.003771, P = 0.002370 initial results: dx= 0.001401,dt = 0.002731, a_f = 0.000000, v_f = 0.513076 dt = 0.002731, not at end yet tc id = 47, canon_type = 3, mot type = 2 time: 3.949000 primary movement = 5.124000465971e-04 time: 3.949000000000e+00 total movement = 5.124000465971e-04 vel = 5.130757295498e-01 ------------------- tc state : vr = 0.513076, vf = 0.513076, maxvel = 0.513076, current_vel = 0.513076, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.513076, acc = 0.000000,T = 0.003771, P = 0.002883 initial results: dx= 0.000888,dt = 0.001731, a_f = 0.000000, v_f = 0.513076 dt = 0.001731, not at end yet tc id = 47, canon_type = 3, mot type = 2 time: 3.950000 primary movement = 5.130209148374e-04 time: 3.950000000000e+00 total movement = 5.130209148374e-04 vel = 5.130757295498e-01 ------------------- tc state : vr = 0.513076, vf = 0.513076, maxvel = 0.513076, current_vel = 0.513076, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.513076, acc = 0.000000,T = 0.003771, P = 0.003396 initial results: dx= 0.000375,dt = 0.000731, a_f = 0.000000, v_f = 0.513076 actual v_f = 0.513076, a = 0.000000 split time is 0.000730669 tc id = 47, canon_type = 3, mot type = 2 time: 3.951000 primary movement = 5.130209148374e-04 time: 3.951000000000e+00 total movement = 5.130209148374e-04 vel = 5.130757295498e-01 ------------------- tc id 47 done Finishing split-cycle on id 47 tc state : vr = 4.218601, vf = 0.562282, maxvel = 8.354531, current_vel = 0.521176, fs = 1.000000, tc = 0.000269, term = 3 tc result: v = 0.521176, acc = 30.076433,T = 0.008859, P = 0.000139 initial results: dx= 0.008720,dt = 0.016096, a_f = 2.553760, v_f = 0.562282 dt = 0.016096, not at end yet secondary movement = 0.000139 tc id = 47, canon_type = 2, mot type = 1 time: 3.952000 primary movement = 3.748673422243e-04 time: 3.952000000000e+00 total movement = 5.141452036017e-04 vel = 5.211762339684e-01 Finished tc id 47 ------------------- Activate tc id = 47 target_vel = 4.218601 final_vel = 0.562282 length = 0.008859 tc state : vr = 4.218601, vf = 0.562282, maxvel = 8.354531, current_vel = 0.551253, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.551253, acc = 30.076433,T = 0.008859, P = 0.000675 initial results: dx= 0.008184,dt = 0.014698, a_f = 0.750384, v_f = 0.562282 dt = 0.014698, not at end yet tc id = 47, canon_type = 2, mot type = 1 time: 3.953000 primary movement = 5.362144505909e-04 time: 3.953000000000e+00 total movement = 5.362144505909e-04 vel = 5.512526672133e-01 ------------------- tc state : vr = 4.218601, vf = 0.562282, maxvel = 8.354531, current_vel = 0.581329, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.581329, acc = 30.076433,T = 0.008859, P = 0.001242 initial results: dx= 0.007617,dt = 0.013321, a_f = -1.429800, v_f = 0.562282 dt = 0.013321, not at end yet tc id = 47, canon_type = 2, mot type = 1 time: 3.954000 primary movement = 5.662908838357e-04 time: 3.954000000000e+00 total movement = 5.662908838357e-04 vel = 5.813291004582e-01 ------------------- tc state : vr = 4.218601, vf = 0.562282, maxvel = 8.354531, current_vel = 0.611406, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.611406, acc = 30.076433,T = 0.008859, P = 0.001838 initial results: dx= 0.007021,dt = 0.011964, a_f = -4.105989, v_f = 0.562282 dt = 0.011964, not at end yet tc id = 47, canon_type = 2, mot type = 1 time: 3.955000 primary movement = 5.963673170806e-04 time: 3.955000000000e+00 total movement = 5.963673170806e-04 vel = 6.114055337031e-01 ------------------- tc state : vr = 4.218601, vf = 0.562282, maxvel = 8.354531, current_vel = 0.641482, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.641482, acc = 30.076433,T = 0.008859, P = 0.002465 initial results: dx= 0.006394,dt = 0.010624, a_f = -7.454721, v_f = 0.562282 dt = 0.010624, not at end yet tc id = 47, canon_type = 2, mot type = 1 time: 3.956000 primary movement = 6.264437503256e-04 time: 3.956000000000e+00 total movement = 6.264437503256e-04 vel = 6.414819669480e-01 ------------------- tc state : vr = 4.218601, vf = 0.562282, maxvel = 8.354531, current_vel = 0.671558, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.671558, acc = 30.076433,T = 0.008859, P = 0.003121 initial results: dx= 0.005738,dt = 0.009301, a_f = -11.748932, v_f = 0.562282 dt = 0.009301, not at end yet tc id = 47, canon_type = 2, mot type = 1 time: 3.957000 primary movement = 6.565201835705e-04 time: 3.957000000000e+00 total movement = 6.565201835705e-04 vel = 6.715584001929e-01 ------------------- tc state : vr = 4.218601, vf = 0.562282, maxvel = 8.354531, current_vel = 0.701635, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.701635, acc = 30.076433,T = 0.008859, P = 0.003808 initial results: dx= 0.005051,dt = 0.007993, a_f = -17.433975, v_f = 0.562282 dt = 0.007993, not at end yet tc id = 47, canon_type = 2, mot type = 1 time: 3.958000 primary movement = 6.865966168153e-04 time: 3.958000000000e+00 total movement = 6.865966168153e-04 vel = 7.016348334378e-01 ------------------- tc state : vr = 4.218601, vf = 0.562282, maxvel = 8.354531, current_vel = 0.731711, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.731711, acc = 30.076433,T = 0.008859, P = 0.004524 initial results: dx= 0.004335,dt = 0.006700, a_f = -25.289097, v_f = 0.562282 dt = 0.006700, not at end yet tc id = 47, canon_type = 2, mot type = 1 time: 3.959000 primary movement = 7.166730500602e-04 time: 3.959000000000e+00 total movement = 7.166730500602e-04 vel = 7.317112666827e-01 ------------------- tc state : vr = 4.218601, vf = 0.562282, maxvel = 8.354531, current_vel = 0.730028, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.730028, acc = -1.683453,T = 0.008859, P = 0.005255 on final decel initial results: dx= 0.003604,dt = 0.005577, a_f = -30.076433, v_f = 0.562282 dt = 0.005577, not at end yet tc id = 47, canon_type = 2, mot type = 1 time: 3.960000 primary movement = 7.308695401013e-04 time: 3.960000000000e+00 total movement = 7.308695401013e-04 vel = 7.300278135200e-01 ------------------- tc state : vr = 4.218601, vf = 0.562282, maxvel = 8.354531, current_vel = 0.699951, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.699951, acc = -30.076433,T = 0.008859, P = 0.005970 on final decel initial results: dx= 0.002889,dt = 0.004577, a_f = -30.076433, v_f = 0.562282 recalculating with a_f = -30.076433, a = -30.076433 revised dt = 0.004577 dt = 0.004577, not at end yet tc id = 47, canon_type = 2, mot type = 1 time: 3.961000 primary movement = 7.149895968976e-04 time: 3.961000000000e+00 total movement = 7.149895968976e-04 vel = 6.999513802751e-01 ------------------- tc state : vr = 4.218601, vf = 0.562282, maxvel = 8.354531, current_vel = 0.669875, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.669875, acc = -30.076433,T = 0.008859, P = 0.006655 on final decel initial results: dx= 0.002204,dt = 0.003577, a_f = -30.076433, v_f = 0.562282 recalculating with a_f = -30.076433, a = -30.076433 revised dt = 0.003577 dt = 0.003577, not at end yet tc id = 47, canon_type = 2, mot type = 1 time: 3.962000 primary movement = 6.849131636526e-04 time: 3.962000000000e+00 total movement = 6.849131636526e-04 vel = 6.698749470302e-01 ------------------- tc state : vr = 4.218601, vf = 0.562282, maxvel = 8.354531, current_vel = 0.639799, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.639799, acc = -30.076433,T = 0.008859, P = 0.007310 on final decel initial results: dx= 0.001549,dt = 0.002577, a_f = -30.076433, v_f = 0.562282 recalculating with a_f = -30.076433, a = -30.076433 revised dt = 0.002577 dt = 0.002577, not at end yet tc id = 47, canon_type = 2, mot type = 1 time: 3.963000 primary movement = 6.548367304077e-04 time: 3.963000000000e+00 total movement = 6.548367304077e-04 vel = 6.397985137853e-01 ------------------- tc state : vr = 4.218601, vf = 0.562282, maxvel = 8.354531, current_vel = 0.609722, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.609722, acc = -30.076433,T = 0.008859, P = 0.007935 on final decel initial results: dx= 0.000924,dt = 0.001577, a_f = -30.076433, v_f = 0.562282 recalculating with a_f = -30.076433, a = -30.076433 revised dt = 0.001577 dt = 0.001577, not at end yet tc id = 47, canon_type = 2, mot type = 1 time: 3.964000 primary movement = 6.247602971628e-04 time: 3.964000000000e+00 total movement = 6.247602971628e-04 vel = 6.097220805404e-01 ------------------- tc state : vr = 4.218601, vf = 0.562282, maxvel = 8.354531, current_vel = 0.579646, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.579646, acc = -30.076433,T = 0.008859, P = 0.008529 on final decel initial results: dx= 0.000330,dt = 0.000577, a_f = -30.076433, v_f = 0.562282 actual v_f = 0.562282, a = -30.076433 split time is 0.000577314 tc id = 47, canon_type = 2, mot type = 1 time: 3.965000 primary movement = 5.946838639179e-04 time: 3.965000000000e+00 total movement = 5.946838639179e-04 vel = 5.796456472955e-01 ------------------- tc id 47 done Finishing split-cycle on id 48 tc state : vr = 0.562282, vf = 0.562282, maxvel = 0.562282, current_vel = 0.562282, fs = 1.000000, tc = 0.000423, term = 3 tc result: v = 0.562282, acc = 0.000000,T = 0.006388, P = 0.000238 initial results: dx= 0.006150,dt = 0.010937, a_f = 0.000000, v_f = 0.562282 dt = 0.010937, not at end yet secondary movement = 0.000238 tc id = 48, canon_type = 3, mot type = 2 time: 3.966000 primary movement = 3.296256079142e-04 time: 3.966000000000e+00 total movement = 5.672904292028e-04 vel = 5.622820922314e-01 Finished tc id 47 ------------------- Activate tc id = 48 target_vel = 0.562282 final_vel = 0.562282 length = 0.006388 tc state : vr = 0.562282, vf = 0.562282, maxvel = 0.562282, current_vel = 0.562282, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.562282, acc = 0.000000,T = 0.006388, P = 0.000800 initial results: dx= 0.005588,dt = 0.009937, a_f = 0.000000, v_f = 0.562282 dt = 0.009937, not at end yet tc id = 48, canon_type = 3, mot type = 2 time: 3.967000 primary movement = 5.622320741892e-04 time: 3.967000000000e+00 total movement = 5.622320741892e-04 vel = 5.622820922314e-01 ------------------- tc state : vr = 0.562282, vf = 0.562282, maxvel = 0.562282, current_vel = 0.562282, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.562282, acc = 0.000000,T = 0.006388, P = 0.001362 initial results: dx= 0.005025,dt = 0.008937, a_f = 0.000000, v_f = 0.562282 dt = 0.008937, not at end yet tc id = 48, canon_type = 3, mot type = 2 time: 3.968000 primary movement = 5.622320741892e-04 time: 3.968000000000e+00 total movement = 5.622320741892e-04 vel = 5.622820922314e-01 ------------------- tc state : vr = 0.562282, vf = 0.562282, maxvel = 0.562282, current_vel = 0.562282, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.562282, acc = 0.000000,T = 0.006388, P = 0.001925 initial results: dx= 0.004463,dt = 0.007937, a_f = 0.000000, v_f = 0.562282 dt = 0.007937, not at end yet tc id = 48, canon_type = 3, mot type = 2 time: 3.969000 primary movement = 5.622320741893e-04 time: 3.969000000000e+00 total movement = 5.622320741893e-04 vel = 5.622820922314e-01 ------------------- tc state : vr = 0.562282, vf = 0.562282, maxvel = 0.562282, current_vel = 0.562282, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.562282, acc = 0.000000,T = 0.006388, P = 0.002487 initial results: dx= 0.003901,dt = 0.006937, a_f = 0.000000, v_f = 0.562282 dt = 0.006937, not at end yet tc id = 48, canon_type = 3, mot type = 2 time: 3.970000 primary movement = 5.622320741892e-04 time: 3.970000000000e+00 total movement = 5.622320741892e-04 vel = 5.622820922314e-01 ------------------- tc state : vr = 0.562282, vf = 0.562282, maxvel = 0.562282, current_vel = 0.562282, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.562282, acc = 0.000000,T = 0.006388, P = 0.003049 initial results: dx= 0.003339,dt = 0.005937, a_f = 0.000000, v_f = 0.562282 dt = 0.005937, not at end yet tc id = 48, canon_type = 3, mot type = 2 time: 3.971000 primary movement = 5.622320741891e-04 time: 3.971000000000e+00 total movement = 5.622320741891e-04 vel = 5.622820922314e-01 ------------------- tc state : vr = 0.562282, vf = 0.562282, maxvel = 0.562282, current_vel = 0.562282, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.562282, acc = 0.000000,T = 0.006388, P = 0.003611 initial results: dx= 0.002776,dt = 0.004937, a_f = 0.000000, v_f = 0.562282 dt = 0.004937, not at end yet tc id = 48, canon_type = 3, mot type = 2 time: 3.972000 primary movement = 5.622320741892e-04 time: 3.972000000000e+00 total movement = 5.622320741892e-04 vel = 5.622820922314e-01 ------------------- tc state : vr = 0.562282, vf = 0.562282, maxvel = 0.562282, current_vel = 0.562282, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.562282, acc = 0.000000,T = 0.006388, P = 0.004174 initial results: dx= 0.002214,dt = 0.003937, a_f = 0.000000, v_f = 0.562282 dt = 0.003937, not at end yet tc id = 48, canon_type = 3, mot type = 2 time: 3.973000 primary movement = 5.622320741892e-04 time: 3.973000000000e+00 total movement = 5.622320741892e-04 vel = 5.622820922314e-01 ------------------- tc state : vr = 0.562282, vf = 0.562282, maxvel = 0.562282, current_vel = 0.562282, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.562282, acc = 0.000000,T = 0.006388, P = 0.004736 initial results: dx= 0.001652,dt = 0.002937, a_f = 0.000000, v_f = 0.562282 dt = 0.002937, not at end yet tc id = 48, canon_type = 3, mot type = 2 time: 3.974000 primary movement = 5.622320741892e-04 time: 3.974000000000e+00 total movement = 5.622320741892e-04 vel = 5.622820922314e-01 ------------------- tc state : vr = 0.562282, vf = 0.562282, maxvel = 0.562282, current_vel = 0.562282, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.562282, acc = 0.000000,T = 0.006388, P = 0.005298 initial results: dx= 0.001089,dt = 0.001937, a_f = 0.000000, v_f = 0.562282 dt = 0.001937, not at end yet tc id = 48, canon_type = 3, mot type = 2 time: 3.975000 primary movement = 5.622320741892e-04 time: 3.975000000000e+00 total movement = 5.622320741892e-04 vel = 5.622820922314e-01 ------------------- tc state : vr = 0.562282, vf = 0.562282, maxvel = 0.562282, current_vel = 0.562282, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.562282, acc = 0.000000,T = 0.006388, P = 0.005860 initial results: dx= 0.000527,dt = 0.000937, a_f = 0.000000, v_f = 0.562282 actual v_f = 0.562282, a = 0.000000 split time is 0.000937442 tc id = 48, canon_type = 3, mot type = 2 time: 3.976000 primary movement = 5.622320741892e-04 time: 3.976000000000e+00 total movement = 5.622320741892e-04 vel = 5.622820922314e-01 ------------------- tc id 48 done Finishing split-cycle on id 48 tc state : vr = 2.042427, vf = 0.327952, maxvel = 9.270796, current_vel = 0.564370, fs = 1.000000, tc = 0.000063, term = 3 tc result: v = 0.564370, acc = 33.375000,T = 0.004289, P = 0.000035 initial results: dx= 0.004254,dt = 0.009534, a_f = -24.796430, v_f = 0.327952 dt = 0.009534, not at end yet secondary movement = 0.000035 tc id = 48, canon_type = 2, mot type = 1 time: 3.977000 primary movement = 5.270655735205e-04 time: 3.977000000000e+00 total movement = 5.623061930119e-04 vel = 5.643699696079e-01 Finished tc id 48 ------------------- Activate tc id = 48 target_vel = 2.042427 final_vel = 0.327952 length = 0.004289 tc state : vr = 2.042427, vf = 0.327952, maxvel = 9.270796, current_vel = 0.594001, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.594001, acc = 29.630758,T = 0.004289, P = 0.000614 initial results: dx= 0.003675,dt = 0.007971, a_f = -33.375000, v_f = 0.327952 dt = 0.007971, not at end yet tc id = 48, canon_type = 2, mot type = 1 time: 3.978000 primary movement = 5.791853485331e-04 time: 3.978000000000e+00 total movement = 5.791853485331e-04 vel = 5.940007274584e-01 ------------------- tc state : vr = 2.042427, vf = 0.327952, maxvel = 9.270796, current_vel = 0.560626, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.560626, acc = -33.375000,T = 0.004289, P = 0.001192 on final decel initial results: dx= 0.003097,dt = 0.006971, a_f = -33.375000, v_f = 0.327952 dt = 0.006971, not at end yet tc id = 48, canon_type = 2, mot type = 1 time: 3.979000 primary movement = 5.773132274583e-04 time: 3.979000000000e+00 total movement = 5.773132274583e-04 vel = 5.606257274584e-01 ------------------- tc state : vr = 2.042427, vf = 0.327952, maxvel = 9.270796, current_vel = 0.527251, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.527251, acc = -33.375000,T = 0.004289, P = 0.001736 on final decel initial results: dx= 0.002553,dt = 0.005971, a_f = -33.375000, v_f = 0.327952 recalculating with a_f = -33.375000, a = -33.375000 revised dt = 0.005971 dt = 0.005971, not at end yet tc id = 48, canon_type = 2, mot type = 1 time: 3.980000 primary movement = 5.439382274584e-04 time: 3.980000000000e+00 total movement = 5.439382274584e-04 vel = 5.272507274584e-01 ------------------- tc state : vr = 2.042427, vf = 0.327952, maxvel = 9.270796, current_vel = 0.493876, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.493876, acc = -33.375000,T = 0.004289, P = 0.002246 on final decel initial results: dx= 0.002043,dt = 0.004971, a_f = -33.375000, v_f = 0.327952 recalculating with a_f = -33.375000, a = -33.375000 revised dt = 0.004971 dt = 0.004971, not at end yet tc id = 48, canon_type = 2, mot type = 1 time: 3.981000 primary movement = 5.105632274584e-04 time: 3.981000000000e+00 total movement = 5.105632274584e-04 vel = 4.938757274584e-01 ------------------- tc state : vr = 2.042427, vf = 0.327952, maxvel = 9.270796, current_vel = 0.460501, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.460501, acc = -33.375000,T = 0.004289, P = 0.002723 on final decel initial results: dx= 0.001566,dt = 0.003971, a_f = -33.375000, v_f = 0.327952 recalculating with a_f = -33.375000, a = -33.375000 revised dt = 0.003971 dt = 0.003971, not at end yet tc id = 48, canon_type = 2, mot type = 1 time: 3.982000 primary movement = 4.771882274584e-04 time: 3.982000000000e+00 total movement = 4.771882274584e-04 vel = 4.605007274584e-01 ------------------- tc state : vr = 2.042427, vf = 0.327952, maxvel = 9.270796, current_vel = 0.427126, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.427126, acc = -33.375000,T = 0.004289, P = 0.003167 on final decel initial results: dx= 0.001122,dt = 0.002971, a_f = -33.375000, v_f = 0.327952 dt = 0.002971, not at end yet tc id = 48, canon_type = 2, mot type = 1 time: 3.983000 primary movement = 4.438132274584e-04 time: 3.983000000000e+00 total movement = 4.438132274584e-04 vel = 4.271257274584e-01 ------------------- tc state : vr = 2.042427, vf = 0.327952, maxvel = 9.270796, current_vel = 0.393751, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.393751, acc = -33.375000,T = 0.004289, P = 0.003578 on final decel initial results: dx= 0.000711,dt = 0.001971, a_f = -33.375000, v_f = 0.327952 recalculating with a_f = -33.375000, a = -33.375000 revised dt = 0.001971 dt = 0.001971, not at end yet tc id = 48, canon_type = 2, mot type = 1 time: 3.984000 primary movement = 4.104382274583e-04 time: 3.984000000000e+00 total movement = 4.104382274583e-04 vel = 3.937507274584e-01 ------------------- tc state : vr = 2.042427, vf = 0.327952, maxvel = 9.270796, current_vel = 0.360376, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.360376, acc = -33.375000,T = 0.004289, P = 0.003955 on final decel initial results: dx= 0.000334,dt = 0.000971, a_f = -33.375000, v_f = 0.327952 recalculating with a_f = -33.375000, a = -33.375000 revised dt = 0.000971 actual v_f = 0.327952, a = -33.375000 split time is 0.000971497 tc id = 48, canon_type = 2, mot type = 1 time: 3.985000 primary movement = 3.770632274584e-04 time: 3.985000000000e+00 total movement = 3.770632274584e-04 vel = 3.603757274584e-01 ------------------- tc id 48 done Finishing split-cycle on id 49 tc state : vr = 0.327952, vf = 0.327952, maxvel = 0.327952, current_vel = 0.327952, fs = 1.000000, tc = 0.000029, term = 3 tc result: v = 0.327952, acc = -0.000000,T = 0.002595, P = 0.000009 initial results: dx= 0.002586,dt = 0.007884, a_f = 0.000000, v_f = 0.327952 dt = 0.007884, not at end yet secondary movement = 0.000009 tc id = 49, canon_type = 3, mot type = 2 time: 3.986000 primary movement = 3.343540417748e-04 time: 3.986000000000e+00 total movement = 3.437017831155e-04 vel = 3.279520279747e-01 Finished tc id 48 ------------------- Activate tc id = 49 target_vel = 0.327952 final_vel = 0.327952 length = 0.002595 tc state : vr = 0.327952, vf = 0.327952, maxvel = 0.327952, current_vel = 0.327952, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.327952, acc = 0.000000,T = 0.002595, P = 0.000337 initial results: dx= 0.002258,dt = 0.006884, a_f = 0.000000, v_f = 0.327952 dt = 0.006884, not at end yet tc id = 49, canon_type = 3, mot type = 2 time: 3.987000 primary movement = 3.278662752082e-04 time: 3.987000000000e+00 total movement = 3.278662752082e-04 vel = 3.279520279747e-01 ------------------- tc state : vr = 0.327952, vf = 0.327952, maxvel = 0.327952, current_vel = 0.327952, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.327952, acc = 0.000000,T = 0.002595, P = 0.000665 initial results: dx= 0.001930,dt = 0.005884, a_f = 0.000000, v_f = 0.327952 dt = 0.005884, not at end yet tc id = 49, canon_type = 3, mot type = 2 time: 3.988000 primary movement = 3.278662752082e-04 time: 3.988000000000e+00 total movement = 3.278662752082e-04 vel = 3.279520279747e-01 ------------------- tc state : vr = 0.327952, vf = 0.327952, maxvel = 0.327952, current_vel = 0.327952, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.327952, acc = 0.000000,T = 0.002595, P = 0.000993 initial results: dx= 0.001602,dt = 0.004884, a_f = 0.000000, v_f = 0.327952 dt = 0.004884, not at end yet tc id = 49, canon_type = 3, mot type = 2 time: 3.989000 primary movement = 3.278662752081e-04 time: 3.989000000000e+00 total movement = 3.278662752081e-04 vel = 3.279520279747e-01 ------------------- tc state : vr = 0.327952, vf = 0.327952, maxvel = 0.327952, current_vel = 0.327952, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.327952, acc = 0.000000,T = 0.002595, P = 0.001321 initial results: dx= 0.001274,dt = 0.003884, a_f = 0.000000, v_f = 0.327952 dt = 0.003884, not at end yet tc id = 49, canon_type = 3, mot type = 2 time: 3.990000 primary movement = 3.278662752082e-04 time: 3.990000000000e+00 total movement = 3.278662752082e-04 vel = 3.279520279747e-01 ------------------- tc state : vr = 0.327952, vf = 0.327952, maxvel = 0.327952, current_vel = 0.327952, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.327952, acc = 0.000000,T = 0.002595, P = 0.001649 initial results: dx= 0.000946,dt = 0.002884, a_f = 0.000000, v_f = 0.327952 dt = 0.002884, not at end yet tc id = 49, canon_type = 3, mot type = 2 time: 3.991000 primary movement = 3.278662752082e-04 time: 3.991000000000e+00 total movement = 3.278662752082e-04 vel = 3.279520279747e-01 ------------------- tc state : vr = 0.327952, vf = 0.327952, maxvel = 0.327952, current_vel = 0.327952, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.327952, acc = 0.000000,T = 0.002595, P = 0.001977 initial results: dx= 0.000618,dt = 0.001884, a_f = 0.000000, v_f = 0.327952 dt = 0.001884, not at end yet tc id = 49, canon_type = 3, mot type = 2 time: 3.992000 primary movement = 3.278662752082e-04 time: 3.992000000000e+00 total movement = 3.278662752082e-04 vel = 3.279520279747e-01 ------------------- tc state : vr = 0.327952, vf = 0.327952, maxvel = 0.327952, current_vel = 0.327952, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.327952, acc = 0.000000,T = 0.002595, P = 0.002305 initial results: dx= 0.000290,dt = 0.000884, a_f = 0.000000, v_f = 0.327952 actual v_f = 0.327952, a = 0.000000 split time is 0.000884065 tc id = 49, canon_type = 3, mot type = 2 time: 3.993000 primary movement = 3.278662752082e-04 time: 3.993000000000e+00 total movement = 3.278662752082e-04 vel = 3.279520279747e-01 ------------------- tc id 49 done Finishing split-cycle on id 49 tc state : vr = 0.835023, vf = 0.235947, maxvel = 8.459941, current_vel = 0.331483, fs = 1.000000, tc = 0.000116, term = 3 tc result: v = 0.331483, acc = 30.455911,T = 0.001754, P = 0.000038 initial results: dx= 0.001715,dt = 0.006046, a_f = -15.801700, v_f = 0.235947 dt = 0.006046, not at end yet secondary movement = 0.000038 tc id = 49, canon_type = 2, mot type = 1 time: 3.994000 primary movement = 2.898715941306e-04 time: 3.994000000000e+00 total movement = 3.280974537799e-04 vel = 3.314829398217e-01 Finished tc id 49 ------------------- Activate tc id = 49 target_vel = 0.835023 final_vel = 0.235947 length = 0.001754 tc state : vr = 0.835023, vf = 0.235947, maxvel = 8.459941, current_vel = 0.361939, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.361939, acc = 30.455911,T = 0.001754, P = 0.000385 initial results: dx= 0.001369,dt = 0.004578, a_f = -27.520165, v_f = 0.235947 dt = 0.004578, not at end yet tc id = 49, canon_type = 2, mot type = 1 time: 3.995000 primary movement = 3.467108951998e-04 time: 3.995000000000e+00 total movement = 3.467108951998e-04 vel = 3.619388505781e-01 ------------------- tc state : vr = 0.835023, vf = 0.235947, maxvel = 8.459941, current_vel = 0.342884, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.342884, acc = -19.054770,T = 0.001754, P = 0.000737 on final decel initial results: dx= 0.001016,dt = 0.003511, a_f = -30.455911, v_f = 0.235947 recalculating with a_f = -30.455911, a = -30.455911 revised dt = 0.003511 dt = 0.003511, not at end yet tc id = 49, canon_type = 2, mot type = 1 time: 3.996000 primary movement = 3.524114658093e-04 time: 3.996000000000e+00 total movement = 3.524114658093e-04 vel = 3.428840810407e-01 ------------------- tc state : vr = 0.835023, vf = 0.235947, maxvel = 8.459941, current_vel = 0.312428, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.312428, acc = -30.455911,T = 0.001754, P = 0.001065 on final decel initial results: dx= 0.000689,dt = 0.002511, a_f = -30.455911, v_f = 0.235947 dt = 0.002511, not at end yet tc id = 49, canon_type = 2, mot type = 1 time: 3.997000 primary movement = 3.276561256625e-04 time: 3.997000000000e+00 total movement = 3.276561256625e-04 vel = 3.124281702843e-01 ------------------- tc state : vr = 0.835023, vf = 0.235947, maxvel = 8.459941, current_vel = 0.281972, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.281972, acc = -30.455911,T = 0.001754, P = 0.001362 on final decel initial results: dx= 0.000391,dt = 0.001511, a_f = -30.455911, v_f = 0.235947 recalculating with a_f = -30.455911, a = -30.455911 revised dt = 0.001511 dt = 0.001511, not at end yet tc id = 49, canon_type = 2, mot type = 1 time: 3.998000 primary movement = 2.972002149061e-04 time: 3.998000000000e+00 total movement = 2.972002149061e-04 vel = 2.819722595279e-01 ------------------- tc state : vr = 0.835023, vf = 0.235947, maxvel = 8.459941, current_vel = 0.251516, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.251516, acc = -30.455911,T = 0.001754, P = 0.001629 on final decel initial results: dx= 0.000125,dt = 0.000511, a_f = -30.455911, v_f = 0.235947 recalculating with a_f = -30.455911, a = -30.455911 revised dt = 0.000511 actual v_f = 0.235947, a = -30.455911 split time is 0.000511212 tc id = 49, canon_type = 2, mot type = 1 time: 3.999000 primary movement = 2.667443041497e-04 time: 3.999000000000e+00 total movement = 2.667443041497e-04 vel = 2.515163487716e-01 ------------------- tc id 49 done Finishing split-cycle on id 50 tc state : vr = 0.265919, vf = 0.000000, maxvel = 0.265919, current_vel = 0.228615, fs = 1.000000, tc = 0.000489, term = 3 tc result: v = 0.228615, acc = -15.000000,T = 0.001856, P = 0.000114 on final decel initial results: dx= 0.001742,dt = 0.015241, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.015241 dt = 0.015241, not at end yet secondary movement = 0.000114 tc id = 50, canon_type = 3, mot type = 2 time: 4.000000 primary movement = 1.245986244156e-04 time: 4.000000000000e+00 total movement = 2.381264733712e-04 vel = 2.286150959773e-01 Finished tc id 49 ------------------- Activate tc id = 50 target_vel = 0.265919 final_vel = 0.000000 length = 0.001856 tc state : vr = 0.265919, vf = 0.000000, maxvel = 0.265919, current_vel = 0.213615, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.213615, acc = -15.000000,T = 0.001856, P = 0.000335 on final decel initial results: dx= 0.001521,dt = 0.014241, a_f = -15.000000, v_f = 0.000000 dt = 0.014241, not at end yet tc id = 50, canon_type = 3, mot type = 2 time: 4.001000 primary movement = 2.210542941766e-04 time: 4.001000000000e+00 total movement = 2.210542941766e-04 vel = 2.136150959773e-01 ------------------- tc state : vr = 0.265919, vf = 0.000000, maxvel = 0.265919, current_vel = 0.198615, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.198615, acc = -15.000000,T = 0.001856, P = 0.000541 on final decel initial results: dx= 0.001315,dt = 0.013241, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.013241 dt = 0.013241, not at end yet tc id = 50, canon_type = 3, mot type = 2 time: 4.002000 primary movement = 2.060658472106e-04 time: 4.002000000000e+00 total movement = 2.060658472106e-04 vel = 1.986150959773e-01 ------------------- tc state : vr = 0.265919, vf = 0.000000, maxvel = 0.265919, current_vel = 0.183615, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.183615, acc = -15.000000,T = 0.001856, P = 0.000732 on final decel initial results: dx= 0.001124,dt = 0.012241, a_f = -15.000000, v_f = 0.000000 dt = 0.012241, not at end yet tc id = 50, canon_type = 3, mot type = 2 time: 4.003000 primary movement = 1.910758355247e-04 time: 4.003000000000e+00 total movement = 1.910758355247e-04 vel = 1.836150959773e-01 ------------------- tc state : vr = 0.265919, vf = 0.000000, maxvel = 0.265919, current_vel = 0.168615, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.168615, acc = -15.000000,T = 0.001856, P = 0.000908 on final decel initial results: dx= 0.000948,dt = 0.011241, a_f = -15.000000, v_f = 0.000000 dt = 0.011241, not at end yet tc id = 50, canon_type = 3, mot type = 2 time: 4.004000 primary movement = 1.760843729426e-04 time: 4.004000000000e+00 total movement = 1.760843729426e-04 vel = 1.686150959773e-01 ------------------- tc state : vr = 0.265919, vf = 0.000000, maxvel = 0.265919, current_vel = 0.153615, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.153615, acc = -15.000000,T = 0.001856, P = 0.001069 on final decel initial results: dx= 0.000787,dt = 0.010241, a_f = -15.000000, v_f = 0.000000 dt = 0.010241, not at end yet tc id = 50, canon_type = 3, mot type = 2 time: 4.005000 primary movement = 1.610915732989e-04 time: 4.005000000000e+00 total movement = 1.610915732989e-04 vel = 1.536150959773e-01 ------------------- tc state : vr = 0.265919, vf = 0.000000, maxvel = 0.265919, current_vel = 0.138615, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.138615, acc = -15.000000,T = 0.001856, P = 0.001215 on final decel initial results: dx= 0.000640,dt = 0.009241, a_f = -15.000000, v_f = 0.000000 dt = 0.009241, not at end yet tc id = 50, canon_type = 3, mot type = 2 time: 4.006000 primary movement = 1.460975504386e-04 time: 4.006000000000e+00 total movement = 1.460975504386e-04 vel = 1.386150959773e-01 ------------------- tc state : vr = 0.265919, vf = 0.000000, maxvel = 0.265919, current_vel = 0.123615, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.123615, acc = -15.000000,T = 0.001856, P = 0.001346 on final decel initial results: dx= 0.000509,dt = 0.008241, a_f = -15.000000, v_f = 0.000000 dt = 0.008241, not at end yet tc id = 50, canon_type = 3, mot type = 2 time: 4.007000 primary movement = 1.311024182156e-04 time: 4.007000000000e+00 total movement = 1.311024182156e-04 vel = 1.236150959773e-01 ------------------- tc state : vr = 0.265919, vf = 0.000000, maxvel = 0.265919, current_vel = 0.108615, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.108615, acc = -15.000000,T = 0.001856, P = 0.001462 on final decel initial results: dx= 0.000393,dt = 0.007241, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.007241 dt = 0.007241, not at end yet tc id = 50, canon_type = 3, mot type = 2 time: 4.008000 primary movement = 1.161062904925e-04 time: 4.008000000000e+00 total movement = 1.161062904925e-04 vel = 1.086150959773e-01 ------------------- tc state : vr = 0.265919, vf = 0.000000, maxvel = 0.265919, current_vel = 0.093615, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.093615, acc = -15.000000,T = 0.001856, P = 0.001564 on final decel initial results: dx= 0.000292,dt = 0.006241, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.006241 dt = 0.006241, not at end yet tc id = 50, canon_type = 3, mot type = 2 time: 4.009000 primary movement = 1.011092811397e-04 time: 4.009000000000e+00 total movement = 1.011092811397e-04 vel = 9.361509597727e-02 ------------------- tc state : vr = 0.265919, vf = 0.000000, maxvel = 0.265919, current_vel = 0.078615, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.078615, acc = -15.000000,T = 0.001856, P = 0.001650 on final decel initial results: dx= 0.000206,dt = 0.005241, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.005241 dt = 0.005241, not at end yet tc id = 50, canon_type = 3, mot type = 2 time: 4.010000 primary movement = 8.611150403350e-05 time: 4.010000000000e+00 total movement = 8.611150403350e-05 vel = 7.861509597727e-02 ------------------- tc state : vr = 0.265919, vf = 0.000000, maxvel = 0.265919, current_vel = 0.063615, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.063615, acc = -15.000000,T = 0.001856, P = 0.001721 on final decel initial results: dx= 0.000135,dt = 0.004241, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.004241 dt = 0.004241, not at end yet tc id = 50, canon_type = 3, mot type = 2 time: 4.011000 primary movement = 7.111307305697e-05 time: 4.011000000000e+00 total movement = 7.111307305697e-05 vel = 6.361509597727e-02 ------------------- tc state : vr = 0.265919, vf = 0.000000, maxvel = 0.265919, current_vel = 0.048615, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.048615, acc = -15.000000,T = 0.001856, P = 0.001777 on final decel initial results: dx= 0.000079,dt = 0.003241, a_f = -15.000000, v_f = 0.000000 dt = 0.003241, not at end yet tc id = 50, canon_type = 3, mot type = 2 time: 4.012000 primary movement = 5.611410209736e-05 time: 4.012000000000e+00 total movement = 5.611410209736e-05 vel = 4.861509597727e-02 ------------------- tc state : vr = 0.265919, vf = 0.000000, maxvel = 0.265919, current_vel = 0.033615, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.033615, acc = -15.000000,T = 0.001856, P = 0.001818 on final decel initial results: dx= 0.000038,dt = 0.002241, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.002241 dt = 0.002241, not at end yet tc id = 50, canon_type = 3, mot type = 2 time: 4.013000 primary movement = 4.111470504656e-05 time: 4.013000000000e+00 total movement = 4.111470504656e-05 vel = 3.361509597727e-02 ------------------- tc state : vr = 0.265919, vf = 0.000000, maxvel = 0.265919, current_vel = 0.018615, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.018615, acc = -15.000000,T = 0.001856, P = 0.001844 on final decel initial results: dx= 0.000012,dt = 0.001241, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.001241 dt = 0.001241, not at end yet tc id = 50, canon_type = 3, mot type = 2 time: 4.014000 primary movement = 2.611499579946e-05 time: 4.014000000000e+00 total movement = 2.611499579946e-05 vel = 1.861509597727e-02 ------------------- tc state : vr = 0.265919, vf = 0.000000, maxvel = 0.265919, current_vel = 0.003615, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.003615, acc = -15.000000,T = 0.001856, P = 0.001855 on final decel initial results: dx= 0.000000,dt = 0.000241, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.000241 actual v_f = 0.000000, a = -15.000000 split time is 0.000241006 tc id = 50, canon_type = 3, mot type = 2 time: 4.015000 primary movement = 1.111508825340e-05 time: 4.015000000000e+00 total movement = 1.111508825340e-05 vel = 3.615095977272e-03 ------------------- tc id 50 done Finishing split-cycle on id 50 tc state : vr = 11.043297, vf = 0.000000, maxvel = 11.043297, current_vel = 0.015087, fs = 1.000000, tc = 0.000759, term = 2 tc result: v = 0.015087, acc = 19.877936,T = 0.002082, P = 0.000006 secondary movement = 0.000006 tc id = 50, canon_type = 2, mot type = 1 time: 4.016000 primary movement = 4.356306303424e-07 time: 4.016000000000e+00 total movement = 6.161188222955e-06 vel = 1.508723071379e-02 Finished tc id 50 ------------------- Activate tc id = 50 target_vel = 11.043297 final_vel = 0.000000 length = 0.002082 Activate nexttc id 51 tc state : vr = 11.043297, vf = 0.000000, maxvel = 11.043297, current_vel = 0.034965, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.034965, acc = 19.877936,T = 0.002082, P = 0.000031 tc id = 50, canon_type = 2, mot type = 1 time: 4.017000 primary movement = 2.502619853172e-05 time: 4.017000000000e+00 total movement = 2.502619853172e-05 vel = 3.496516634961e-02 ------------------- tc state : vr = 11.043297, vf = 0.000000, maxvel = 11.043297, current_vel = 0.054843, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.054843, acc = 19.877936,T = 0.002082, P = 0.000076 tc id = 50, canon_type = 2, mot type = 1 time: 4.018000 primary movement = 4.490413416749e-05 time: 4.018000000000e+00 total movement = 4.490413416749e-05 vel = 5.484310198543e-02 ------------------- tc state : vr = 11.043297, vf = 0.000000, maxvel = 11.043297, current_vel = 0.074721, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.074721, acc = 19.877936,T = 0.002082, P = 0.000140 tc id = 50, canon_type = 2, mot type = 1 time: 4.019000 primary movement = 6.478206980336e-05 time: 4.019000000000e+00 total movement = 6.478206980336e-05 vel = 7.472103762125e-02 ------------------- tc state : vr = 11.043297, vf = 0.000000, maxvel = 11.043297, current_vel = 0.094599, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.094599, acc = 19.877936,T = 0.002082, P = 0.000225 tc id = 50, canon_type = 2, mot type = 1 time: 4.020000 primary movement = 8.466000543920e-05 time: 4.020000000000e+00 total movement = 8.466000543920e-05 vel = 9.459897325707e-02 ------------------- tc state : vr = 11.043297, vf = 0.000000, maxvel = 11.043297, current_vel = 0.114477, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.114477, acc = 19.877936,T = 0.002082, P = 0.000330 tc id = 50, canon_type = 2, mot type = 1 time: 4.021000 primary movement = 1.045379410750e-04 time: 4.021000000000e+00 total movement = 1.045379410750e-04 vel = 1.144769088929e-01 ------------------- tc state : vr = 11.043297, vf = 0.000000, maxvel = 11.043297, current_vel = 0.134355, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.134355, acc = 19.877936,T = 0.002082, P = 0.000454 tc id = 50, canon_type = 2, mot type = 1 time: 4.022000 primary movement = 1.244158767108e-04 time: 4.022000000000e+00 total movement = 1.244158767108e-04 vel = 1.343548445287e-01 ------------------- tc state : vr = 11.043297, vf = 0.000000, maxvel = 11.043297, current_vel = 0.154233, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.154233, acc = 19.877936,T = 0.002082, P = 0.000598 tc id = 50, canon_type = 2, mot type = 1 time: 4.023000 primary movement = 1.442938123466e-04 time: 4.023000000000e+00 total movement = 1.442938123466e-04 vel = 1.542327801645e-01 ------------------- tc state : vr = 11.043297, vf = 0.000000, maxvel = 11.043297, current_vel = 0.174111, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.174111, acc = 19.877936,T = 0.002082, P = 0.000763 tc id = 50, canon_type = 2, mot type = 1 time: 4.024000 primary movement = 1.641717479824e-04 time: 4.024000000000e+00 total movement = 1.641717479824e-04 vel = 1.741107158003e-01 ------------------- tc state : vr = 11.043297, vf = 0.000000, maxvel = 11.043297, current_vel = 0.193989, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.193989, acc = 19.877936,T = 0.002082, P = 0.000947 tc id = 50, canon_type = 2, mot type = 1 time: 4.025000 primary movement = 1.840496836183e-04 time: 4.025000000000e+00 total movement = 1.840496836183e-04 vel = 1.939886514362e-01 ------------------- tc state : vr = 11.043297, vf = 0.000000, maxvel = 11.043297, current_vel = 0.193528, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.193528, acc = -0.460447,T = 0.002082, P = 0.001140 on final decel tc id = 50, canon_type = 2, mot type = 1 tc state : vr = 0.000460, vf = 0.000000, maxvel = 9.316913, current_vel = 0.000460, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000460, acc = 0.460447,T = 0.002236, P = 0.000000 tc id = 50, canon_type = 2, mot type = 1 secondary movement = 0.000000 time: 4.026000 primary movement = 1.937584277202e-04 time: 4.026000000000e+00 total movement = 1.939886514362e-04 vel = 1.939886514362e-01 ------------------- tc state : vr = 11.043297, vf = 0.000000, maxvel = 11.043297, current_vel = 0.173650, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.173650, acc = -19.877936,T = 0.002082, P = 0.001324 on final decel tc id = 50, canon_type = 2, mot type = 1 tc state : vr = 0.020338, vf = 0.000000, maxvel = 9.316913, current_vel = 0.017231, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.017231, acc = 16.770510,T = 0.002236, P = 0.000009 tc id = 50, canon_type = 2, mot type = 1 secondary movement = 0.000009 time: 4.027000 primary movement = 1.835892361863e-04 time: 4.027000000000e+00 total movement = 1.924349385339e-04 vel = 1.908812256316e-01 ------------------- tc state : vr = 11.043297, vf = 0.000000, maxvel = 11.043297, current_vel = 0.153772, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.153772, acc = -19.877936,T = 0.002082, P = 0.001488 on final decel tc id = 50, canon_type = 2, mot type = 1 tc state : vr = 0.040216, vf = 0.000000, maxvel = 9.316913, current_vel = 0.034001, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.034001, acc = 16.770510,T = 0.002236, P = 0.000035 tc id = 50, canon_type = 2, mot type = 1 secondary movement = 0.000026 time: 4.028000 primary movement = 1.637113005505e-04 time: 4.028000000000e+00 total movement = 1.893275127293e-04 vel = 1.877737998270e-01 ------------------- tc state : vr = 11.043297, vf = 0.000000, maxvel = 11.043297, current_vel = 0.133894, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.133894, acc = -19.877936,T = 0.002082, P = 0.001631 on final decel tc id = 50, canon_type = 2, mot type = 1 tc state : vr = 0.060094, vf = 0.000000, maxvel = 9.316913, current_vel = 0.050772, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.050772, acc = 16.770510,T = 0.002236, P = 0.000077 tc id = 50, canon_type = 2, mot type = 1 secondary movement = 0.000042 time: 4.029000 primary movement = 1.438333649147e-04 time: 4.029000000000e+00 total movement = 1.862200869247e-04 vel = 1.846663740225e-01 ------------------- tc state : vr = 11.043297, vf = 0.000000, maxvel = 11.043297, current_vel = 0.114016, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.114016, acc = -19.877936,T = 0.002082, P = 0.001755 on final decel tc id = 50, canon_type = 2, mot type = 1 tc state : vr = 0.079972, vf = 0.000000, maxvel = 9.316913, current_vel = 0.067542, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.067542, acc = 16.770510,T = 0.002236, P = 0.000136 tc id = 50, canon_type = 2, mot type = 1 secondary movement = 0.000059 time: 4.030000 primary movement = 1.239554292789e-04 time: 4.030000000000e+00 total movement = 1.831126611202e-04 vel = 1.815589482179e-01 ------------------- tc state : vr = 11.043297, vf = 0.000000, maxvel = 11.043297, current_vel = 0.094139, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.094139, acc = -19.877936,T = 0.002082, P = 0.001859 on final decel tc id = 50, canon_type = 2, mot type = 1 tc state : vr = 0.099850, vf = 0.000000, maxvel = 9.316913, current_vel = 0.084313, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.084313, acc = 16.770510,T = 0.002236, P = 0.000212 tc id = 50, canon_type = 2, mot type = 1 secondary movement = 0.000076 time: 4.031000 primary movement = 1.040774936431e-04 time: 4.031000000000e+00 total movement = 1.800052353156e-04 vel = 1.784515224133e-01 ------------------- tc state : vr = 11.043297, vf = 0.000000, maxvel = 11.043297, current_vel = 0.074261, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.074261, acc = -19.877936,T = 0.002082, P = 0.001944 on final decel tc id = 50, canon_type = 2, mot type = 1 tc state : vr = 0.119728, vf = 0.000000, maxvel = 9.316913, current_vel = 0.101084, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.101084, acc = 16.770510,T = 0.002236, P = 0.000305 tc id = 51, canon_type = 2, mot type = 1 secondary movement = 0.000093 time: 4.032000 primary movement = 8.419955800730e-05 time: 4.032000000000e+00 total movement = 1.768978095111e-04 vel = 1.753440966087e-01 ------------------- tc state : vr = 11.043297, vf = 0.000000, maxvel = 11.043297, current_vel = 0.054383, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.054383, acc = -19.877936,T = 0.002082, P = 0.002008 on final decel tc id = 50, canon_type = 2, mot type = 1 tc state : vr = 0.139606, vf = 0.000000, maxvel = 9.316913, current_vel = 0.117854, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.117854, acc = 16.770510,T = 0.002236, P = 0.000414 tc id = 51, canon_type = 2, mot type = 1 secondary movement = 0.000109 time: 4.033000 primary movement = 6.432162237139e-05 time: 4.033000000000e+00 total movement = 1.737903837063e-04 vel = 1.722366708042e-01 ------------------- tc state : vr = 11.043297, vf = 0.000000, maxvel = 11.043297, current_vel = 0.034505, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.034505, acc = -19.877936,T = 0.002082, P = 0.002052 on final decel tc id = 50, canon_type = 2, mot type = 1 tc state : vr = 0.159484, vf = 0.000000, maxvel = 9.316913, current_vel = 0.134625, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.134625, acc = 16.770510,T = 0.002236, P = 0.000541 tc id = 51, canon_type = 2, mot type = 1 secondary movement = 0.000126 time: 4.034000 primary movement = 4.444368673567e-05 time: 4.034000000000e+00 total movement = 1.706829579019e-04 vel = 1.691292449996e-01 ------------------- tc state : vr = 11.043297, vf = 0.000000, maxvel = 11.043297, current_vel = 0.014627, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.014627, acc = -19.877936,T = 0.002082, P = 0.002077 on final decel tc id = 50, canon_type = 2, mot type = 1 tc state : vr = 0.179362, vf = 0.000000, maxvel = 9.316913, current_vel = 0.151395, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.151395, acc = 16.770510,T = 0.002236, P = 0.000684 tc id = 51, canon_type = 2, mot type = 1 secondary movement = 0.000143 time: 4.035000 primary movement = 2.456575109973e-05 time: 4.035000000000e+00 total movement = 1.675755320973e-04 vel = 1.660218191950e-01 ------------------- Found newvel = -0.005251, assuming segment is done segment 50 at target in runcycle tc state : vr = 11.043297, vf = 0.000000, maxvel = 11.043297, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.002082, P = 0.002082 tc id = 50, canon_type = 2, mot type = 1 tc state : vr = 0.193989, vf = 0.000000, maxvel = 9.316913, current_vel = 0.168166, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.168166, acc = 16.770510,T = 0.002236, P = 0.000843 tc id = 51, canon_type = 2, mot type = 1 secondary movement = 0.000160 time: 4.036000 primary movement = 5.381413671318e-06 time: 4.036000000000e+00 total movement = 1.651617045001e-04 vel = 1.681655457444e-01 Finished tc id 50 ------------------- Activate nexttc id 52 tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.184936, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.184936, acc = 16.770510,T = 0.002236, P = 0.001020 tc id = 51, canon_type = 2, mot type = 1 time: 4.037000 primary movement = 1.765508006600e-04 time: 4.037000000000e+00 total movement = 1.765508006600e-04 vel = 1.849360555756e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.185934, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.185934, acc = 0.997978,T = 0.002236, P = 0.001205 tc id = 51, canon_type = 2, mot type = 1 time: 4.038000 primary movement = 1.854350447092e-04 time: 4.038000000000e+00 total movement = 1.854350447092e-04 vel = 1.859340338428e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.169164, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.169164, acc = -16.770510,T = 0.002236, P = 0.001383 on final decel tc id = 51, canon_type = 2, mot type = 1 tc state : vr = 0.016771, vf = 0.016771, maxvel = 8.346473, current_vel = 0.015024, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.015024, acc = 15.023712,T = 0.013361, P = 0.000008 initial results: dx= 0.013354,dt = 0.041175, a_f = 15.023712, v_f = 0.633620 recalculating with a_f = 15.023712, a = 15.023712 revised dt = 0.041175 dt = 0.041175, not at end yet tc id = 51, canon_type = 2, mot type = 1 secondary movement = 0.000008 time: 4.039000 primary movement = 1.775487789272e-04 time: 4.039000000000e+00 total movement = 1.850606347909e-04 vel = 1.841872357388e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.152393, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.152393, acc = -16.770510,T = 0.002236, P = 0.001544 on final decel tc id = 51, canon_type = 2, mot type = 1 tc state : vr = 0.033541, vf = 0.033541, maxvel = 8.346473, current_vel = 0.030047, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.030047, acc = 15.023712,T = 0.013361, P = 0.000030 initial results: dx= 0.013331,dt = 0.040175, a_f = 15.023712, v_f = 0.633620 recalculating with a_f = 15.023712, a = 15.023712 revised dt = 0.040175 dt = 0.040175, not at end yet tc id = 51, canon_type = 2, mot type = 1 secondary movement = 0.000023 time: 4.040000 primary movement = 1.607782690960e-04 time: 4.040000000000e+00 total movement = 1.833138366867e-04 vel = 1.824404376348e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.135623, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.135623, acc = -16.770510,T = 0.002236, P = 0.001688 on final decel tc id = 51, canon_type = 2, mot type = 1 tc state : vr = 0.050312, vf = 0.050312, maxvel = 8.346473, current_vel = 0.045071, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.045071, acc = 15.023712,T = 0.013361, P = 0.000068 initial results: dx= 0.013294,dt = 0.039175, a_f = 15.023712, v_f = 0.633620 dt = 0.039175, not at end yet tc id = 51, canon_type = 2, mot type = 1 secondary movement = 0.000038 time: 4.041000 primary movement = 1.440077592648e-04 time: 4.041000000000e+00 total movement = 1.815670385828e-04 vel = 1.806936395307e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.118852, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.118852, acc = -16.770510,T = 0.002236, P = 0.001815 on final decel tc id = 51, canon_type = 2, mot type = 1 tc state : vr = 0.067082, vf = 0.067082, maxvel = 8.346473, current_vel = 0.060095, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.060095, acc = 15.023712,T = 0.013361, P = 0.000120 initial results: dx= 0.013241,dt = 0.038175, a_f = 15.023712, v_f = 0.633620 recalculating with a_f = 15.023712, a = 15.023712 revised dt = 0.038175 dt = 0.038175, not at end yet tc id = 51, canon_type = 2, mot type = 1 secondary movement = 0.000053 time: 4.042000 primary movement = 1.272372494334e-04 time: 4.042000000000e+00 total movement = 1.798202404787e-04 vel = 1.789468414267e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.102081, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.102081, acc = -16.770510,T = 0.002236, P = 0.001925 on final decel tc id = 51, canon_type = 2, mot type = 1 tc state : vr = 0.083853, vf = 0.083853, maxvel = 8.346473, current_vel = 0.075119, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.075119, acc = 15.023712,T = 0.013361, P = 0.000188 initial results: dx= 0.013174,dt = 0.037175, a_f = 15.023712, v_f = 0.633620 recalculating with a_f = 15.023712, a = 15.023712 revised dt = 0.037175 dt = 0.037175, not at end yet tc id = 51, canon_type = 2, mot type = 1 secondary movement = 0.000068 time: 4.043000 primary movement = 1.104667396023e-04 time: 4.043000000000e+00 total movement = 1.780734423747e-04 vel = 1.772000433227e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.085311, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.085311, acc = -16.770510,T = 0.002236, P = 0.002019 on final decel tc id = 51, canon_type = 2, mot type = 1 tc state : vr = 0.100623, vf = 0.100623, maxvel = 8.346473, current_vel = 0.090142, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.090142, acc = 15.023712,T = 0.013361, P = 0.000270 initial results: dx= 0.013091,dt = 0.036175, a_f = 15.023712, v_f = 0.633620 recalculating with a_f = 15.023712, a = 15.023712 revised dt = 0.036175 dt = 0.036175, not at end yet tc id = 52, canon_type = 2, mot type = 1 secondary movement = 0.000083 time: 4.044000 primary movement = 9.369622977095e-05 time: 4.044000000000e+00 total movement = 1.763266442706e-04 vel = 1.754532452186e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.068540, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.068540, acc = -16.770510,T = 0.002236, P = 0.002096 on final decel tc id = 51, canon_type = 2, mot type = 1 tc state : vr = 0.117394, vf = 0.117394, maxvel = 8.346473, current_vel = 0.105166, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.105166, acc = 15.023712,T = 0.013361, P = 0.000368 initial results: dx= 0.012993,dt = 0.035175, a_f = 15.023712, v_f = 0.633620 recalculating with a_f = 15.023712, a = 15.023712 revised dt = 0.035175 dt = 0.035175, not at end yet tc id = 52, canon_type = 2, mot type = 1 secondary movement = 0.000098 time: 4.045000 primary movement = 7.692571993970e-05 time: 4.045000000000e+00 total movement = 1.745798461666e-04 vel = 1.737064471146e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.051770, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.051770, acc = -16.770510,T = 0.002236, P = 0.002156 on final decel tc id = 51, canon_type = 2, mot type = 1 tc state : vr = 0.134164, vf = 0.134164, maxvel = 8.346473, current_vel = 0.120190, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.120190, acc = 15.023712,T = 0.013361, P = 0.000481 initial results: dx= 0.012881,dt = 0.034175, a_f = 15.023712, v_f = 0.633620 recalculating with a_f = 15.023712, a = 15.023712 revised dt = 0.034175 dt = 0.034175, not at end yet tc id = 52, canon_type = 2, mot type = 1 secondary movement = 0.000113 time: 4.046000 primary movement = 6.015521010847e-05 time: 4.046000000000e+00 total movement = 1.728330480627e-04 vel = 1.719596490106e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.034999, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.034999, acc = -16.770510,T = 0.002236, P = 0.002200 on final decel tc id = 51, canon_type = 2, mot type = 1 tc state : vr = 0.150935, vf = 0.150935, maxvel = 8.346473, current_vel = 0.135213, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.135213, acc = 15.023712,T = 0.013361, P = 0.000608 initial results: dx= 0.012753,dt = 0.033175, a_f = 15.023712, v_f = 0.633620 recalculating with a_f = 15.023712, a = 15.023712 revised dt = 0.033175 dt = 0.033175, not at end yet tc id = 52, canon_type = 2, mot type = 1 secondary movement = 0.000128 time: 4.047000 primary movement = 4.338470027723e-05 time: 4.047000000000e+00 total movement = 1.710862499585e-04 vel = 1.702128509065e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.018229, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.018229, acc = -16.770510,T = 0.002236, P = 0.002226 on final decel tc id = 51, canon_type = 2, mot type = 1 tc state : vr = 0.167705, vf = 0.167705, maxvel = 8.346473, current_vel = 0.150237, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.150237, acc = 15.023712,T = 0.013361, P = 0.000751 initial results: dx= 0.012610,dt = 0.032175, a_f = 15.023712, v_f = 0.633620 recalculating with a_f = 15.023712, a = 15.023712 revised dt = 0.032175 dt = 0.032175, not at end yet tc id = 52, canon_type = 2, mot type = 1 secondary movement = 0.000143 time: 4.048000 primary movement = 2.661419044600e-05 time: 4.048000000000e+00 total movement = 1.693394518546e-04 vel = 1.684660528025e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.001458, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.001458, acc = -16.770510,T = 0.002236, P = 0.002236 on final decel tc id = 51, canon_type = 2, mot type = 1 tc state : vr = 0.184476, vf = 0.184476, maxvel = 8.346473, current_vel = 0.165261, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.165261, acc = 15.023712,T = 0.013361, P = 0.000909 initial results: dx= 0.012452,dt = 0.031175, a_f = 15.023712, v_f = 0.633620 recalculating with a_f = 15.023712, a = 15.023712 revised dt = 0.031175 dt = 0.031175, not at end yet tc id = 52, canon_type = 2, mot type = 1 secondary movement = 0.000158 time: 4.049000 primary movement = 9.843680614652e-06 time: 4.049000000000e+00 total movement = 1.675926537503e-04 vel = 1.667192546985e-01 ------------------- Found newvel = -0.001458, assuming segment is done segment 51 at target in runcycle tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.002236, P = 0.002236 tc id = 51, canon_type = 2, mot type = 1 tc state : vr = 0.185934, vf = 0.185934, maxvel = 8.346473, current_vel = 0.180285, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.180285, acc = 15.023712,T = 0.013361, P = 0.001082 initial results: dx= 0.012280,dt = 0.030175, a_f = 15.023712, v_f = 0.633620 recalculating with a_f = 15.023712, a = 15.023712 revised dt = 0.030175 dt = 0.030175, not at end yet tc id = 52, canon_type = 2, mot type = 1 secondary movement = 0.000173 time: 4.050000 primary movement = 6.341505245515e-08 time: 4.050000000000e+00 total movement = 1.728360999155e-04 vel = 1.802845407266e-01 Finished tc id 51 ------------------- tc state : vr = 6.362557, vf = 0.633620, maxvel = 8.346473, current_vel = 0.195308, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.195308, acc = 15.023712,T = 0.013361, P = 0.001270 initial results: dx= 0.012092,dt = 0.029175, a_f = 15.023712, v_f = 0.633620 recalculating with a_f = 15.023712, a = 15.023712 revised dt = 0.029175 dt = 0.029175, not at end yet tc id = 52, canon_type = 2, mot type = 1 time: 4.051000 primary movement = 1.877963965902e-04 time: 4.051000000000e+00 total movement = 1.877963965902e-04 vel = 1.953082524538e-01 ------------------- tc state : vr = 6.362557, vf = 0.633620, maxvel = 8.346473, current_vel = 0.210332, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.210332, acc = 15.023712,T = 0.013361, P = 0.001472 initial results: dx= 0.011889,dt = 0.028175, a_f = 15.023712, v_f = 0.633620 recalculating with a_f = 15.023712, a = 15.023712 revised dt = 0.028175 dt = 0.028175, not at end yet tc id = 52, canon_type = 2, mot type = 1 time: 4.052000 primary movement = 2.028201083174e-04 time: 4.052000000000e+00 total movement = 2.028201083174e-04 vel = 2.103319641810e-01 ------------------- tc state : vr = 6.362557, vf = 0.633620, maxvel = 8.346473, current_vel = 0.225356, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.225356, acc = 15.023712,T = 0.013361, P = 0.001690 initial results: dx= 0.011671,dt = 0.027175, a_f = 15.023712, v_f = 0.633620 recalculating with a_f = 15.023712, a = 15.023712 revised dt = 0.027175 dt = 0.027175, not at end yet tc id = 52, canon_type = 2, mot type = 1 time: 4.053000 primary movement = 2.178438200446e-04 time: 4.053000000000e+00 total movement = 2.178438200446e-04 vel = 2.253556759082e-01 ------------------- tc state : vr = 6.362557, vf = 0.633620, maxvel = 8.346473, current_vel = 0.240379, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.240379, acc = 15.023712,T = 0.013361, P = 0.001923 initial results: dx= 0.011438,dt = 0.026175, a_f = 15.023712, v_f = 0.633620 dt = 0.026175, not at end yet tc id = 52, canon_type = 2, mot type = 1 time: 4.054000 primary movement = 2.328675317719e-04 time: 4.054000000000e+00 total movement = 2.328675317719e-04 vel = 2.403793876355e-01 ------------------- tc state : vr = 6.362557, vf = 0.633620, maxvel = 8.346473, current_vel = 0.255403, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.255403, acc = 15.023712,T = 0.013361, P = 0.002171 initial results: dx= 0.011190,dt = 0.025175, a_f = 15.023712, v_f = 0.633620 recalculating with a_f = 15.023712, a = 15.023712 revised dt = 0.025175 dt = 0.025175, not at end yet tc id = 52, canon_type = 2, mot type = 1 time: 4.055000 primary movement = 2.478912434990e-04 time: 4.055000000000e+00 total movement = 2.478912434990e-04 vel = 2.554030993627e-01 ------------------- tc state : vr = 6.362557, vf = 0.633620, maxvel = 8.346473, current_vel = 0.270427, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.270427, acc = 15.023712,T = 0.013361, P = 0.002434 initial results: dx= 0.010928,dt = 0.024175, a_f = 15.023712, v_f = 0.633620 recalculating with a_f = 15.023712, a = 15.023712 revised dt = 0.024175 dt = 0.024175, not at end yet tc id = 52, canon_type = 2, mot type = 1 time: 4.056000 primary movement = 2.629149552263e-04 time: 4.056000000000e+00 total movement = 2.629149552263e-04 vel = 2.704268110899e-01 ------------------- tc state : vr = 6.362557, vf = 0.633620, maxvel = 8.346473, current_vel = 0.285451, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.285451, acc = 15.023712,T = 0.013361, P = 0.002712 initial results: dx= 0.010650,dt = 0.023175, a_f = 15.023712, v_f = 0.633620 recalculating with a_f = 15.023712, a = 15.023712 revised dt = 0.023175 dt = 0.023175, not at end yet tc id = 52, canon_type = 2, mot type = 1 time: 4.057000 primary movement = 2.779386669534e-04 time: 4.057000000000e+00 total movement = 2.779386669534e-04 vel = 2.854505228171e-01 ------------------- tc state : vr = 6.362557, vf = 0.633620, maxvel = 8.346473, current_vel = 0.300474, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.300474, acc = 15.023712,T = 0.013361, P = 0.003005 initial results: dx= 0.010357,dt = 0.022175, a_f = 15.023712, v_f = 0.633620 recalculating with a_f = 15.023712, a = 15.023712 revised dt = 0.022175 dt = 0.022175, not at end yet tc id = 52, canon_type = 2, mot type = 1 time: 4.058000 primary movement = 2.929623786807e-04 time: 4.058000000000e+00 total movement = 2.929623786807e-04 vel = 3.004742345443e-01 ------------------- tc state : vr = 6.362557, vf = 0.633620, maxvel = 8.346473, current_vel = 0.315498, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.315498, acc = 15.023712,T = 0.013361, P = 0.003313 initial results: dx= 0.010049,dt = 0.021175, a_f = 15.023712, v_f = 0.633620 recalculating with a_f = 15.023712, a = 15.023712 revised dt = 0.021175 dt = 0.021175, not at end yet tc id = 52, canon_type = 2, mot type = 1 time: 4.059000 primary movement = 3.079860904080e-04 time: 4.059000000000e+00 total movement = 3.079860904080e-04 vel = 3.154979462715e-01 ------------------- tc state : vr = 6.362557, vf = 0.633620, maxvel = 8.346473, current_vel = 0.330522, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.330522, acc = 15.023712,T = 0.013361, P = 0.003636 initial results: dx= 0.009726,dt = 0.020175, a_f = 15.023712, v_f = 0.633620 recalculating with a_f = 15.023712, a = 15.023712 revised dt = 0.020175 dt = 0.020175, not at end yet tc id = 52, canon_type = 2, mot type = 1 time: 4.060000 primary movement = 3.230098021352e-04 time: 4.060000000000e+00 total movement = 3.230098021352e-04 vel = 3.305216579988e-01 ------------------- tc state : vr = 6.362557, vf = 0.633620, maxvel = 8.346473, current_vel = 0.345545, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.345545, acc = 15.023712,T = 0.013361, P = 0.003974 initial results: dx= 0.009388,dt = 0.019175, a_f = 15.023712, v_f = 0.633620 recalculating with a_f = 15.023712, a = 15.023712 revised dt = 0.019175 dt = 0.019175, not at end yet tc id = 52, canon_type = 2, mot type = 1 time: 4.061000 primary movement = 3.380335138624e-04 time: 4.061000000000e+00 total movement = 3.380335138624e-04 vel = 3.455453697260e-01 ------------------- tc state : vr = 6.362557, vf = 0.633620, maxvel = 8.346473, current_vel = 0.360569, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.360569, acc = 15.023712,T = 0.013361, P = 0.004327 initial results: dx= 0.009035,dt = 0.018175, a_f = 15.023712, v_f = 0.633620 recalculating with a_f = 15.023712, a = 15.023712 revised dt = 0.018175 dt = 0.018175, not at end yet tc id = 52, canon_type = 2, mot type = 1 time: 4.062000 primary movement = 3.530572255896e-04 time: 4.062000000000e+00 total movement = 3.530572255896e-04 vel = 3.605690814532e-01 ------------------- tc state : vr = 6.362557, vf = 0.633620, maxvel = 8.346473, current_vel = 0.375593, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.375593, acc = 15.023712,T = 0.013361, P = 0.004695 initial results: dx= 0.008666,dt = 0.017175, a_f = 15.023712, v_f = 0.633620 recalculating with a_f = 15.023712, a = 15.023712 revised dt = 0.017175 dt = 0.017175, not at end yet tc id = 52, canon_type = 2, mot type = 1 time: 4.063000 primary movement = 3.680809373168e-04 time: 4.063000000000e+00 total movement = 3.680809373168e-04 vel = 3.755927931804e-01 ------------------- tc state : vr = 6.362557, vf = 0.633620, maxvel = 8.346473, current_vel = 0.390617, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.390617, acc = 15.023712,T = 0.013361, P = 0.005078 initial results: dx= 0.008283,dt = 0.016175, a_f = 15.023712, v_f = 0.633620 recalculating with a_f = 15.023712, a = 15.023712 revised dt = 0.016175 dt = 0.016175, not at end yet tc id = 52, canon_type = 2, mot type = 1 time: 4.064000 primary movement = 3.831046490441e-04 time: 4.064000000000e+00 total movement = 3.831046490441e-04 vel = 3.906165049076e-01 ------------------- tc state : vr = 6.362557, vf = 0.633620, maxvel = 8.346473, current_vel = 0.405640, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.405640, acc = 15.023712,T = 0.013361, P = 0.005476 initial results: dx= 0.007885,dt = 0.015175, a_f = 15.023712, v_f = 0.633620 recalculating with a_f = 15.023712, a = 15.023712 revised dt = 0.015175 dt = 0.015175, not at end yet tc id = 52, canon_type = 2, mot type = 1 time: 4.065000 primary movement = 3.981283607712e-04 time: 4.065000000000e+00 total movement = 3.981283607712e-04 vel = 4.056402166348e-01 ------------------- tc state : vr = 6.362557, vf = 0.633620, maxvel = 8.346473, current_vel = 0.420664, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.420664, acc = 15.023712,T = 0.013361, P = 0.005889 initial results: dx= 0.007472,dt = 0.014175, a_f = 15.023712, v_f = 0.633620 recalculating with a_f = 15.023712, a = 15.023712 revised dt = 0.014175 dt = 0.014175, not at end yet tc id = 52, canon_type = 2, mot type = 1 time: 4.066000 primary movement = 4.131520724985e-04 time: 4.066000000000e+00 total movement = 4.131520724985e-04 vel = 4.206639283621e-01 ------------------- tc state : vr = 6.362557, vf = 0.633620, maxvel = 8.346473, current_vel = 0.435688, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.435688, acc = 15.023712,T = 0.013361, P = 0.006317 initial results: dx= 0.007044,dt = 0.013175, a_f = 15.023712, v_f = 0.633620 recalculating with a_f = 15.023712, a = 15.023712 revised dt = 0.013175 dt = 0.013175, not at end yet tc id = 52, canon_type = 2, mot type = 1 time: 4.067000 primary movement = 4.281757842257e-04 time: 4.067000000000e+00 total movement = 4.281757842257e-04 vel = 4.356876400893e-01 ------------------- tc state : vr = 6.362557, vf = 0.633620, maxvel = 8.346473, current_vel = 0.450711, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.450711, acc = 15.023712,T = 0.013361, P = 0.006761 initial results: dx= 0.006601,dt = 0.012175, a_f = 15.023712, v_f = 0.633620 recalculating with a_f = 15.023712, a = 15.023712 revised dt = 0.012175 dt = 0.012175, not at end yet tc id = 52, canon_type = 2, mot type = 1 time: 4.068000 primary movement = 4.431994959529e-04 time: 4.068000000000e+00 total movement = 4.431994959529e-04 vel = 4.507113518165e-01 ------------------- tc state : vr = 6.362557, vf = 0.633620, maxvel = 8.346473, current_vel = 0.465735, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.465735, acc = 15.023712,T = 0.013361, P = 0.007219 initial results: dx= 0.006142,dt = 0.011175, a_f = 15.023712, v_f = 0.633620 recalculating with a_f = 15.023712, a = 15.023712 revised dt = 0.011175 dt = 0.011175, not at end yet tc id = 52, canon_type = 2, mot type = 1 time: 4.069000 primary movement = 4.582232076801e-04 time: 4.069000000000e+00 total movement = 4.582232076801e-04 vel = 4.657350635437e-01 ------------------- tc state : vr = 6.362557, vf = 0.633620, maxvel = 8.346473, current_vel = 0.480759, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.480759, acc = 15.023712,T = 0.013361, P = 0.007692 initial results: dx= 0.005669,dt = 0.010175, a_f = 15.023712, v_f = 0.633620 recalculating with a_f = 15.023712, a = 15.023712 revised dt = 0.010175 dt = 0.010175, not at end yet tc id = 52, canon_type = 2, mot type = 1 time: 4.070000 primary movement = 4.732469194073e-04 time: 4.070000000000e+00 total movement = 4.732469194073e-04 vel = 4.807587752709e-01 ------------------- tc state : vr = 6.362557, vf = 0.633620, maxvel = 8.346473, current_vel = 0.495782, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.495782, acc = 15.023712,T = 0.013361, P = 0.008180 initial results: dx= 0.005181,dt = 0.009175, a_f = 15.023712, v_f = 0.633620 recalculating with a_f = 15.023712, a = 15.023712 revised dt = 0.009175 dt = 0.009175, not at end yet tc id = 52, canon_type = 2, mot type = 1 time: 4.071000 primary movement = 4.882706311345e-04 time: 4.071000000000e+00 total movement = 4.882706311345e-04 vel = 4.957824869981e-01 ------------------- tc state : vr = 6.362557, vf = 0.633620, maxvel = 8.346473, current_vel = 0.510806, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.510806, acc = 15.023712,T = 0.013361, P = 0.008684 initial results: dx= 0.004678,dt = 0.008175, a_f = 15.023712, v_f = 0.633620 recalculating with a_f = 15.023712, a = 15.023712 revised dt = 0.008175 dt = 0.008175, not at end yet tc id = 52, canon_type = 2, mot type = 1 time: 4.072000 primary movement = 5.032943428617e-04 time: 4.072000000000e+00 total movement = 5.032943428617e-04 vel = 5.108061987254e-01 ------------------- tc state : vr = 6.362557, vf = 0.633620, maxvel = 8.346473, current_vel = 0.525830, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.525830, acc = 15.023712,T = 0.013361, P = 0.009202 initial results: dx= 0.004159,dt = 0.007175, a_f = 15.023712, v_f = 0.633620 recalculating with a_f = 15.023712, a = 15.023712 revised dt = 0.007175 dt = 0.007175, not at end yet tc id = 52, canon_type = 2, mot type = 1 time: 4.073000 primary movement = 5.183180545890e-04 time: 4.073000000000e+00 total movement = 5.183180545890e-04 vel = 5.258299104526e-01 ------------------- tc state : vr = 6.362557, vf = 0.633620, maxvel = 8.346473, current_vel = 0.540854, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.540854, acc = 15.023712,T = 0.013361, P = 0.009735 initial results: dx= 0.003626,dt = 0.006175, a_f = 15.023712, v_f = 0.633620 recalculating with a_f = 15.023712, a = 15.023712 revised dt = 0.006175 dt = 0.006175, not at end yet tc id = 52, canon_type = 2, mot type = 1 time: 4.074000 primary movement = 5.333417663161e-04 time: 4.074000000000e+00 total movement = 5.333417663161e-04 vel = 5.408536221798e-01 ------------------- tc state : vr = 6.362557, vf = 0.633620, maxvel = 8.346473, current_vel = 0.555877, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.555877, acc = 15.023712,T = 0.013361, P = 0.010284 initial results: dx= 0.003078,dt = 0.005175, a_f = 15.023712, v_f = 0.633620 recalculating with a_f = 15.023712, a = 15.023712 revised dt = 0.005175 dt = 0.005175, not at end yet tc id = 52, canon_type = 2, mot type = 1 time: 4.075000 primary movement = 5.483654780434e-04 time: 4.075000000000e+00 total movement = 5.483654780434e-04 vel = 5.558773339070e-01 ------------------- tc state : vr = 6.362557, vf = 0.633620, maxvel = 8.346473, current_vel = 0.570901, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.570901, acc = 15.023712,T = 0.013361, P = 0.010847 initial results: dx= 0.002514,dt = 0.004175, a_f = 15.023712, v_f = 0.633620 recalculating with a_f = 15.023712, a = 15.023712 revised dt = 0.004175 dt = 0.004175, not at end yet tc id = 52, canon_type = 2, mot type = 1 time: 4.076000 primary movement = 5.633891897706e-04 time: 4.076000000000e+00 total movement = 5.633891897706e-04 vel = 5.709010456342e-01 ------------------- tc state : vr = 6.362557, vf = 0.633620, maxvel = 8.346473, current_vel = 0.585925, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.585925, acc = 15.023712,T = 0.013361, P = 0.011426 initial results: dx= 0.001936,dt = 0.003175, a_f = 15.023712, v_f = 0.633620 recalculating with a_f = 15.023712, a = 15.023712 revised dt = 0.003175 dt = 0.003175, not at end yet tc id = 52, canon_type = 2, mot type = 1 time: 4.077000 primary movement = 5.784129014978e-04 time: 4.077000000000e+00 total movement = 5.784129014978e-04 vel = 5.859247573614e-01 ------------------- tc state : vr = 6.362557, vf = 0.633620, maxvel = 8.346473, current_vel = 0.600948, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.600948, acc = 15.023712,T = 0.013361, P = 0.012019 initial results: dx= 0.001342,dt = 0.002175, a_f = 15.023712, v_f = 0.633620 recalculating with a_f = 15.023712, a = 15.023712 revised dt = 0.002175 dt = 0.002175, not at end yet tc id = 52, canon_type = 2, mot type = 1 time: 4.078000 primary movement = 5.934366132250e-04 time: 4.078000000000e+00 total movement = 5.934366132250e-04 vel = 6.009484690887e-01 ------------------- tc state : vr = 6.362557, vf = 0.633620, maxvel = 8.346473, current_vel = 0.615972, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.615972, acc = 15.023712,T = 0.013361, P = 0.012627 initial results: dx= 0.000734,dt = 0.001175, a_f = 15.023712, v_f = 0.633620 recalculating with a_f = 15.023712, a = 15.023712 revised dt = 0.001175 dt = 0.001175, not at end yet tc id = 52, canon_type = 2, mot type = 1 time: 4.079000 primary movement = 6.084603249522e-04 time: 4.079000000000e+00 total movement = 6.084603249522e-04 vel = 6.159721808159e-01 ------------------- tc state : vr = 6.362557, vf = 0.633620, maxvel = 8.346473, current_vel = 0.630996, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.630996, acc = 15.023712,T = 0.013361, P = 0.013251 initial results: dx= 0.000110,dt = 0.000175, a_f = 15.023712, v_f = 0.633620 recalculating with a_f = 15.023712, a = 15.023712 revised dt = 0.000175 actual v_f = 0.633620, a = 15.023712 split time is 0.000174687 tc id = 52, canon_type = 2, mot type = 1 time: 4.080000 primary movement = 6.234840366795e-04 time: 4.080000000000e+00 total movement = 6.234840366795e-04 vel = 6.309958925431e-01 ------------------- tc id 52 done Finishing split-cycle on id 53 tc state : vr = 0.689211, vf = 0.583983, maxvel = 0.689211, current_vel = 0.646000, fs = 1.000000, tc = 0.000825, term = 3 tc result: v = 0.646000, acc = 15.000000,T = 0.005291, P = 0.000528 initial results: dx= 0.004763,dt = 0.007744, a_f = -8.008243, v_f = 0.583983 dt = 0.007744, not at end yet secondary movement = 0.000528 tc id = 53, canon_type = 3, mot type = 2 time: 4.081000 primary movement = 1.104558228356e-04 time: 4.081000000000e+00 total movement = 6.384813205837e-04 vel = 6.460000346667e-01 Finished tc id 52 ------------------- Activate tc id = 53 target_vel = 0.689211 final_vel = 0.583983 length = 0.005291 tc state : vr = 0.689211, vf = 0.583983, maxvel = 0.689211, current_vel = 0.661000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.661000, acc = 15.000000,T = 0.005291, P = 0.001182 initial results: dx= 0.004109,dt = 0.006601, a_f = -11.667436, v_f = 0.583983 dt = 0.006601, not at end yet tc id = 53, canon_type = 3, mot type = 2 time: 4.082000 primary movement = 6.534652478349e-04 time: 4.082000000000e+00 total movement = 6.534652478349e-04 vel = 6.610000346667e-01 ------------------- tc state : vr = 0.689211, vf = 0.583983, maxvel = 0.689211, current_vel = 0.666629, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.666629, acc = 5.628880,T = 0.005291, P = 0.001845 initial results: dx= 0.003445,dt = 0.005510, a_f = -15.000000, v_f = 0.583983 dt = 0.005510, not at end yet tc id = 53, canon_type = 3, mot type = 2 time: 4.083000 primary movement = 6.637780146151e-04 time: 4.083000000000e+00 total movement = 6.637780146151e-04 vel = 6.666289147818e-01 ------------------- tc state : vr = 0.689211, vf = 0.583983, maxvel = 0.689211, current_vel = 0.651629, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.651629, acc = -15.000000,T = 0.005291, P = 0.002504 on final decel initial results: dx= 0.002786,dt = 0.004510, a_f = -15.000000, v_f = 0.583983 dt = 0.004510, not at end yet tc id = 53, canon_type = 3, mot type = 2 time: 4.084000 primary movement = 6.590932212927e-04 time: 4.084000000000e+00 total movement = 6.590932212927e-04 vel = 6.516289147818e-01 ------------------- tc state : vr = 0.689211, vf = 0.583983, maxvel = 0.689211, current_vel = 0.636629, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.636629, acc = -15.000000,T = 0.005291, P = 0.003149 on final decel initial results: dx= 0.002142,dt = 0.003510, a_f = -15.000000, v_f = 0.583983 dt = 0.003510, not at end yet tc id = 53, canon_type = 3, mot type = 2 time: 4.085000 primary movement = 6.440956030958e-04 time: 4.085000000000e+00 total movement = 6.440956030958e-04 vel = 6.366289147818e-01 ------------------- tc state : vr = 0.689211, vf = 0.583983, maxvel = 0.689211, current_vel = 0.621629, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.621629, acc = -15.000000,T = 0.005291, P = 0.003778 on final decel initial results: dx= 0.001513,dt = 0.002510, a_f = -15.000000, v_f = 0.583983 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.002510 dt = 0.002510, not at end yet tc id = 53, canon_type = 3, mot type = 2 time: 4.086000 primary movement = 6.290978765140e-04 time: 4.086000000000e+00 total movement = 6.290978765140e-04 vel = 6.216289147818e-01 ------------------- tc state : vr = 0.689211, vf = 0.583983, maxvel = 0.689211, current_vel = 0.606629, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.606629, acc = -15.000000,T = 0.005291, P = 0.004392 on final decel initial results: dx= 0.000899,dt = 0.001510, a_f = -15.000000, v_f = 0.583983 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.001510 dt = 0.001510, not at end yet tc id = 53, canon_type = 3, mot type = 2 time: 4.087000 primary movement = 6.141000440708e-04 time: 4.087000000000e+00 total movement = 6.141000440708e-04 vel = 6.066289147818e-01 ------------------- tc state : vr = 0.689211, vf = 0.583983, maxvel = 0.689211, current_vel = 0.591629, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.591629, acc = -15.000000,T = 0.005291, P = 0.004991 on final decel initial results: dx= 0.000300,dt = 0.000510, a_f = -15.000000, v_f = 0.583983 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.000510 actual v_f = 0.583983, a = -15.000000 split time is 0.000509715 tc id = 53, canon_type = 3, mot type = 2 time: 4.088000 primary movement = 5.991021082903e-04 time: 4.088000000000e+00 total movement = 5.991021082903e-04 vel = 5.916289147818e-01 ------------------- tc id 53 done Finishing split-cycle on id 53 tc state : vr = 1.833015, vf = 0.321950, maxvel = 8.565101, current_vel = 0.568866, fs = 1.000000, tc = 0.000490, term = 3 tc result: v = 0.568866, acc = -30.834488,T = 0.003849, P = 0.000283 on final decel initial results: dx= 0.003567,dt = 0.008008, a_f = -30.834488, v_f = 0.321950 dt = 0.008008, not at end yet secondary movement = 0.000283 tc id = 53, canon_type = 2, mot type = 1 time: 4.089000 primary movement = 2.996101976784e-04 time: 4.089000000000e+00 total movement = 5.822224199679e-04 vel = 5.688655027142e-01 Finished tc id 53 ------------------- Activate tc id = 53 target_vel = 1.833015 final_vel = 0.321950 length = 0.003849 tc state : vr = 1.833015, vf = 0.321950, maxvel = 8.565101, current_vel = 0.538031, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.538031, acc = -30.834488,T = 0.003849, P = 0.000836 on final decel initial results: dx= 0.003013,dt = 0.007008, a_f = -30.834488, v_f = 0.321950 dt = 0.007008, not at end yet tc id = 53, canon_type = 2, mot type = 1 time: 4.090000 primary movement = 5.534482589186e-04 time: 4.090000000000e+00 total movement = 5.534482589186e-04 vel = 5.380310151232e-01 ------------------- tc state : vr = 1.833015, vf = 0.321950, maxvel = 8.565101, current_vel = 0.507197, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.507197, acc = -30.834488,T = 0.003849, P = 0.001359 on final decel initial results: dx= 0.002491,dt = 0.006008, a_f = -30.834488, v_f = 0.321950 recalculating with a_f = -30.834488, a = -30.834488 revised dt = 0.006008 dt = 0.006008, not at end yet tc id = 53, canon_type = 2, mot type = 1 time: 4.091000 primary movement = 5.226137713277e-04 time: 4.091000000000e+00 total movement = 5.226137713277e-04 vel = 5.071965275321e-01 ------------------- tc state : vr = 1.833015, vf = 0.321950, maxvel = 8.565101, current_vel = 0.476362, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.476362, acc = -30.834488,T = 0.003849, P = 0.001850 on final decel initial results: dx= 0.001999,dt = 0.005008, a_f = -30.834488, v_f = 0.321950 recalculating with a_f = -30.834488, a = -30.834488 revised dt = 0.005008 dt = 0.005008, not at end yet tc id = 53, canon_type = 2, mot type = 1 time: 4.092000 primary movement = 4.917792837367e-04 time: 4.092000000000e+00 total movement = 4.917792837367e-04 vel = 4.763620399411e-01 ------------------- tc state : vr = 1.833015, vf = 0.321950, maxvel = 8.565101, current_vel = 0.445528, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.445528, acc = -30.834488,T = 0.003849, P = 0.002311 on final decel initial results: dx= 0.001538,dt = 0.004008, a_f = -30.834488, v_f = 0.321950 recalculating with a_f = -30.834488, a = -30.834488 revised dt = 0.004008 dt = 0.004008, not at end yet tc id = 53, canon_type = 2, mot type = 1 time: 4.093000 primary movement = 4.609447961457e-04 time: 4.093000000000e+00 total movement = 4.609447961457e-04 vel = 4.455275523501e-01 ------------------- tc state : vr = 1.833015, vf = 0.321950, maxvel = 8.565101, current_vel = 0.414693, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.414693, acc = -30.834488,T = 0.003849, P = 0.002742 on final decel initial results: dx= 0.001108,dt = 0.003008, a_f = -30.834488, v_f = 0.321950 recalculating with a_f = -30.834488, a = -30.834488 revised dt = 0.003008 dt = 0.003008, not at end yet tc id = 53, canon_type = 2, mot type = 1 time: 4.094000 primary movement = 4.301103085546e-04 time: 4.094000000000e+00 total movement = 4.301103085546e-04 vel = 4.146930647591e-01 ------------------- tc state : vr = 1.833015, vf = 0.321950, maxvel = 8.565101, current_vel = 0.383859, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.383859, acc = -30.834488,T = 0.003849, P = 0.003141 on final decel initial results: dx= 0.000709,dt = 0.002008, a_f = -30.834488, v_f = 0.321950 recalculating with a_f = -30.834488, a = -30.834488 revised dt = 0.002008 dt = 0.002008, not at end yet tc id = 53, canon_type = 2, mot type = 1 time: 4.095000 primary movement = 3.992758209636e-04 time: 4.095000000000e+00 total movement = 3.992758209636e-04 vel = 3.838585771681e-01 ------------------- tc state : vr = 1.833015, vf = 0.321950, maxvel = 8.565101, current_vel = 0.353024, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.353024, acc = -30.834488,T = 0.003849, P = 0.003509 on final decel initial results: dx= 0.000340,dt = 0.001008, a_f = -30.834488, v_f = 0.321950 recalculating with a_f = -30.834488, a = -30.834488 revised dt = 0.001008 dt = 0.001008, not at end yet tc id = 53, canon_type = 2, mot type = 1 time: 4.096000 primary movement = 3.684413333726e-04 time: 4.096000000000e+00 total movement = 3.684413333726e-04 vel = 3.530240895771e-01 ------------------- tc state : vr = 1.833015, vf = 0.321950, maxvel = 8.565101, current_vel = 0.322190, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.322190, acc = -30.834488,T = 0.003849, P = 0.003847 on final decel initial results: dx= 0.000002,dt = 0.000008, a_f = -30.834488, v_f = 0.321950 recalculating with a_f = -30.834488, a = -30.834488 revised dt = 0.000008 actual v_f = 0.321950, a = -30.834488 split time is 7.75683e-06 tc id = 53, canon_type = 2, mot type = 1 time: 4.097000 primary movement = 3.376068457815e-04 time: 4.097000000000e+00 total movement = 3.376068457815e-04 vel = 3.221896019861e-01 ------------------- tc id 53 done Finishing split-cycle on id 54 tc state : vr = 0.321950, vf = 0.321950, maxvel = 0.321950, current_vel = 0.321950, fs = 1.000000, tc = 0.000992, term = 3 tc result: v = 0.321950, acc = -0.000000,T = 0.003230, P = 0.000319 initial results: dx= 0.002910,dt = 0.009040, a_f = 0.000000, v_f = 0.321950 dt = 0.009040, not at end yet secondary movement = 0.000319 tc id = 54, canon_type = 3, mot type = 2 time: 4.098000 primary movement = 2.498242588753e-06 time: 4.098000000000e+00 total movement = 3.218660175239e-04 vel = 3.219504240838e-01 Finished tc id 53 ------------------- Activate tc id = 54 target_vel = 0.321950 final_vel = 0.321950 length = 0.003230 tc state : vr = 0.321950, vf = 0.321950, maxvel = 0.321950, current_vel = 0.321950, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.321950, acc = 0.000000,T = 0.003230, P = 0.000641 initial results: dx= 0.002588,dt = 0.008040, a_f = 0.000000, v_f = 0.321950 dt = 0.008040, not at end yet tc id = 54, canon_type = 3, mot type = 2 time: 4.099000 primary movement = 3.218630730243e-04 time: 4.099000000000e+00 total movement = 3.218630730243e-04 vel = 3.219504240838e-01 ------------------- tc state : vr = 0.321950, vf = 0.321950, maxvel = 0.321950, current_vel = 0.321950, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.321950, acc = 0.000000,T = 0.003230, P = 0.000963 initial results: dx= 0.002266,dt = 0.007040, a_f = 0.000000, v_f = 0.321950 dt = 0.007040, not at end yet tc id = 54, canon_type = 3, mot type = 2 time: 4.100000 primary movement = 3.218630730243e-04 time: 4.100000000000e+00 total movement = 3.218630730243e-04 vel = 3.219504240838e-01 ------------------- tc state : vr = 0.321950, vf = 0.321950, maxvel = 0.321950, current_vel = 0.321950, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.321950, acc = 0.000000,T = 0.003230, P = 0.001285 initial results: dx= 0.001944,dt = 0.006040, a_f = 0.000000, v_f = 0.321950 dt = 0.006040, not at end yet tc id = 54, canon_type = 3, mot type = 2 time: 4.101000 primary movement = 3.218630730244e-04 time: 4.101000000000e+00 total movement = 3.218630730244e-04 vel = 3.219504240838e-01 ------------------- tc state : vr = 0.321950, vf = 0.321950, maxvel = 0.321950, current_vel = 0.321950, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.321950, acc = 0.000000,T = 0.003230, P = 0.001607 initial results: dx= 0.001623,dt = 0.005040, a_f = 0.000000, v_f = 0.321950 dt = 0.005040, not at end yet tc id = 54, canon_type = 3, mot type = 2 time: 4.102000 primary movement = 3.218630730243e-04 time: 4.102000000000e+00 total movement = 3.218630730243e-04 vel = 3.219504240838e-01 ------------------- tc state : vr = 0.321950, vf = 0.321950, maxvel = 0.321950, current_vel = 0.321950, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.321950, acc = 0.000000,T = 0.003230, P = 0.001929 initial results: dx= 0.001301,dt = 0.004040, a_f = 0.000000, v_f = 0.321950 dt = 0.004040, not at end yet tc id = 54, canon_type = 3, mot type = 2 time: 4.103000 primary movement = 3.218630730244e-04 time: 4.103000000000e+00 total movement = 3.218630730244e-04 vel = 3.219504240838e-01 ------------------- tc state : vr = 0.321950, vf = 0.321950, maxvel = 0.321950, current_vel = 0.321950, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.321950, acc = 0.000000,T = 0.003230, P = 0.002251 initial results: dx= 0.000979,dt = 0.003040, a_f = 0.000000, v_f = 0.321950 dt = 0.003040, not at end yet tc id = 54, canon_type = 3, mot type = 2 time: 4.104000 primary movement = 3.218630730243e-04 time: 4.104000000000e+00 total movement = 3.218630730243e-04 vel = 3.219504240838e-01 ------------------- tc state : vr = 0.321950, vf = 0.321950, maxvel = 0.321950, current_vel = 0.321950, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.321950, acc = 0.000000,T = 0.003230, P = 0.002573 initial results: dx= 0.000657,dt = 0.002040, a_f = 0.000000, v_f = 0.321950 dt = 0.002040, not at end yet tc id = 54, canon_type = 3, mot type = 2 time: 4.105000 primary movement = 3.218630730243e-04 time: 4.105000000000e+00 total movement = 3.218630730243e-04 vel = 3.219504240838e-01 ------------------- tc state : vr = 0.321950, vf = 0.321950, maxvel = 0.321950, current_vel = 0.321950, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.321950, acc = 0.000000,T = 0.003230, P = 0.002895 initial results: dx= 0.000335,dt = 0.001040, a_f = 0.000000, v_f = 0.321950 dt = 0.001040, not at end yet tc id = 54, canon_type = 3, mot type = 2 time: 4.106000 primary movement = 3.218630730244e-04 time: 4.106000000000e+00 total movement = 3.218630730244e-04 vel = 3.219504240838e-01 ------------------- tc state : vr = 0.321950, vf = 0.321950, maxvel = 0.321950, current_vel = 0.321950, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.321950, acc = 0.000000,T = 0.003230, P = 0.003217 initial results: dx= 0.000013,dt = 0.000040, a_f = 0.000000, v_f = 0.321950 actual v_f = 0.321950, a = 0.000000 split time is 3.96636e-05 tc id = 54, canon_type = 3, mot type = 2 time: 4.107000 primary movement = 3.218630730243e-04 time: 4.107000000000e+00 total movement = 3.218630730243e-04 vel = 3.219504240838e-01 ------------------- tc id 54 done Finishing split-cycle on id 54 tc state : vr = 0.794333, vf = 0.303345, maxvel = 9.939011, current_vel = 0.356312, fs = 1.000000, tc = 0.000960, term = 3 tc result: v = 0.356312, acc = 35.780581,T = 0.001668, P = 0.000326 initial results: dx= 0.001342,dt = 0.004070, a_f = -13.013678, v_f = 0.303345 dt = 0.004070, not at end yet secondary movement = 0.000326 tc id = 54, canon_type = 2, mot type = 1 time: 4.108000 primary movement = 1.276969611776e-05 time: 4.108000000000e+00 total movement = 3.384496688593e-04 vel = 3.563118199967e-01 Finished tc id 54 ------------------- Activate tc id = 54 target_vel = 0.794333 final_vel = 0.303345 length = 0.001668 tc state : vr = 0.794333, vf = 0.303345, maxvel = 9.939011, current_vel = 0.392092, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.392092, acc = 35.780581,T = 0.001668, P = 0.000700 initial results: dx= 0.000968,dt = 0.002784, a_f = -31.871959, v_f = 0.303345 dt = 0.002784, not at end yet tc id = 54, canon_type = 2, mot type = 1 time: 4.109000 primary movement = 3.742021106595e-04 time: 4.109000000000e+00 total movement = 3.742021106595e-04 vel = 3.920924013223e-01 ------------------- tc state : vr = 0.794333, vf = 0.303345, maxvel = 9.939011, current_vel = 0.366292, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.366292, acc = -25.800429,T = 0.001668, P = 0.001079 on final decel initial results: dx= 0.000589,dt = 0.001759, a_f = -35.780581, v_f = 0.303345 dt = 0.001759, not at end yet tc id = 54, canon_type = 2, mot type = 1 time: 4.110000 primary movement = 3.791921867735e-04 time: 4.110000000000e+00 total movement = 3.791921867735e-04 vel = 3.662919722246e-01 ------------------- tc state : vr = 0.794333, vf = 0.303345, maxvel = 9.939011, current_vel = 0.330511, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.330511, acc = -35.780581,T = 0.001668, P = 0.001427 on final decel initial results: dx= 0.000241,dt = 0.000759, a_f = -35.780581, v_f = 0.303345 actual v_f = 0.303345, a = -35.780581 split time is 0.000759236 tc id = 54, canon_type = 2, mot type = 1 time: 4.111000 primary movement = 3.484016815617e-04 time: 4.111000000000e+00 total movement = 3.484016815617e-04 vel = 3.305113908990e-01 ------------------- tc id 54 done Finishing split-cycle on id 55 tc state : vr = 0.303345, vf = 0.303345, maxvel = 0.303345, current_vel = 0.303345, fs = 1.000000, tc = 0.000241, term = 3 tc result: v = 0.303345, acc = 0.000000,T = 0.002655, P = 0.000073 initial results: dx= 0.002582,dt = 0.008512, a_f = 0.000000, v_f = 0.303345 dt = 0.008512, not at end yet secondary movement = 0.000073 tc id = 55, canon_type = 3, mot type = 2 time: 4.112000 primary movement = 2.406234929598e-04 time: 4.112000000000e+00 total movement = 3.136568577928e-04 vel = 3.033454838902e-01 Finished tc id 54 ------------------- Activate tc id = 55 target_vel = 0.303345 final_vel = 0.303345 length = 0.002655 tc state : vr = 0.303345, vf = 0.303345, maxvel = 0.303345, current_vel = 0.303345, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.303345, acc = 0.000000,T = 0.002655, P = 0.000376 initial results: dx= 0.002279,dt = 0.007512, a_f = 0.000000, v_f = 0.303345 dt = 0.007512, not at end yet tc id = 55, canon_type = 3, mot type = 2 time: 4.113000 primary movement = 3.032527763249e-04 time: 4.113000000000e+00 total movement = 3.032527763249e-04 vel = 3.033454838902e-01 ------------------- tc state : vr = 0.303345, vf = 0.303345, maxvel = 0.303345, current_vel = 0.303345, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.303345, acc = 0.000000,T = 0.002655, P = 0.000680 initial results: dx= 0.001975,dt = 0.006512, a_f = 0.000000, v_f = 0.303345 dt = 0.006512, not at end yet tc id = 55, canon_type = 3, mot type = 2 time: 4.114000 primary movement = 3.032527763249e-04 time: 4.114000000000e+00 total movement = 3.032527763249e-04 vel = 3.033454838902e-01 ------------------- tc state : vr = 0.303345, vf = 0.303345, maxvel = 0.303345, current_vel = 0.303345, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.303345, acc = 0.000000,T = 0.002655, P = 0.000983 initial results: dx= 0.001672,dt = 0.005512, a_f = 0.000000, v_f = 0.303345 dt = 0.005512, not at end yet tc id = 55, canon_type = 3, mot type = 2 time: 4.115000 primary movement = 3.032527763249e-04 time: 4.115000000000e+00 total movement = 3.032527763249e-04 vel = 3.033454838902e-01 ------------------- tc state : vr = 0.303345, vf = 0.303345, maxvel = 0.303345, current_vel = 0.303345, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.303345, acc = 0.000000,T = 0.002655, P = 0.001286 initial results: dx= 0.001369,dt = 0.004512, a_f = 0.000000, v_f = 0.303345 dt = 0.004512, not at end yet tc id = 55, canon_type = 3, mot type = 2 time: 4.116000 primary movement = 3.032527763250e-04 time: 4.116000000000e+00 total movement = 3.032527763250e-04 vel = 3.033454838902e-01 ------------------- tc state : vr = 0.303345, vf = 0.303345, maxvel = 0.303345, current_vel = 0.303345, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.303345, acc = 0.000000,T = 0.002655, P = 0.001590 initial results: dx= 0.001065,dt = 0.003512, a_f = 0.000000, v_f = 0.303345 dt = 0.003512, not at end yet tc id = 55, canon_type = 3, mot type = 2 time: 4.117000 primary movement = 3.032527763249e-04 time: 4.117000000000e+00 total movement = 3.032527763249e-04 vel = 3.033454838902e-01 ------------------- tc state : vr = 0.303345, vf = 0.303345, maxvel = 0.303345, current_vel = 0.303345, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.303345, acc = 0.000000,T = 0.002655, P = 0.001893 initial results: dx= 0.000762,dt = 0.002512, a_f = 0.000000, v_f = 0.303345 dt = 0.002512, not at end yet tc id = 55, canon_type = 3, mot type = 2 time: 4.118000 primary movement = 3.032527763250e-04 time: 4.118000000000e+00 total movement = 3.032527763250e-04 vel = 3.033454838902e-01 ------------------- tc state : vr = 0.303345, vf = 0.303345, maxvel = 0.303345, current_vel = 0.303345, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.303345, acc = 0.000000,T = 0.002655, P = 0.002196 initial results: dx= 0.000459,dt = 0.001512, a_f = 0.000000, v_f = 0.303345 dt = 0.001512, not at end yet tc id = 55, canon_type = 3, mot type = 2 time: 4.119000 primary movement = 3.032527763249e-04 time: 4.119000000000e+00 total movement = 3.032527763249e-04 vel = 3.033454838902e-01 ------------------- tc state : vr = 0.303345, vf = 0.303345, maxvel = 0.303345, current_vel = 0.303345, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.303345, acc = 0.000000,T = 0.002655, P = 0.002500 initial results: dx= 0.000155,dt = 0.000512, a_f = 0.000000, v_f = 0.303345 actual v_f = 0.303345, a = 0.000000 split time is 0.000511639 tc id = 55, canon_type = 3, mot type = 2 time: 4.120000 primary movement = 3.032527763250e-04 time: 4.120000000000e+00 total movement = 3.032527763250e-04 vel = 3.033454838902e-01 ------------------- tc id 55 done Finishing split-cycle on id 55 tc state : vr = 0.375539, vf = 0.375539, maxvel = 8.459941, current_vel = 0.318219, fs = 1.000000, tc = 0.000488, term = 3 tc result: v = 0.318219, acc = 30.455911,T = 0.000805, P = 0.000152 initial results: dx= 0.000653,dt = 0.001882, a_f = 30.455911, v_f = 0.375539 recalculating with a_f = 30.455911, a = 30.455911 revised dt = 0.001882 dt = 0.001882, not at end yet secondary movement = 0.000152 tc id = 55, canon_type = 2, mot type = 1 time: 4.121000 primary movement = 1.551910977409e-04 time: 4.121000000000e+00 total movement = 3.069648732338e-04 vel = 3.182189493410e-01 Finished tc id 55 ------------------- Activate tc id = 55 target_vel = 0.375539 final_vel = 0.375539 length = 0.000805 tc state : vr = 0.375539, vf = 0.375539, maxvel = 8.459941, current_vel = 0.348675, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.348675, acc = 30.455911,T = 0.000805, P = 0.000485 initial results: dx= 0.000319,dt = 0.000882, a_f = 30.455911, v_f = 0.375539 recalculating with a_f = 30.455911, a = 30.455911 revised dt = 0.000882 actual v_f = 0.375539, a = 30.455911 split time is 0.000882059 tc id = 55, canon_type = 2, mot type = 1 time: 4.122000 primary movement = 3.334469047191e-04 time: 4.122000000000e+00 total movement = 3.334469047191e-04 vel = 3.486748600974e-01 ------------------- tc id 55 done Finishing split-cycle on id 56 tc state : vr = 0.383153, vf = 0.383153, maxvel = 0.383153, current_vel = 0.377308, fs = 1.000000, tc = 0.000118, term = 3 tc result: v = 0.377308, acc = 15.000000,T = 0.003599, P = 0.000044 initial results: dx= 0.003554,dt = 0.009348, a_f = 0.625224, v_f = 0.383153 dt = 0.009348, not at end yet secondary movement = 0.000044 tc id = 56, canon_type = 3, mot type = 2 time: 4.123000 primary movement = 3.193995870748e-04 time: 4.123000000000e+00 total movement = 3.637952048690e-04 vel = 3.773078857678e-01 Finished tc id 55 ------------------- Activate tc id = 56 target_vel = 0.383153 final_vel = 0.383153 length = 0.003599 tc state : vr = 0.383153, vf = 0.383153, maxvel = 0.383153, current_vel = 0.383153, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.383153, acc = 5.844622,T = 0.003599, P = 0.000425 initial results: dx= 0.003174,dt = 0.008284, a_f = 0.000000, v_f = 0.383153 dt = 0.008284, not at end yet tc id = 56, canon_type = 3, mot type = 2 time: 4.124000 primary movement = 3.801584636566e-04 time: 4.124000000000e+00 total movement = 3.801584636566e-04 vel = 3.831525082318e-01 ------------------- tc state : vr = 0.383153, vf = 0.383153, maxvel = 0.383153, current_vel = 0.383153, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.383153, acc = 0.000000,T = 0.003599, P = 0.000808 initial results: dx= 0.002791,dt = 0.007284, a_f = 0.000000, v_f = 0.383153 dt = 0.007284, not at end yet tc id = 56, canon_type = 3, mot type = 2 time: 4.125000 primary movement = 3.830791082592e-04 time: 4.125000000000e+00 total movement = 3.830791082592e-04 vel = 3.831525082318e-01 ------------------- tc state : vr = 0.383153, vf = 0.383153, maxvel = 0.383153, current_vel = 0.383153, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.383153, acc = 0.000000,T = 0.003599, P = 0.001191 initial results: dx= 0.002408,dt = 0.006284, a_f = 0.000000, v_f = 0.383153 dt = 0.006284, not at end yet tc id = 56, canon_type = 3, mot type = 2 time: 4.126000 primary movement = 3.830791082592e-04 time: 4.126000000000e+00 total movement = 3.830791082592e-04 vel = 3.831525082318e-01 ------------------- tc state : vr = 0.383153, vf = 0.383153, maxvel = 0.383153, current_vel = 0.383153, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.383153, acc = 0.000000,T = 0.003599, P = 0.001574 initial results: dx= 0.002025,dt = 0.005284, a_f = 0.000000, v_f = 0.383153 dt = 0.005284, not at end yet tc id = 56, canon_type = 3, mot type = 2 time: 4.127000 primary movement = 3.830791082592e-04 time: 4.127000000000e+00 total movement = 3.830791082592e-04 vel = 3.831525082318e-01 ------------------- tc state : vr = 0.383153, vf = 0.383153, maxvel = 0.383153, current_vel = 0.383153, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.383153, acc = 0.000000,T = 0.003599, P = 0.001957 initial results: dx= 0.001642,dt = 0.004284, a_f = 0.000000, v_f = 0.383153 dt = 0.004284, not at end yet tc id = 56, canon_type = 3, mot type = 2 time: 4.128000 primary movement = 3.830791082592e-04 time: 4.128000000000e+00 total movement = 3.830791082592e-04 vel = 3.831525082318e-01 ------------------- tc state : vr = 0.383153, vf = 0.383153, maxvel = 0.383153, current_vel = 0.383153, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.383153, acc = 0.000000,T = 0.003599, P = 0.002340 initial results: dx= 0.001258,dt = 0.003284, a_f = 0.000000, v_f = 0.383153 dt = 0.003284, not at end yet tc id = 56, canon_type = 3, mot type = 2 time: 4.129000 primary movement = 3.830791082593e-04 time: 4.129000000000e+00 total movement = 3.830791082593e-04 vel = 3.831525082318e-01 ------------------- tc state : vr = 0.383153, vf = 0.383153, maxvel = 0.383153, current_vel = 0.383153, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.383153, acc = 0.000000,T = 0.003599, P = 0.002724 initial results: dx= 0.000875,dt = 0.002284, a_f = 0.000000, v_f = 0.383153 dt = 0.002284, not at end yet tc id = 56, canon_type = 3, mot type = 2 time: 4.130000 primary movement = 3.830791082592e-04 time: 4.130000000000e+00 total movement = 3.830791082592e-04 vel = 3.831525082318e-01 ------------------- tc state : vr = 0.383153, vf = 0.383153, maxvel = 0.383153, current_vel = 0.383153, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.383153, acc = 0.000000,T = 0.003599, P = 0.003107 initial results: dx= 0.000492,dt = 0.001284, a_f = 0.000000, v_f = 0.383153 dt = 0.001284, not at end yet tc id = 56, canon_type = 3, mot type = 2 time: 4.131000 primary movement = 3.830791082593e-04 time: 4.131000000000e+00 total movement = 3.830791082593e-04 vel = 3.831525082318e-01 ------------------- tc state : vr = 0.383153, vf = 0.383153, maxvel = 0.383153, current_vel = 0.383153, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.383153, acc = 0.000000,T = 0.003599, P = 0.003490 initial results: dx= 0.000109,dt = 0.000284, a_f = 0.000000, v_f = 0.383153 actual v_f = 0.383153, a = 0.000000 split time is 0.000284371 tc id = 56, canon_type = 3, mot type = 2 time: 4.132000 primary movement = 3.830791082592e-04 time: 4.132000000000e+00 total movement = 3.830791082592e-04 vel = 3.831525082318e-01 ------------------- tc id 56 done Finishing split-cycle on id 56 tc state : vr = 0.468549, vf = 0.468549, maxvel = 9.316913, current_vel = 0.407155, fs = 1.000000, tc = 0.000716, term = 3 tc result: v = 0.407155, acc = 33.541020,T = 0.001084, P = 0.000283 initial results: dx= 0.000801,dt = 0.001830, a_f = 33.541020, v_f = 0.468549 recalculating with a_f = 33.541020, a = 33.541020 revised dt = 0.001830 dt = 0.001830, not at end yet secondary movement = 0.000283 tc id = 56, canon_type = 2, mot type = 1 time: 4.133000 primary movement = 1.089557237545e-04 time: 4.133000000000e+00 total movement = 3.917394184614e-04 vel = 4.071554389826e-01 Finished tc id 56 ------------------- Activate tc id = 56 target_vel = 0.468549 final_vel = 0.468549 length = 0.001084 tc state : vr = 0.468549, vf = 0.468549, maxvel = 9.316913, current_vel = 0.440696, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.440696, acc = 33.541020,T = 0.001084, P = 0.000707 initial results: dx= 0.000378,dt = 0.000830, a_f = 33.541020, v_f = 0.468549 recalculating with a_f = 33.541020, a = 33.541020 revised dt = 0.000830 actual v_f = 0.468549, a = 33.541020 split time is 0.000830411 tc id = 56, canon_type = 2, mot type = 1 time: 4.134000 primary movement = 4.239259488138e-04 time: 4.134000000000e+00 total movement = 4.239259488138e-04 vel = 4.406964586451e-01 ------------------- tc id 56 done Finishing split-cycle on id 57 tc state : vr = 0.516302, vf = 0.516302, maxvel = 0.516302, current_vel = 0.471093, fs = 1.000000, tc = 0.000170, term = 3 tc result: v = 0.471093, acc = 15.000000,T = 0.007210, P = 0.000080 initial results: dx= 0.007131,dt = 0.014443, a_f = 3.130119, v_f = 0.516302 dt = 0.014443, not at end yet secondary movement = 0.000080 tc id = 57, canon_type = 3, mot type = 2 time: 4.135000 primary movement = 3.775240162451e-04 time: 4.135000000000e+00 total movement = 4.572001456473e-04 vel = 4.710931324635e-01 Finished tc id 56 ------------------- Activate tc id = 57 target_vel = 0.516302 final_vel = 0.516302 length = 0.007210 tc state : vr = 0.516302, vf = 0.516302, maxvel = 0.516302, current_vel = 0.486093, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.486093, acc = 15.000000,T = 0.007210, P = 0.000558 initial results: dx= 0.006652,dt = 0.013272, a_f = 2.276104, v_f = 0.516302 dt = 0.013272, not at end yet tc id = 57, canon_type = 3, mot type = 2 time: 4.136000 primary movement = 4.785497448521e-04 time: 4.136000000000e+00 total movement = 4.785497448521e-04 vel = 4.860931324635e-01 ------------------- tc state : vr = 0.516302, vf = 0.516302, maxvel = 0.516302, current_vel = 0.501093, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.501093, acc = 15.000000,T = 0.007210, P = 0.001052 initial results: dx= 0.006158,dt = 0.012106, a_f = 1.256278, v_f = 0.516302 dt = 0.012106, not at end yet tc id = 57, canon_type = 3, mot type = 2 time: 4.137000 primary movement = 4.935455361925e-04 time: 4.137000000000e+00 total movement = 4.935455361925e-04 vel = 5.010931324635e-01 ------------------- tc state : vr = 0.516302, vf = 0.516302, maxvel = 0.516302, current_vel = 0.516093, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.516093, acc = 15.000000,T = 0.007210, P = 0.001560 initial results: dx= 0.005650,dt = 0.010945, a_f = 0.019060, v_f = 0.516302 dt = 0.010945, not at end yet tc id = 57, canon_type = 3, mot type = 2 time: 4.138000 primary movement = 5.085410638153e-04 time: 4.138000000000e+00 total movement = 5.085410638153e-04 vel = 5.160931324635e-01 ------------------- tc state : vr = 0.516302, vf = 0.516302, maxvel = 0.516302, current_vel = 0.516302, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.516302, acc = 0.208610,T = 0.007210, P = 0.002077 initial results: dx= 0.005134,dt = 0.009943, a_f = 0.000000, v_f = 0.516302 dt = 0.009943, not at end yet tc id = 57, canon_type = 3, mot type = 2 time: 4.139000 primary movement = 5.161429983763e-04 time: 4.139000000000e+00 total movement = 5.161429983763e-04 vel = 5.163017427456e-01 ------------------- tc state : vr = 0.516302, vf = 0.516302, maxvel = 0.516302, current_vel = 0.516302, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.516302, acc = 0.000000,T = 0.007210, P = 0.002593 initial results: dx= 0.004617,dt = 0.008943, a_f = 0.000000, v_f = 0.516302 dt = 0.008943, not at end yet tc id = 57, canon_type = 3, mot type = 2 time: 4.140000 primary movement = 5.162472705108e-04 time: 4.140000000000e+00 total movement = 5.162472705108e-04 vel = 5.163017427456e-01 ------------------- tc state : vr = 0.516302, vf = 0.516302, maxvel = 0.516302, current_vel = 0.516302, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.516302, acc = 0.000000,T = 0.007210, P = 0.003109 initial results: dx= 0.004101,dt = 0.007943, a_f = 0.000000, v_f = 0.516302 dt = 0.007943, not at end yet tc id = 57, canon_type = 3, mot type = 2 time: 4.141000 primary movement = 5.162472705108e-04 time: 4.141000000000e+00 total movement = 5.162472705108e-04 vel = 5.163017427456e-01 ------------------- tc state : vr = 0.516302, vf = 0.516302, maxvel = 0.516302, current_vel = 0.516302, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.516302, acc = 0.000000,T = 0.007210, P = 0.003626 initial results: dx= 0.003585,dt = 0.006943, a_f = 0.000000, v_f = 0.516302 dt = 0.006943, not at end yet tc id = 57, canon_type = 3, mot type = 2 time: 4.142000 primary movement = 5.162472705108e-04 time: 4.142000000000e+00 total movement = 5.162472705108e-04 vel = 5.163017427456e-01 ------------------- tc state : vr = 0.516302, vf = 0.516302, maxvel = 0.516302, current_vel = 0.516302, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.516302, acc = 0.000000,T = 0.007210, P = 0.004142 initial results: dx= 0.003068,dt = 0.005943, a_f = 0.000000, v_f = 0.516302 dt = 0.005943, not at end yet tc id = 57, canon_type = 3, mot type = 2 time: 4.143000 primary movement = 5.162472705108e-04 time: 4.143000000000e+00 total movement = 5.162472705108e-04 vel = 5.163017427456e-01 ------------------- tc state : vr = 0.516302, vf = 0.516302, maxvel = 0.516302, current_vel = 0.516302, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.516302, acc = 0.000000,T = 0.007210, P = 0.004658 initial results: dx= 0.002552,dt = 0.004943, a_f = 0.000000, v_f = 0.516302 dt = 0.004943, not at end yet tc id = 57, canon_type = 3, mot type = 2 time: 4.144000 primary movement = 5.162472705107e-04 time: 4.144000000000e+00 total movement = 5.162472705107e-04 vel = 5.163017427456e-01 ------------------- tc state : vr = 0.516302, vf = 0.516302, maxvel = 0.516302, current_vel = 0.516302, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.516302, acc = 0.000000,T = 0.007210, P = 0.005174 initial results: dx= 0.002036,dt = 0.003943, a_f = 0.000000, v_f = 0.516302 dt = 0.003943, not at end yet tc id = 57, canon_type = 3, mot type = 2 time: 4.145000 primary movement = 5.162472705107e-04 time: 4.145000000000e+00 total movement = 5.162472705107e-04 vel = 5.163017427456e-01 ------------------- tc state : vr = 0.516302, vf = 0.516302, maxvel = 0.516302, current_vel = 0.516302, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.516302, acc = 0.000000,T = 0.007210, P = 0.005691 initial results: dx= 0.001519,dt = 0.002943, a_f = 0.000000, v_f = 0.516302 dt = 0.002943, not at end yet tc id = 57, canon_type = 3, mot type = 2 time: 4.146000 primary movement = 5.162472705108e-04 time: 4.146000000000e+00 total movement = 5.162472705108e-04 vel = 5.163017427456e-01 ------------------- tc state : vr = 0.516302, vf = 0.516302, maxvel = 0.516302, current_vel = 0.516302, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.516302, acc = 0.000000,T = 0.007210, P = 0.006207 initial results: dx= 0.001003,dt = 0.001943, a_f = 0.000000, v_f = 0.516302 dt = 0.001943, not at end yet tc id = 57, canon_type = 3, mot type = 2 time: 4.147000 primary movement = 5.162472705107e-04 time: 4.147000000000e+00 total movement = 5.162472705107e-04 vel = 5.163017427456e-01 ------------------- tc state : vr = 0.516302, vf = 0.516302, maxvel = 0.516302, current_vel = 0.516302, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.516302, acc = 0.000000,T = 0.007210, P = 0.006723 initial results: dx= 0.000487,dt = 0.000943, a_f = 0.000000, v_f = 0.516302 actual v_f = 0.516302, a = 0.000000 split time is 0.000942912 tc id = 57, canon_type = 3, mot type = 2 time: 4.148000 primary movement = 5.162472705107e-04 time: 4.148000000000e+00 total movement = 5.162472705107e-04 vel = 5.163017427456e-01 ------------------- tc id 57 done Finishing split-cycle on id 57 tc state : vr = 0.837223, vf = 0.837223, maxvel = 8.577286, current_vel = 0.518065, fs = 1.000000, tc = 0.000057, term = 3 tc result: v = 0.518065, acc = 30.878353,T = 0.007034, P = 0.000030 initial results: dx= 0.007004,dt = 0.010336, a_f = 30.878353, v_f = 0.837223 dt = 0.010336, not at end yet secondary movement = 0.000030 tc id = 57, canon_type = 2, mot type = 1 time: 4.149000 primary movement = 4.867816426175e-04 time: 4.149000000000e+00 total movement = 5.163063931881e-04 vel = 5.180645142030e-01 Finished tc id 57 ------------------- Activate tc id = 57 target_vel = 0.837223 final_vel = 0.837223 length = 0.007034 tc state : vr = 0.837223, vf = 0.837223, maxvel = 8.577286, current_vel = 0.548943, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.548943, acc = 30.878353,T = 0.007034, P = 0.000563 initial results: dx= 0.006471,dt = 0.009336, a_f = 30.878353, v_f = 0.837223 recalculating with a_f = 30.878353, a = 30.878353 revised dt = 0.009336 dt = 0.009336, not at end yet tc id = 57, canon_type = 2, mot type = 1 time: 4.150000 primary movement = 5.335036904784e-04 time: 4.150000000000e+00 total movement = 5.335036904784e-04 vel = 5.489428667537e-01 ------------------- tc state : vr = 0.837223, vf = 0.837223, maxvel = 8.577286, current_vel = 0.579821, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.579821, acc = 30.878353,T = 0.007034, P = 0.001127 initial results: dx= 0.005906,dt = 0.008336, a_f = 30.878353, v_f = 0.837223 dt = 0.008336, not at end yet tc id = 57, canon_type = 2, mot type = 1 time: 4.151000 primary movement = 5.643820430291e-04 time: 4.151000000000e+00 total movement = 5.643820430291e-04 vel = 5.798212193045e-01 ------------------- tc state : vr = 0.837223, vf = 0.837223, maxvel = 8.577286, current_vel = 0.610700, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.610700, acc = 30.878353,T = 0.007034, P = 0.001723 initial results: dx= 0.005311,dt = 0.007336, a_f = 30.878353, v_f = 0.837223 dt = 0.007336, not at end yet tc id = 57, canon_type = 2, mot type = 1 time: 4.152000 primary movement = 5.952603955800e-04 time: 4.152000000000e+00 total movement = 5.952603955800e-04 vel = 6.106995718553e-01 ------------------- tc state : vr = 0.837223, vf = 0.837223, maxvel = 8.577286, current_vel = 0.641578, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.641578, acc = 30.878353,T = 0.007034, P = 0.002349 initial results: dx= 0.004685,dt = 0.006336, a_f = 30.878353, v_f = 0.837223 dt = 0.006336, not at end yet tc id = 57, canon_type = 2, mot type = 1 time: 4.153000 primary movement = 6.261387481306e-04 time: 4.153000000000e+00 total movement = 6.261387481306e-04 vel = 6.415779244061e-01 ------------------- tc state : vr = 0.837223, vf = 0.837223, maxvel = 8.577286, current_vel = 0.672456, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.672456, acc = 30.878353,T = 0.007034, P = 0.003006 initial results: dx= 0.004028,dt = 0.005336, a_f = 30.878353, v_f = 0.837223 dt = 0.005336, not at end yet tc id = 57, canon_type = 2, mot type = 1 time: 4.154000 primary movement = 6.570171006815e-04 time: 4.154000000000e+00 total movement = 6.570171006815e-04 vel = 6.724562769568e-01 ------------------- tc state : vr = 0.837223, vf = 0.837223, maxvel = 8.577286, current_vel = 0.703335, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.703335, acc = 30.878353,T = 0.007034, P = 0.003694 initial results: dx= 0.003340,dt = 0.004336, a_f = 30.878353, v_f = 0.837223 dt = 0.004336, not at end yet tc id = 57, canon_type = 2, mot type = 1 time: 4.155000 primary movement = 6.878954532322e-04 time: 4.155000000000e+00 total movement = 6.878954532322e-04 vel = 7.033346295076e-01 ------------------- tc state : vr = 0.837223, vf = 0.837223, maxvel = 8.577286, current_vel = 0.734213, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.734213, acc = 30.878353,T = 0.007034, P = 0.004412 initial results: dx= 0.002621,dt = 0.003336, a_f = 30.878353, v_f = 0.837223 dt = 0.003336, not at end yet tc id = 57, canon_type = 2, mot type = 1 time: 4.156000 primary movement = 7.187738057830e-04 time: 4.156000000000e+00 total movement = 7.187738057830e-04 vel = 7.342129820584e-01 ------------------- tc state : vr = 0.837223, vf = 0.837223, maxvel = 8.577286, current_vel = 0.765091, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.765091, acc = 30.878353,T = 0.007034, P = 0.005162 initial results: dx= 0.001871,dt = 0.002336, a_f = 30.878353, v_f = 0.837223 dt = 0.002336, not at end yet tc id = 57, canon_type = 2, mot type = 1 time: 4.157000 primary movement = 7.496521583338e-04 time: 4.157000000000e+00 total movement = 7.496521583338e-04 vel = 7.650913346092e-01 ------------------- tc state : vr = 0.837223, vf = 0.837223, maxvel = 8.577286, current_vel = 0.795970, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.795970, acc = 30.878353,T = 0.007034, P = 0.005943 initial results: dx= 0.001091,dt = 0.001336, a_f = 30.878353, v_f = 0.837223 dt = 0.001336, not at end yet tc id = 57, canon_type = 2, mot type = 1 time: 4.158000 primary movement = 7.805305108845e-04 time: 4.158000000000e+00 total movement = 7.805305108845e-04 vel = 7.959696871600e-01 ------------------- tc state : vr = 0.837223, vf = 0.837223, maxvel = 8.577286, current_vel = 0.826848, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.826848, acc = 30.878353,T = 0.007034, P = 0.006754 initial results: dx= 0.000280,dt = 0.000336, a_f = 30.878353, v_f = 0.837223 actual v_f = 0.837223, a = 30.878353 split time is 0.000335979 tc id = 57, canon_type = 2, mot type = 1 time: 4.159000 primary movement = 8.114088634354e-04 time: 4.159000000000e+00 total movement = 8.114088634354e-04 vel = 8.268480397107e-01 ------------------- tc id 57 done Finishing split-cycle on id 58 tc state : vr = 0.837223, vf = 0.830731, maxvel = 1.107786, current_vel = 0.837223, fs = 1.000000, tc = 0.000664, term = 3 tc result: v = 0.837223, acc = 0.000000,T = 0.011293, P = 0.000556 initial results: dx= 0.010737,dt = 0.012875, a_f = -0.504174, v_f = 0.830731 dt = 0.012875, not at end yet secondary movement = 0.000556 tc id = 58, canon_type = 3, mot type = 2 time: 4.160000 primary movement = 2.795460208007e-04 time: 4.160000000000e+00 total movement = 8.354764967648e-04 vel = 8.372225044409e-01 Finished tc id 57 ------------------- Activate tc id = 58 target_vel = 0.837223 final_vel = 0.830731 length = 0.011293 tc state : vr = 0.837223, vf = 0.830731, maxvel = 1.107786, current_vel = 0.837223, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.837223, acc = 0.000000,T = 0.011293, P = 0.001393 initial results: dx= 0.009900,dt = 0.011871, a_f = -0.546811, v_f = 0.830731 dt = 0.011871, not at end yet tc id = 58, canon_type = 3, mot type = 2 time: 4.161000 primary movement = 8.372115449445e-04 time: 4.161000000000e+00 total movement = 8.372115449445e-04 vel = 8.372225044409e-01 ------------------- tc state : vr = 0.837223, vf = 0.830731, maxvel = 1.107786, current_vel = 0.837223, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.837223, acc = 0.000000,T = 0.011293, P = 0.002230 initial results: dx= 0.009063,dt = 0.010867, a_f = -0.597325, v_f = 0.830731 dt = 0.010867, not at end yet tc id = 58, canon_type = 3, mot type = 2 time: 4.162000 primary movement = 8.372115449445e-04 time: 4.162000000000e+00 total movement = 8.372115449445e-04 vel = 8.372225044409e-01 ------------------- tc state : vr = 0.837223, vf = 0.830731, maxvel = 1.107786, current_vel = 0.837223, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.837223, acc = 0.000000,T = 0.011293, P = 0.003068 initial results: dx= 0.008226,dt = 0.009863, a_f = -0.658122, v_f = 0.830731 dt = 0.009863, not at end yet tc id = 58, canon_type = 3, mot type = 2 time: 4.163000 primary movement = 8.372115449446e-04 time: 4.163000000000e+00 total movement = 8.372115449446e-04 vel = 8.372225044409e-01 ------------------- tc state : vr = 0.837223, vf = 0.830731, maxvel = 1.107786, current_vel = 0.837223, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.837223, acc = 0.000000,T = 0.011293, P = 0.003905 initial results: dx= 0.007388,dt = 0.008859, a_f = -0.732698, v_f = 0.830731 dt = 0.008859, not at end yet tc id = 58, canon_type = 3, mot type = 2 time: 4.164000 primary movement = 8.372115449445e-04 time: 4.164000000000e+00 total movement = 8.372115449445e-04 vel = 8.372225044409e-01 ------------------- tc state : vr = 0.837223, vf = 0.830731, maxvel = 1.107786, current_vel = 0.837223, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.837223, acc = 0.000000,T = 0.011293, P = 0.004742 initial results: dx= 0.006551,dt = 0.007855, a_f = -0.826335, v_f = 0.830731 dt = 0.007855, not at end yet tc id = 58, canon_type = 3, mot type = 2 time: 4.165000 primary movement = 8.372115449446e-04 time: 4.165000000000e+00 total movement = 8.372115449446e-04 vel = 8.372225044409e-01 ------------------- tc state : vr = 0.837223, vf = 0.830731, maxvel = 1.107786, current_vel = 0.837223, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.837223, acc = 0.000000,T = 0.011293, P = 0.005579 initial results: dx= 0.005714,dt = 0.006851, a_f = -0.947413, v_f = 0.830731 dt = 0.006851, not at end yet tc id = 58, canon_type = 3, mot type = 2 time: 4.166000 primary movement = 8.372115449445e-04 time: 4.166000000000e+00 total movement = 8.372115449445e-04 vel = 8.372225044409e-01 ------------------- tc state : vr = 0.837223, vf = 0.830731, maxvel = 1.107786, current_vel = 0.837223, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.837223, acc = 0.000000,T = 0.011293, P = 0.006416 initial results: dx= 0.004877,dt = 0.005848, a_f = -1.110063, v_f = 0.830731 dt = 0.005848, not at end yet tc id = 58, canon_type = 3, mot type = 2 time: 4.167000 primary movement = 8.372115449446e-04 time: 4.167000000000e+00 total movement = 8.372115449446e-04 vel = 8.372225044409e-01 ------------------- tc state : vr = 0.837223, vf = 0.830731, maxvel = 1.107786, current_vel = 0.837223, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.837223, acc = 0.000000,T = 0.011293, P = 0.007254 initial results: dx= 0.004039,dt = 0.004844, a_f = -1.340134, v_f = 0.830731 dt = 0.004844, not at end yet tc id = 58, canon_type = 3, mot type = 2 time: 4.168000 primary movement = 8.372115449444e-04 time: 4.168000000000e+00 total movement = 8.372115449444e-04 vel = 8.372225044409e-01 ------------------- tc state : vr = 0.837223, vf = 0.830731, maxvel = 1.107786, current_vel = 0.837223, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.837223, acc = 0.000000,T = 0.011293, P = 0.008091 initial results: dx= 0.003202,dt = 0.003840, a_f = -1.690509, v_f = 0.830731 dt = 0.003840, not at end yet tc id = 58, canon_type = 3, mot type = 2 time: 4.169000 primary movement = 8.372115449446e-04 time: 4.169000000000e+00 total movement = 8.372115449446e-04 vel = 8.372225044409e-01 ------------------- tc state : vr = 0.837223, vf = 0.830731, maxvel = 1.107786, current_vel = 0.837223, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.837223, acc = 0.000000,T = 0.011293, P = 0.008928 initial results: dx= 0.002365,dt = 0.002836, a_f = -2.288949, v_f = 0.830731 dt = 0.002836, not at end yet tc id = 58, canon_type = 3, mot type = 2 time: 4.170000 primary movement = 8.372115449445e-04 time: 4.170000000000e+00 total movement = 8.372115449445e-04 vel = 8.372225044409e-01 ------------------- tc state : vr = 0.837223, vf = 0.830731, maxvel = 1.107786, current_vel = 0.837223, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.837223, acc = 0.000000,T = 0.011293, P = 0.009765 initial results: dx= 0.001528,dt = 0.001832, a_f = -3.543263, v_f = 0.830731 dt = 0.001832, not at end yet tc id = 58, canon_type = 3, mot type = 2 time: 4.171000 primary movement = 8.372115449446e-04 time: 4.171000000000e+00 total movement = 8.372115449446e-04 vel = 8.372225044409e-01 ------------------- tc state : vr = 0.837223, vf = 0.830731, maxvel = 1.107786, current_vel = 0.837223, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.837223, acc = 0.000000,T = 0.011293, P = 0.010603 initial results: dx= 0.000691,dt = 0.000828, a_f = -7.838857, v_f = 0.830731 actual v_f = 0.830731, a = -7.838857 split time is 0.00082807 tc id = 58, canon_type = 3, mot type = 2 time: 4.172000 primary movement = 8.372115449445e-04 time: 4.172000000000e+00 total movement = 8.372115449445e-04 vel = 8.372225044409e-01 ------------------- tc id 58 done Finishing split-cycle on id 58 tc state : vr = 4.246316, vf = 0.393801, maxvel = 8.333300, current_vel = 0.825573, fs = 1.000000, tc = 0.000172, term = 3 tc result: v = 0.825573, acc = -30.000000,T = 0.008917, P = 0.000142 on final decel initial results: dx= 0.008775,dt = 0.014392, a_f = -30.000000, v_f = 0.393801 dt = 0.014392, not at end yet secondary movement = 0.000142 tc id = 58, canon_type = 2, mot type = 1 time: 4.173000 primary movement = 6.905851520250e-04 time: 4.173000000000e+00 total movement = 8.329693842438e-04 vel = 8.255734823598e-01 Finished tc id 58 ------------------- Activate tc id = 58 target_vel = 4.246316 final_vel = 0.393801 length = 0.008917 tc state : vr = 4.246316, vf = 0.393801, maxvel = 8.333300, current_vel = 0.795573, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.795573, acc = -30.000000,T = 0.008917, P = 0.000953 on final decel initial results: dx= 0.007964,dt = 0.013392, a_f = -30.000000, v_f = 0.393801 recalculating with a_f = -30.000000, a = -30.000000 revised dt = 0.013392 dt = 0.013392, not at end yet tc id = 58, canon_type = 2, mot type = 1 time: 4.174000 primary movement = 8.105734823597e-04 time: 4.174000000000e+00 total movement = 8.105734823597e-04 vel = 7.955734823598e-01 ------------------- tc state : vr = 4.246316, vf = 0.393801, maxvel = 8.333300, current_vel = 0.765573, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.765573, acc = -30.000000,T = 0.008917, P = 0.001734 on final decel initial results: dx= 0.007184,dt = 0.012392, a_f = -30.000000, v_f = 0.393801 dt = 0.012392, not at end yet tc id = 58, canon_type = 2, mot type = 1 time: 4.175000 primary movement = 7.805734823597e-04 time: 4.175000000000e+00 total movement = 7.805734823597e-04 vel = 7.655734823598e-01 ------------------- tc state : vr = 4.246316, vf = 0.393801, maxvel = 8.333300, current_vel = 0.735573, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.735573, acc = -30.000000,T = 0.008917, P = 0.002484 on final decel initial results: dx= 0.006433,dt = 0.011392, a_f = -30.000000, v_f = 0.393801 dt = 0.011392, not at end yet tc id = 58, canon_type = 2, mot type = 1 time: 4.176000 primary movement = 7.505734823599e-04 time: 4.176000000000e+00 total movement = 7.505734823599e-04 vel = 7.355734823598e-01 ------------------- tc state : vr = 4.246316, vf = 0.393801, maxvel = 8.333300, current_vel = 0.705573, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.705573, acc = -30.000000,T = 0.008917, P = 0.003205 on final decel initial results: dx= 0.005713,dt = 0.010392, a_f = -30.000000, v_f = 0.393801 recalculating with a_f = -30.000000, a = -30.000000 revised dt = 0.010392 dt = 0.010392, not at end yet tc id = 58, canon_type = 2, mot type = 1 time: 4.177000 primary movement = 7.205734823597e-04 time: 4.177000000000e+00 total movement = 7.205734823597e-04 vel = 7.055734823598e-01 ------------------- tc state : vr = 4.246316, vf = 0.393801, maxvel = 8.333300, current_vel = 0.675573, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.675573, acc = -30.000000,T = 0.008917, P = 0.003895 on final decel initial results: dx= 0.005022,dt = 0.009392, a_f = -30.000000, v_f = 0.393801 recalculating with a_f = -30.000000, a = -30.000000 revised dt = 0.009392 dt = 0.009392, not at end yet tc id = 58, canon_type = 2, mot type = 1 time: 4.178000 primary movement = 6.905734823598e-04 time: 4.178000000000e+00 total movement = 6.905734823598e-04 vel = 6.755734823598e-01 ------------------- tc state : vr = 4.246316, vf = 0.393801, maxvel = 8.333300, current_vel = 0.645573, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.645573, acc = -30.000000,T = 0.008917, P = 0.004556 on final decel initial results: dx= 0.004361,dt = 0.008392, a_f = -30.000000, v_f = 0.393801 recalculating with a_f = -30.000000, a = -30.000000 revised dt = 0.008392 dt = 0.008392, not at end yet tc id = 58, canon_type = 2, mot type = 1 time: 4.179000 primary movement = 6.605734823598e-04 time: 4.179000000000e+00 total movement = 6.605734823598e-04 vel = 6.455734823598e-01 ------------------- tc state : vr = 4.246316, vf = 0.393801, maxvel = 8.333300, current_vel = 0.615573, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.615573, acc = -30.000000,T = 0.008917, P = 0.005186 on final decel initial results: dx= 0.003731,dt = 0.007392, a_f = -30.000000, v_f = 0.393801 recalculating with a_f = -30.000000, a = -30.000000 revised dt = 0.007392 dt = 0.007392, not at end yet tc id = 58, canon_type = 2, mot type = 1 time: 4.180000 primary movement = 6.305734823597e-04 time: 4.180000000000e+00 total movement = 6.305734823597e-04 vel = 6.155734823598e-01 ------------------- tc state : vr = 4.246316, vf = 0.393801, maxvel = 8.333300, current_vel = 0.585573, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.585573, acc = -30.000000,T = 0.008917, P = 0.005787 on final decel initial results: dx= 0.003130,dt = 0.006392, a_f = -30.000000, v_f = 0.393801 dt = 0.006392, not at end yet tc id = 58, canon_type = 2, mot type = 1 time: 4.181000 primary movement = 6.005734823598e-04 time: 4.181000000000e+00 total movement = 6.005734823598e-04 vel = 5.855734823598e-01 ------------------- tc state : vr = 4.246316, vf = 0.393801, maxvel = 8.333300, current_vel = 0.555573, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.555573, acc = -30.000000,T = 0.008917, P = 0.006358 on final decel initial results: dx= 0.002560,dt = 0.005392, a_f = -30.000000, v_f = 0.393801 dt = 0.005392, not at end yet tc id = 58, canon_type = 2, mot type = 1 time: 4.182000 primary movement = 5.705734823598e-04 time: 4.182000000000e+00 total movement = 5.705734823598e-04 vel = 5.555734823598e-01 ------------------- tc state : vr = 4.246316, vf = 0.393801, maxvel = 8.333300, current_vel = 0.525573, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.525573, acc = -30.000000,T = 0.008917, P = 0.006898 on final decel initial results: dx= 0.002019,dt = 0.004392, a_f = -30.000000, v_f = 0.393801 dt = 0.004392, not at end yet tc id = 58, canon_type = 2, mot type = 1 time: 4.183000 primary movement = 5.405734823598e-04 time: 4.183000000000e+00 total movement = 5.405734823598e-04 vel = 5.255734823598e-01 ------------------- tc state : vr = 4.246316, vf = 0.393801, maxvel = 8.333300, current_vel = 0.495573, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.495573, acc = -30.000000,T = 0.008917, P = 0.007409 on final decel initial results: dx= 0.001509,dt = 0.003392, a_f = -30.000000, v_f = 0.393801 recalculating with a_f = -30.000000, a = -30.000000 revised dt = 0.003392 dt = 0.003392, not at end yet tc id = 58, canon_type = 2, mot type = 1 time: 4.184000 primary movement = 5.105734823597e-04 time: 4.184000000000e+00 total movement = 5.105734823597e-04 vel = 4.955734823598e-01 ------------------- tc state : vr = 4.246316, vf = 0.393801, maxvel = 8.333300, current_vel = 0.465573, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.465573, acc = -30.000000,T = 0.008917, P = 0.007889 on final decel initial results: dx= 0.001028,dt = 0.002392, a_f = -30.000000, v_f = 0.393801 recalculating with a_f = -30.000000, a = -30.000000 revised dt = 0.002392 dt = 0.002392, not at end yet tc id = 58, canon_type = 2, mot type = 1 time: 4.185000 primary movement = 4.805734823597e-04 time: 4.185000000000e+00 total movement = 4.805734823597e-04 vel = 4.655734823598e-01 ------------------- tc state : vr = 4.246316, vf = 0.393801, maxvel = 8.333300, current_vel = 0.435573, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.435573, acc = -30.000000,T = 0.008917, P = 0.008340 on final decel initial results: dx= 0.000577,dt = 0.001392, a_f = -30.000000, v_f = 0.393801 recalculating with a_f = -30.000000, a = -30.000000 revised dt = 0.001392 dt = 0.001392, not at end yet tc id = 58, canon_type = 2, mot type = 1 time: 4.186000 primary movement = 4.505734823598e-04 time: 4.186000000000e+00 total movement = 4.505734823598e-04 vel = 4.355734823598e-01 ------------------- tc state : vr = 4.246316, vf = 0.393801, maxvel = 8.333300, current_vel = 0.405573, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.405573, acc = -30.000000,T = 0.008917, P = 0.008760 on final decel initial results: dx= 0.000157,dt = 0.000392, a_f = -30.000000, v_f = 0.393801 recalculating with a_f = -30.000000, a = -30.000000 revised dt = 0.000392 actual v_f = 0.393801, a = -30.000000 split time is 0.000392432 tc id = 58, canon_type = 2, mot type = 1 time: 4.187000 primary movement = 4.205734823597e-04 time: 4.187000000000e+00 total movement = 4.205734823597e-04 vel = 4.055734823598e-01 ------------------- tc id 58 done Finishing split-cycle on id 59 tc state : vr = 0.393801, vf = 0.393801, maxvel = 0.393801, current_vel = 0.393801, fs = 1.000000, tc = 0.000608, term = 3 tc result: v = 0.393801, acc = -0.000000,T = 0.002768, P = 0.000239 initial results: dx= 0.002528,dt = 0.006420, a_f = 0.000000, v_f = 0.393801 dt = 0.006420, not at end yet secondary movement = 0.000239 tc id = 59, canon_type = 3, mot type = 2 time: 4.188000 primary movement = 1.568499568730e-04 time: 4.188000000000e+00 total movement = 3.960945486642e-04 vel = 3.938005233377e-01 Finished tc id 58 ------------------- Activate tc id = 59 target_vel = 0.393801 final_vel = 0.393801 length = 0.002768 tc state : vr = 0.393801, vf = 0.393801, maxvel = 0.393801, current_vel = 0.393801, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.393801, acc = 0.000000,T = 0.002768, P = 0.000633 initial results: dx= 0.002134,dt = 0.005420, a_f = 0.000000, v_f = 0.393801 dt = 0.005420, not at end yet tc id = 59, canon_type = 3, mot type = 2 time: 4.189000 primary movement = 3.937291078160e-04 time: 4.189000000000e+00 total movement = 3.937291078160e-04 vel = 3.938005233377e-01 ------------------- tc state : vr = 0.393801, vf = 0.393801, maxvel = 0.393801, current_vel = 0.393801, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.393801, acc = 0.000000,T = 0.002768, P = 0.001027 initial results: dx= 0.001741,dt = 0.004420, a_f = 0.000000, v_f = 0.393801 dt = 0.004420, not at end yet tc id = 59, canon_type = 3, mot type = 2 time: 4.190000 primary movement = 3.937291078160e-04 time: 4.190000000000e+00 total movement = 3.937291078160e-04 vel = 3.938005233377e-01 ------------------- tc state : vr = 0.393801, vf = 0.393801, maxvel = 0.393801, current_vel = 0.393801, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.393801, acc = 0.000000,T = 0.002768, P = 0.001421 initial results: dx= 0.001347,dt = 0.003420, a_f = 0.000000, v_f = 0.393801 dt = 0.003420, not at end yet tc id = 59, canon_type = 3, mot type = 2 time: 4.191000 primary movement = 3.937291078160e-04 time: 4.191000000000e+00 total movement = 3.937291078160e-04 vel = 3.938005233377e-01 ------------------- tc state : vr = 0.393801, vf = 0.393801, maxvel = 0.393801, current_vel = 0.393801, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.393801, acc = 0.000000,T = 0.002768, P = 0.001814 initial results: dx= 0.000953,dt = 0.002420, a_f = 0.000000, v_f = 0.393801 dt = 0.002420, not at end yet tc id = 59, canon_type = 3, mot type = 2 time: 4.192000 primary movement = 3.937291078160e-04 time: 4.192000000000e+00 total movement = 3.937291078160e-04 vel = 3.938005233377e-01 ------------------- tc state : vr = 0.393801, vf = 0.393801, maxvel = 0.393801, current_vel = 0.393801, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.393801, acc = 0.000000,T = 0.002768, P = 0.002208 initial results: dx= 0.000559,dt = 0.001420, a_f = 0.000000, v_f = 0.393801 dt = 0.001420, not at end yet tc id = 59, canon_type = 3, mot type = 2 time: 4.193000 primary movement = 3.937291078160e-04 time: 4.193000000000e+00 total movement = 3.937291078160e-04 vel = 3.938005233377e-01 ------------------- tc state : vr = 0.393801, vf = 0.393801, maxvel = 0.393801, current_vel = 0.393801, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.393801, acc = 0.000000,T = 0.002768, P = 0.002602 initial results: dx= 0.000165,dt = 0.000420, a_f = 0.000000, v_f = 0.393801 actual v_f = 0.393801, a = 0.000000 split time is 0.000420119 tc id = 59, canon_type = 3, mot type = 2 time: 4.194000 primary movement = 3.937291078160e-04 time: 4.194000000000e+00 total movement = 3.937291078160e-04 vel = 3.938005233377e-01 ------------------- tc id 59 done Finishing split-cycle on id 59 tc state : vr = 0.790749, vf = 0.313846, maxvel = 9.316913, current_vel = 0.413250, fs = 1.000000, tc = 0.000580, term = 3 tc result: v = 0.413250, acc = 33.541020,T = 0.001661, P = 0.000234 initial results: dx= 0.001427,dt = 0.003924, a_f = -25.332039, v_f = 0.313846 dt = 0.003924, not at end yet secondary movement = 0.000234 tc id = 59, canon_type = 2, mot type = 1 time: 4.195000 primary movement = 1.654378782385e-04 time: 4.195000000000e+00 total movement = 3.994345077618e-04 vel = 4.132503155288e-01 Finished tc id 59 ------------------- Activate tc id = 59 target_vel = 0.790749 final_vel = 0.313846 length = 0.001661 tc state : vr = 0.790749, vf = 0.313846, maxvel = 9.316913, current_vel = 0.408221, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.408221, acc = -5.029382,T = 0.001661, P = 0.000645 on final decel initial results: dx= 0.001016,dt = 0.002814, a_f = -33.541020, v_f = 0.313846 dt = 0.002814, not at end yet tc id = 59, canon_type = 2, mot type = 1 time: 4.196000 primary movement = 4.107356244746e-04 time: 4.196000000000e+00 total movement = 4.107356244746e-04 vel = 4.082209334205e-01 ------------------- tc state : vr = 0.790749, vf = 0.313846, maxvel = 9.316913, current_vel = 0.374680, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.374680, acc = -33.541020,T = 0.001661, P = 0.001036 on final decel initial results: dx= 0.000624,dt = 0.001814, a_f = -33.541020, v_f = 0.313846 recalculating with a_f = -33.541020, a = -33.541020 revised dt = 0.001814 dt = 0.001814, not at end yet tc id = 59, canon_type = 2, mot type = 1 time: 4.197000 primary movement = 3.914504235893e-04 time: 4.197000000000e+00 total movement = 3.914504235893e-04 vel = 3.746799137580e-01 ------------------- tc state : vr = 0.790749, vf = 0.313846, maxvel = 9.316913, current_vel = 0.341139, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.341139, acc = -33.541020,T = 0.001661, P = 0.001394 on final decel initial results: dx= 0.000266,dt = 0.000814, a_f = -33.541020, v_f = 0.313846 recalculating with a_f = -33.541020, a = -33.541020 revised dt = 0.000814 actual v_f = 0.313846, a = -33.541020 split time is 0.000813703 tc id = 59, canon_type = 2, mot type = 1 time: 4.198000 primary movement = 3.579094039268e-04 time: 4.198000000000e+00 total movement = 3.579094039268e-04 vel = 3.411388940956e-01 ------------------- tc id 59 done Finishing split-cycle on id 60 tc state : vr = 0.313846, vf = 0.313846, maxvel = 0.313846, current_vel = 0.313846, fs = 1.000000, tc = 0.000186, term = 3 tc result: v = 0.313846, acc = 0.000000,T = 0.002687, P = 0.000058 initial results: dx= 0.002628,dt = 0.008374, a_f = 0.000000, v_f = 0.313846 dt = 0.008374, not at end yet secondary movement = 0.000058 tc id = 60, canon_type = 3, mot type = 2 time: 4.199000 primary movement = 2.664817632113e-04 time: 4.199000000000e+00 total movement = 3.249498520143e-04 vel = 3.138464671549e-01 Finished tc id 59 ------------------- Activate tc id = 60 target_vel = 0.313846 final_vel = 0.313846 length = 0.002687 tc state : vr = 0.313846, vf = 0.313846, maxvel = 0.313846, current_vel = 0.313846, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.313846, acc = 0.000000,T = 0.002687, P = 0.000372 initial results: dx= 0.002314,dt = 0.007374, a_f = 0.000000, v_f = 0.313846 dt = 0.007374, not at end yet tc id = 60, canon_type = 3, mot type = 2 time: 4.200000 primary movement = 3.137568609498e-04 time: 4.200000000000e+00 total movement = 3.137568609498e-04 vel = 3.138464671549e-01 ------------------- tc state : vr = 0.313846, vf = 0.313846, maxvel = 0.313846, current_vel = 0.313846, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.313846, acc = 0.000000,T = 0.002687, P = 0.000686 initial results: dx= 0.002000,dt = 0.006374, a_f = 0.000000, v_f = 0.313846 dt = 0.006374, not at end yet tc id = 60, canon_type = 3, mot type = 2 time: 4.201000 primary movement = 3.137568609498e-04 time: 4.201000000000e+00 total movement = 3.137568609498e-04 vel = 3.138464671549e-01 ------------------- tc state : vr = 0.313846, vf = 0.313846, maxvel = 0.313846, current_vel = 0.313846, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.313846, acc = 0.000000,T = 0.002687, P = 0.001000 initial results: dx= 0.001687,dt = 0.005374, a_f = 0.000000, v_f = 0.313846 dt = 0.005374, not at end yet tc id = 60, canon_type = 3, mot type = 2 time: 4.202000 primary movement = 3.137568609498e-04 time: 4.202000000000e+00 total movement = 3.137568609498e-04 vel = 3.138464671549e-01 ------------------- tc state : vr = 0.313846, vf = 0.313846, maxvel = 0.313846, current_vel = 0.313846, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.313846, acc = 0.000000,T = 0.002687, P = 0.001314 initial results: dx= 0.001373,dt = 0.004374, a_f = 0.000000, v_f = 0.313846 dt = 0.004374, not at end yet tc id = 60, canon_type = 3, mot type = 2 time: 4.203000 primary movement = 3.137568609498e-04 time: 4.203000000000e+00 total movement = 3.137568609498e-04 vel = 3.138464671549e-01 ------------------- tc state : vr = 0.313846, vf = 0.313846, maxvel = 0.313846, current_vel = 0.313846, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.313846, acc = 0.000000,T = 0.002687, P = 0.001628 initial results: dx= 0.001059,dt = 0.003374, a_f = 0.000000, v_f = 0.313846 dt = 0.003374, not at end yet tc id = 60, canon_type = 3, mot type = 2 time: 4.204000 primary movement = 3.137568609498e-04 time: 4.204000000000e+00 total movement = 3.137568609498e-04 vel = 3.138464671549e-01 ------------------- tc state : vr = 0.313846, vf = 0.313846, maxvel = 0.313846, current_vel = 0.313846, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.313846, acc = 0.000000,T = 0.002687, P = 0.001942 initial results: dx= 0.000745,dt = 0.002374, a_f = 0.000000, v_f = 0.313846 dt = 0.002374, not at end yet tc id = 60, canon_type = 3, mot type = 2 time: 4.205000 primary movement = 3.137568609498e-04 time: 4.205000000000e+00 total movement = 3.137568609498e-04 vel = 3.138464671549e-01 ------------------- tc state : vr = 0.313846, vf = 0.313846, maxvel = 0.313846, current_vel = 0.313846, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.313846, acc = 0.000000,T = 0.002687, P = 0.002255 initial results: dx= 0.000431,dt = 0.001374, a_f = 0.000000, v_f = 0.313846 dt = 0.001374, not at end yet tc id = 60, canon_type = 3, mot type = 2 time: 4.206000 primary movement = 3.137568609498e-04 time: 4.206000000000e+00 total movement = 3.137568609498e-04 vel = 3.138464671549e-01 ------------------- tc state : vr = 0.313846, vf = 0.313846, maxvel = 0.313846, current_vel = 0.313846, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.313846, acc = 0.000000,T = 0.002687, P = 0.002569 initial results: dx= 0.000117,dt = 0.000374, a_f = 0.000000, v_f = 0.313846 actual v_f = 0.313846, a = 0.000000 split time is 0.000373877 tc id = 60, canon_type = 3, mot type = 2 time: 4.207000 primary movement = 3.137568609498e-04 time: 4.207000000000e+00 total movement = 3.137568609498e-04 vel = 3.138464671549e-01 ------------------- tc id 60 done Finishing split-cycle on id 60 tc state : vr = 0.721658, vf = 0.262676, maxvel = 8.589769, current_vel = 0.333208, fs = 1.000000, tc = 0.000626, term = 3 tc result: v = 0.333208, acc = 30.923292,T = 0.001515, P = 0.000203 initial results: dx= 0.001313,dt = 0.004407, a_f = -16.006085, v_f = 0.262676 dt = 0.004407, not at end yet secondary movement = 0.000203 tc id = 60, canon_type = 2, mot type = 1 time: 4.208000 primary movement = 1.173353722814e-04 time: 4.208000000000e+00 total movement = 3.199032081518e-04 vel = 3.332082437460e-01 Finished tc id 60 ------------------- Activate tc id = 60 target_vel = 0.721658 final_vel = 0.262676 length = 0.001515 tc state : vr = 0.721658, vf = 0.262676, maxvel = 8.589769, current_vel = 0.358882, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.358882, acc = 25.673451,T = 0.001515, P = 0.000549 initial results: dx= 0.000967,dt = 0.003111, a_f = -30.923292, v_f = 0.262676 recalculating with a_f = -30.923292, a = -30.923292 revised dt = 0.003111 dt = 0.003111, not at end yet tc id = 60, canon_type = 2, mot type = 1 time: 4.209000 primary movement = 3.460449692234e-04 time: 4.209000000000e+00 total movement = 3.460449692234e-04 vel = 3.588816947008e-01 ------------------- tc state : vr = 0.721658, vf = 0.262676, maxvel = 8.589769, current_vel = 0.327958, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.327958, acc = -30.923292,T = 0.001515, P = 0.000892 on final decel initial results: dx= 0.000623,dt = 0.002111, a_f = -30.923292, v_f = 0.262676 recalculating with a_f = -30.923292, a = -30.923292 revised dt = 0.002111 dt = 0.002111, not at end yet tc id = 60, canon_type = 2, mot type = 1 time: 4.210000 primary movement = 3.434200486047e-04 time: 4.210000000000e+00 total movement = 3.434200486047e-04 vel = 3.279584025087e-01 ------------------- tc state : vr = 0.721658, vf = 0.262676, maxvel = 8.589769, current_vel = 0.297035, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.297035, acc = -30.923292,T = 0.001515, P = 0.001205 on final decel initial results: dx= 0.000311,dt = 0.001111, a_f = -30.923292, v_f = 0.262676 recalculating with a_f = -30.923292, a = -30.923292 revised dt = 0.001111 dt = 0.001111, not at end yet tc id = 60, canon_type = 2, mot type = 1 time: 4.211000 primary movement = 3.124967564126e-04 time: 4.211000000000e+00 total movement = 3.124967564126e-04 vel = 2.970351103165e-01 ------------------- tc state : vr = 0.721658, vf = 0.262676, maxvel = 8.589769, current_vel = 0.266112, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.266112, acc = -30.923292,T = 0.001515, P = 0.001486 on final decel initial results: dx= 0.000029,dt = 0.000111, a_f = -30.923292, v_f = 0.262676 actual v_f = 0.262676, a = -30.923292 split time is 0.000111119 tc id = 60, canon_type = 2, mot type = 1 time: 4.212000 primary movement = 2.815734642205e-04 time: 4.212000000000e+00 total movement = 2.815734642205e-04 vel = 2.661118181244e-01 ------------------- tc id 60 done Finishing split-cycle on id 61 tc state : vr = 0.284585, vf = 0.000000, maxvel = 0.284585, current_vel = 0.249342, fs = 1.000000, tc = 0.000889, term = 3 tc result: v = 0.249342, acc = -15.000000,T = 0.002300, P = 0.000228 on final decel initial results: dx= 0.002072,dt = 0.016623, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.016623 dt = 0.016623, not at end yet secondary movement = 0.000228 tc id = 61, canon_type = 3, mot type = 2 time: 4.213000 primary movement = 2.937928679949e-05 time: 4.213000000000e+00 total movement = 2.568902113521e-04 vel = 2.493424305869e-01 Finished tc id 60 ------------------- Activate tc id = 61 target_vel = 0.284585 final_vel = 0.000000 length = 0.002300 tc state : vr = 0.284585, vf = 0.000000, maxvel = 0.284585, current_vel = 0.234342, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.234342, acc = -15.000000,T = 0.002300, P = 0.000469 on final decel initial results: dx= 0.001831,dt = 0.015623, a_f = -15.000000, v_f = 0.000000 dt = 0.015623, not at end yet tc id = 61, canon_type = 3, mot type = 2 time: 4.214000 primary movement = 2.417817832224e-04 time: 4.214000000000e+00 total movement = 2.417817832224e-04 vel = 2.343424305869e-01 ------------------- tc state : vr = 0.284585, vf = 0.000000, maxvel = 0.284585, current_vel = 0.219342, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.219342, acc = -15.000000,T = 0.002300, P = 0.000696 on final decel initial results: dx= 0.001604,dt = 0.014623, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.014623 dt = 0.014623, not at end yet tc id = 61, canon_type = 3, mot type = 2 time: 4.215000 primary movement = 2.267923820669e-04 time: 4.215000000000e+00 total movement = 2.267923820669e-04 vel = 2.193424305869e-01 ------------------- tc state : vr = 0.284585, vf = 0.000000, maxvel = 0.284585, current_vel = 0.204342, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.204342, acc = -15.000000,T = 0.002300, P = 0.000908 on final decel initial results: dx= 0.001392,dt = 0.013623, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.013623 dt = 0.013623, not at end yet tc id = 61, canon_type = 3, mot type = 2 time: 4.216000 primary movement = 2.118016680794e-04 time: 4.216000000000e+00 total movement = 2.118016680794e-04 vel = 2.043424305869e-01 ------------------- tc state : vr = 0.284585, vf = 0.000000, maxvel = 0.284585, current_vel = 0.189342, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.189342, acc = -15.000000,T = 0.002300, P = 0.001105 on final decel initial results: dx= 0.001195,dt = 0.012623, a_f = -15.000000, v_f = 0.000000 dt = 0.012623, not at end yet tc id = 61, canon_type = 3, mot type = 2 time: 4.217000 primary movement = 1.968097280367e-04 time: 4.217000000000e+00 total movement = 1.968097280367e-04 vel = 1.893424305869e-01 ------------------- tc state : vr = 0.284585, vf = 0.000000, maxvel = 0.284585, current_vel = 0.174342, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.174342, acc = -15.000000,T = 0.002300, P = 0.001287 on final decel initial results: dx= 0.001013,dt = 0.011623, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.011623 dt = 0.011623, not at end yet tc id = 61, canon_type = 3, mot type = 2 time: 4.218000 primary movement = 1.818166487224e-04 time: 4.218000000000e+00 total movement = 1.818166487224e-04 vel = 1.743424305869e-01 ------------------- tc state : vr = 0.284585, vf = 0.000000, maxvel = 0.284585, current_vel = 0.159342, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.159342, acc = -15.000000,T = 0.002300, P = 0.001454 on final decel initial results: dx= 0.000846,dt = 0.010623, a_f = -15.000000, v_f = 0.000000 dt = 0.010623, not at end yet tc id = 61, canon_type = 3, mot type = 2 time: 4.219000 primary movement = 1.668225169271e-04 time: 4.219000000000e+00 total movement = 1.668225169271e-04 vel = 1.593424305869e-01 ------------------- tc state : vr = 0.284585, vf = 0.000000, maxvel = 0.284585, current_vel = 0.144342, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.144342, acc = -15.000000,T = 0.002300, P = 0.001605 on final decel initial results: dx= 0.000694,dt = 0.009623, a_f = -15.000000, v_f = 0.000000 dt = 0.009623, not at end yet tc id = 61, canon_type = 3, mot type = 2 time: 4.220000 primary movement = 1.518274194471e-04 time: 4.220000000000e+00 total movement = 1.518274194471e-04 vel = 1.443424305869e-01 ------------------- tc state : vr = 0.284585, vf = 0.000000, maxvel = 0.284585, current_vel = 0.129342, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.129342, acc = -15.000000,T = 0.002300, P = 0.001742 on final decel initial results: dx= 0.000558,dt = 0.008623, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.008623 dt = 0.008623, not at end yet tc id = 61, canon_type = 3, mot type = 2 time: 4.221000 primary movement = 1.368314430844e-04 time: 4.221000000000e+00 total movement = 1.368314430844e-04 vel = 1.293424305869e-01 ------------------- tc state : vr = 0.284585, vf = 0.000000, maxvel = 0.284585, current_vel = 0.114342, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.114342, acc = -15.000000,T = 0.002300, P = 0.001864 on final decel initial results: dx= 0.000436,dt = 0.007623, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.007623 dt = 0.007623, not at end yet tc id = 61, canon_type = 3, mot type = 2 time: 4.222000 primary movement = 1.218346746463e-04 time: 4.222000000000e+00 total movement = 1.218346746463e-04 vel = 1.143424305869e-01 ------------------- tc state : vr = 0.284585, vf = 0.000000, maxvel = 0.284585, current_vel = 0.099342, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.099342, acc = -15.000000,T = 0.002300, P = 0.001971 on final decel initial results: dx= 0.000329,dt = 0.006623, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.006623 dt = 0.006623, not at end yet tc id = 61, canon_type = 3, mot type = 2 time: 4.223000 primary movement = 1.068372009443e-04 time: 4.223000000000e+00 total movement = 1.068372009443e-04 vel = 9.934243058692e-02 ------------------- tc state : vr = 0.284585, vf = 0.000000, maxvel = 0.284585, current_vel = 0.084342, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.084342, acc = -15.000000,T = 0.002300, P = 0.002063 on final decel initial results: dx= 0.000237,dt = 0.005623, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.005623 dt = 0.005623, not at end yet tc id = 61, canon_type = 3, mot type = 2 time: 4.224000 primary movement = 9.183910879439e-05 time: 4.224000000000e+00 total movement = 9.183910879439e-05 vel = 8.434243058692e-02 ------------------- tc state : vr = 0.284585, vf = 0.000000, maxvel = 0.284585, current_vel = 0.069342, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.069342, acc = -15.000000,T = 0.002300, P = 0.002140 on final decel initial results: dx= 0.000160,dt = 0.004623, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.004623 dt = 0.004623, not at end yet tc id = 61, canon_type = 3, mot type = 2 time: 4.225000 primary movement = 7.684048501589e-05 time: 4.225000000000e+00 total movement = 7.684048501589e-05 vel = 6.934243058692e-02 ------------------- tc state : vr = 0.284585, vf = 0.000000, maxvel = 0.284585, current_vel = 0.054342, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.054342, acc = -15.000000,T = 0.002300, P = 0.002202 on final decel initial results: dx= 0.000098,dt = 0.003623, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.003623 dt = 0.003623, not at end yet tc id = 61, canon_type = 3, mot type = 2 time: 4.226000 primary movement = 6.184141643126e-05 time: 4.226000000000e+00 total movement = 6.184141643126e-05 vel = 5.434243058692e-02 ------------------- tc state : vr = 0.284585, vf = 0.000000, maxvel = 0.284585, current_vel = 0.039342, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.039342, acc = -15.000000,T = 0.002300, P = 0.002248 on final decel initial results: dx= 0.000052,dt = 0.002623, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.002623 dt = 0.002623, not at end yet tc id = 61, canon_type = 3, mot type = 2 time: 4.227000 primary movement = 4.684198986548e-05 time: 4.227000000000e+00 total movement = 4.684198986548e-05 vel = 3.934243058692e-02 ------------------- tc state : vr = 0.284585, vf = 0.000000, maxvel = 0.284585, current_vel = 0.024342, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.024342, acc = -15.000000,T = 0.002300, P = 0.002280 on final decel initial results: dx= 0.000020,dt = 0.001623, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.001623 dt = 0.001623, not at end yet tc id = 61, canon_type = 3, mot type = 2 time: 4.228000 primary movement = 3.184229214581e-05 time: 4.228000000000e+00 total movement = 3.184229214581e-05 vel = 2.434243058692e-02 ------------------- tc state : vr = 0.284585, vf = 0.000000, maxvel = 0.284585, current_vel = 0.009342, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.009342, acc = -15.000000,T = 0.002300, P = 0.002297 on final decel initial results: dx= 0.000003,dt = 0.000623, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.000623 actual v_f = 0.000000, a = -15.000000 split time is 0.000622828 tc id = 61, canon_type = 3, mot type = 2 time: 4.229000 primary movement = 1.684241010074e-05 time: 4.229000000000e+00 total movement = 1.684241010074e-05 vel = 9.342430586924e-03 ------------------- tc id 61 done Finishing split-cycle on id 61 tc state : vr = 10.015420, vf = 0.000000, maxvel = 10.015420, current_vel = 0.006800, fs = 1.000000, tc = 0.000377, term = 2 tc result: v = 0.006800, acc = 18.027756,T = 0.002400, P = 0.000001 secondary movement = 0.000001 tc id = 61, canon_type = 2, mot type = 1 time: 4.230000 primary movement = 2.909366870099e-06 time: 4.230000000000e+00 total movement = 4.191668163970e-06 vel = 6.799561063521e-03 Finished tc id 61 ------------------- Activate tc id = 61 target_vel = 10.015420 final_vel = 0.000000 length = 0.002400 Activate nexttc id 62 tc state : vr = 10.015420, vf = 0.000000, maxvel = 10.015420, current_vel = 0.024827, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.024827, acc = 18.027756,T = 0.002400, P = 0.000017 tc id = 61, canon_type = 2, mot type = 1 time: 4.231000 primary movement = 1.581343925218e-05 time: 4.231000000000e+00 total movement = 1.581343925218e-05 vel = 2.482731744084e-02 ------------------- tc state : vr = 10.015420, vf = 0.000000, maxvel = 10.015420, current_vel = 0.042855, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.042855, acc = 18.027756,T = 0.002400, P = 0.000051 tc id = 61, canon_type = 2, mot type = 1 time: 4.232000 primary movement = 3.384119562952e-05 time: 4.232000000000e+00 total movement = 3.384119562952e-05 vel = 4.285507381816e-02 ------------------- tc state : vr = 10.015420, vf = 0.000000, maxvel = 10.015420, current_vel = 0.060883, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.060883, acc = 18.027756,T = 0.002400, P = 0.000103 tc id = 61, canon_type = 2, mot type = 1 time: 4.233000 primary movement = 5.186895200681e-05 time: 4.233000000000e+00 total movement = 5.186895200681e-05 vel = 6.088283019548e-02 ------------------- tc state : vr = 10.015420, vf = 0.000000, maxvel = 10.015420, current_vel = 0.078911, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.078911, acc = 18.027756,T = 0.002400, P = 0.000173 tc id = 61, canon_type = 2, mot type = 1 time: 4.234000 primary movement = 6.989670838415e-05 time: 4.234000000000e+00 total movement = 6.989670838415e-05 vel = 7.891058657280e-02 ------------------- tc state : vr = 10.015420, vf = 0.000000, maxvel = 10.015420, current_vel = 0.096938, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.096938, acc = 18.027756,T = 0.002400, P = 0.000261 tc id = 61, canon_type = 2, mot type = 1 time: 4.235000 primary movement = 8.792446476146e-05 time: 4.235000000000e+00 total movement = 8.792446476146e-05 vel = 9.693834295012e-02 ------------------- tc state : vr = 10.015420, vf = 0.000000, maxvel = 10.015420, current_vel = 0.114966, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.114966, acc = 18.027756,T = 0.002400, P = 0.000367 tc id = 61, canon_type = 2, mot type = 1 time: 4.236000 primary movement = 1.059522211388e-04 time: 4.236000000000e+00 total movement = 1.059522211388e-04 vel = 1.149660993274e-01 ------------------- tc state : vr = 10.015420, vf = 0.000000, maxvel = 10.015420, current_vel = 0.132994, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.132994, acc = 18.027756,T = 0.002400, P = 0.000491 tc id = 61, canon_type = 2, mot type = 1 time: 4.237000 primary movement = 1.239799775161e-04 time: 4.237000000000e+00 total movement = 1.239799775161e-04 vel = 1.329938557048e-01 ------------------- tc state : vr = 10.015420, vf = 0.000000, maxvel = 10.015420, current_vel = 0.151022, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.151022, acc = 18.027756,T = 0.002400, P = 0.000633 tc id = 61, canon_type = 2, mot type = 1 time: 4.238000 primary movement = 1.420077338934e-04 time: 4.238000000000e+00 total movement = 1.420077338934e-04 vel = 1.510216120821e-01 ------------------- tc state : vr = 10.015420, vf = 0.000000, maxvel = 10.015420, current_vel = 0.169049, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.169049, acc = 18.027756,T = 0.002400, P = 0.000793 tc id = 61, canon_type = 2, mot type = 1 time: 4.239000 primary movement = 1.600354902707e-04 time: 4.239000000000e+00 total movement = 1.600354902707e-04 vel = 1.690493684594e-01 ------------------- tc state : vr = 10.015420, vf = 0.000000, maxvel = 10.015420, current_vel = 0.187077, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.187077, acc = 18.027756,T = 0.002400, P = 0.000971 tc id = 61, canon_type = 2, mot type = 1 time: 4.240000 primary movement = 1.780632466480e-04 time: 4.240000000000e+00 total movement = 1.780632466480e-04 vel = 1.870771248367e-01 ------------------- tc state : vr = 10.015420, vf = 0.000000, maxvel = 10.015420, current_vel = 0.205105, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.205105, acc = 18.027756,T = 0.002400, P = 0.001167 tc id = 61, canon_type = 2, mot type = 1 time: 4.241000 primary movement = 1.960910030254e-04 time: 4.241000000000e+00 total movement = 1.960910030254e-04 vel = 2.051048812140e-01 ------------------- tc state : vr = 10.015420, vf = 0.000000, maxvel = 10.015420, current_vel = 0.193133, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.193133, acc = -11.971717,T = 0.002400, P = 0.001366 on final decel tc id = 61, canon_type = 2, mot type = 1 time: 4.242000 primary movement = 1.991190225351e-04 time: 4.242000000000e+00 total movement = 1.991190225351e-04 vel = 1.931331638562e-01 ------------------- tc state : vr = 10.015420, vf = 0.000000, maxvel = 10.015420, current_vel = 0.175105, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.175105, acc = -18.027756,T = 0.002400, P = 0.001550 on final decel tc id = 61, canon_type = 2, mot type = 1 time: 4.243000 primary movement = 1.841192856676e-04 time: 4.243000000000e+00 total movement = 1.841192856676e-04 vel = 1.751054074789e-01 ------------------- tc state : vr = 10.015420, vf = 0.000000, maxvel = 10.015420, current_vel = 0.157078, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.157078, acc = -18.027756,T = 0.002400, P = 0.001716 on final decel tc id = 61, canon_type = 2, mot type = 1 tc state : vr = 0.018028, vf = 0.018028, maxvel = 8.642661, current_vel = 0.015557, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.015557, acc = 15.556851,T = 0.001887, P = 0.000008 initial results: dx= 0.001879,dt = 0.014575, a_f = 15.556851, v_f = 0.242299 dt = 0.014575, not at end yet tc id = 61, canon_type = 2, mot type = 1 secondary movement = 0.000008 time: 4.244000 primary movement = 1.660915292902e-04 time: 4.244000000000e+00 total movement = 1.738699549825e-04 vel = 1.726345024861e-01 ------------------- tc state : vr = 10.015420, vf = 0.000000, maxvel = 10.015420, current_vel = 0.139050, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.139050, acc = -18.027756,T = 0.002400, P = 0.001864 on final decel tc id = 61, canon_type = 2, mot type = 1 tc state : vr = 0.036056, vf = 0.036056, maxvel = 8.642661, current_vel = 0.031114, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.031114, acc = 15.556851,T = 0.001887, P = 0.000031 initial results: dx= 0.001856,dt = 0.013575, a_f = 15.556851, v_f = 0.242299 dt = 0.013575, not at end yet tc id = 61, canon_type = 2, mot type = 1 secondary movement = 0.000023 time: 4.245000 primary movement = 1.480637729129e-04 time: 4.245000000000e+00 total movement = 1.713990499897e-04 vel = 1.701635974933e-01 ------------------- tc state : vr = 10.015420, vf = 0.000000, maxvel = 10.015420, current_vel = 0.121022, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.121022, acc = -18.027756,T = 0.002400, P = 0.001994 on final decel tc id = 61, canon_type = 2, mot type = 1 tc state : vr = 0.054083, vf = 0.054083, maxvel = 8.642661, current_vel = 0.046671, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.046671, acc = 15.556851,T = 0.001887, P = 0.000070 initial results: dx= 0.001817,dt = 0.012575, a_f = 15.556851, v_f = 0.242299 dt = 0.012575, not at end yet tc id = 61, canon_type = 2, mot type = 1 secondary movement = 0.000039 time: 4.246000 primary movement = 1.300360165356e-04 time: 4.246000000000e+00 total movement = 1.689281449969e-04 vel = 1.676926925005e-01 ------------------- tc state : vr = 10.015420, vf = 0.000000, maxvel = 10.015420, current_vel = 0.102994, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.102994, acc = -18.027756,T = 0.002400, P = 0.002106 on final decel tc id = 61, canon_type = 2, mot type = 1 tc state : vr = 0.072111, vf = 0.072111, maxvel = 8.642661, current_vel = 0.062227, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.062227, acc = 15.556851,T = 0.001887, P = 0.000124 initial results: dx= 0.001762,dt = 0.011575, a_f = 15.556851, v_f = 0.242299 dt = 0.011575, not at end yet tc id = 61, canon_type = 2, mot type = 1 secondary movement = 0.000054 time: 4.247000 primary movement = 1.120082601583e-04 time: 4.247000000000e+00 total movement = 1.664572400041e-04 vel = 1.652217875077e-01 ------------------- tc state : vr = 10.015420, vf = 0.000000, maxvel = 10.015420, current_vel = 0.084967, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.084967, acc = -18.027756,T = 0.002400, P = 0.002200 on final decel tc id = 61, canon_type = 2, mot type = 1 tc state : vr = 0.090139, vf = 0.090139, maxvel = 8.642661, current_vel = 0.077784, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.077784, acc = 15.556851,T = 0.001887, P = 0.000194 initial results: dx= 0.001692,dt = 0.010575, a_f = 15.556851, v_f = 0.242299 dt = 0.010575, not at end yet tc id = 61, canon_type = 2, mot type = 1 secondary movement = 0.000070 time: 4.248000 primary movement = 9.398050378097e-05 time: 4.248000000000e+00 total movement = 1.639863350113e-04 vel = 1.627508825149e-01 ------------------- tc state : vr = 10.015420, vf = 0.000000, maxvel = 10.015420, current_vel = 0.066939, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.066939, acc = -18.027756,T = 0.002400, P = 0.002276 on final decel tc id = 61, canon_type = 2, mot type = 1 tc state : vr = 0.108167, vf = 0.108167, maxvel = 8.642661, current_vel = 0.093341, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.093341, acc = 15.556851,T = 0.001887, P = 0.000280 initial results: dx= 0.001607,dt = 0.009575, a_f = 15.556851, v_f = 0.242299 recalculating with a_f = 15.556851, a = 15.556851 revised dt = 0.009575 dt = 0.009575, not at end yet tc id = 62, canon_type = 2, mot type = 1 secondary movement = 0.000086 time: 4.249000 primary movement = 7.595274740363e-05 time: 4.249000000000e+00 total movement = 1.615154300185e-04 vel = 1.602799775221e-01 ------------------- tc state : vr = 10.015420, vf = 0.000000, maxvel = 10.015420, current_vel = 0.048911, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.048911, acc = -18.027756,T = 0.002400, P = 0.002334 on final decel tc id = 61, canon_type = 2, mot type = 1 tc state : vr = 0.126194, vf = 0.126194, maxvel = 8.642661, current_vel = 0.108898, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.108898, acc = 15.556851,T = 0.001887, P = 0.000381 initial results: dx= 0.001506,dt = 0.008575, a_f = 15.556851, v_f = 0.242299 dt = 0.008575, not at end yet tc id = 62, canon_type = 2, mot type = 1 secondary movement = 0.000101 time: 4.250000 primary movement = 5.792499102632e-05 time: 4.250000000000e+00 total movement = 1.590445250257e-04 vel = 1.578090725293e-01 ------------------- tc state : vr = 10.015420, vf = 0.000000, maxvel = 10.015420, current_vel = 0.030883, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.030883, acc = -18.027756,T = 0.002400, P = 0.002374 on final decel tc id = 61, canon_type = 2, mot type = 1 tc state : vr = 0.144222, vf = 0.144222, maxvel = 8.642661, current_vel = 0.124455, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.124455, acc = 15.556851,T = 0.001887, P = 0.000498 initial results: dx= 0.001389,dt = 0.007575, a_f = 15.556851, v_f = 0.242299 dt = 0.007575, not at end yet tc id = 62, canon_type = 2, mot type = 1 secondary movement = 0.000117 time: 4.251000 primary movement = 3.989723464901e-05 time: 4.251000000000e+00 total movement = 1.565736200329e-04 vel = 1.553381675365e-01 ------------------- tc state : vr = 10.015420, vf = 0.000000, maxvel = 10.015420, current_vel = 0.012856, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.012856, acc = -18.027756,T = 0.002400, P = 0.002396 on final decel tc id = 61, canon_type = 2, mot type = 1 tc state : vr = 0.162250, vf = 0.162250, maxvel = 8.642661, current_vel = 0.140012, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.140012, acc = 15.556851,T = 0.001887, P = 0.000630 initial results: dx= 0.001257,dt = 0.006575, a_f = 15.556851, v_f = 0.242299 dt = 0.006575, not at end yet tc id = 62, canon_type = 2, mot type = 1 secondary movement = 0.000132 time: 4.252000 primary movement = 2.186947827167e-05 time: 4.252000000000e+00 total movement = 1.541027150401e-04 vel = 1.528672625437e-01 ------------------- Found newvel = -0.005172, assuming segment is done segment 61 at target in runcycle tc state : vr = 10.015420, vf = 0.000000, maxvel = 10.015420, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.002400, P = 0.002400 tc id = 61, canon_type = 2, mot type = 1 tc state : vr = 0.175105, vf = 0.175105, maxvel = 8.642661, current_vel = 0.155569, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.155569, acc = 15.556851,T = 0.001887, P = 0.000778 initial results: dx= 0.001109,dt = 0.005575, a_f = 15.556851, v_f = 0.242299 dt = 0.005575, not at end yet tc id = 62, canon_type = 2, mot type = 1 secondary movement = 0.000148 time: 4.253000 primary movement = 4.583666709144e-06 time: 4.253000000000e+00 total movement = 1.523737548621e-04 vel = 1.555685138452e-01 Finished tc id 61 ------------------- tc state : vr = 0.898533, vf = 0.242299, maxvel = 8.642661, current_vel = 0.171125, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.171125, acc = 15.556851,T = 0.001887, P = 0.000941 initial results: dx= 0.000946,dt = 0.004575, a_f = 15.556851, v_f = 0.242299 dt = 0.004575, not at end yet tc id = 62, canon_type = 2, mot type = 1 time: 4.254000 primary movement = 1.633469395374e-04 time: 4.254000000000e+00 total movement = 1.633469395374e-04 vel = 1.711253652297e-01 ------------------- tc state : vr = 0.898533, vf = 0.242299, maxvel = 8.642661, current_vel = 0.186682, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.186682, acc = 15.556851,T = 0.001887, P = 0.001120 initial results: dx= 0.000767,dt = 0.003575, a_f = 15.556851, v_f = 0.242299 dt = 0.003575, not at end yet tc id = 62, canon_type = 2, mot type = 1 time: 4.255000 primary movement = 1.789037909220e-04 time: 4.255000000000e+00 total movement = 1.789037909220e-04 vel = 1.866822166142e-01 ------------------- tc state : vr = 0.898533, vf = 0.242299, maxvel = 8.642661, current_vel = 0.202239, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.202239, acc = 15.556851,T = 0.001887, P = 0.001315 initial results: dx= 0.000572,dt = 0.002575, a_f = 15.556851, v_f = 0.242299 dt = 0.002575, not at end yet tc id = 62, canon_type = 2, mot type = 1 time: 4.256000 primary movement = 1.944606423064e-04 time: 4.256000000000e+00 total movement = 1.944606423064e-04 vel = 2.022390679987e-01 ------------------- tc state : vr = 0.898533, vf = 0.242299, maxvel = 8.642661, current_vel = 0.217796, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.217796, acc = 15.556851,T = 0.001887, P = 0.001525 initial results: dx= 0.000362,dt = 0.001575, a_f = 15.556851, v_f = 0.242299 dt = 0.001575, not at end yet tc id = 62, canon_type = 2, mot type = 1 time: 4.257000 primary movement = 2.100174936911e-04 time: 4.257000000000e+00 total movement = 2.100174936911e-04 vel = 2.177959193833e-01 ------------------- tc state : vr = 0.898533, vf = 0.242299, maxvel = 8.642661, current_vel = 0.233353, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.233353, acc = 15.556851,T = 0.001887, P = 0.001750 initial results: dx= 0.000137,dt = 0.000575, a_f = 15.556851, v_f = 0.242299 actual v_f = 0.242299, a = 15.556851 split time is 0.000575098 tc id = 62, canon_type = 2, mot type = 1 time: 4.258000 primary movement = 2.255743450755e-04 time: 4.258000000000e+00 total movement = 2.255743450755e-04 vel = 2.333527707678e-01 ------------------- tc id 62 done Finishing split-cycle on id 63 tc state : vr = 0.242299, vf = 0.000000, maxvel = 0.429094, current_vel = 0.242299, fs = 1.000000, tc = 0.000425, term = 3 tc result: v = 0.242299, acc = 0.000000,T = 0.004378, P = 0.000103 initial results: dx= 0.004275,dt = 0.035290, a_f = -6.865911, v_f = 0.000000 dt = 0.035290, not at end yet secondary movement = 0.000103 tc id = 63, canon_type = 3, mot type = 2 time: 4.259000 primary movement = 1.367733401569e-04 time: 4.259000000000e+00 total movement = 2.397259611292e-04 vel = 2.422994855079e-01 Finished tc id 62 ------------------- Activate tc id = 63 target_vel = 0.242299 final_vel = 0.000000 length = 0.004378 tc state : vr = 0.242299, vf = 0.000000, maxvel = 0.429094, current_vel = 0.242299, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.242299, acc = 0.000000,T = 0.004378, P = 0.000345 initial results: dx= 0.004033,dt = 0.033290, a_f = -7.278399, v_f = 0.000000 dt = 0.033290, not at end yet tc id = 63, canon_type = 3, mot type = 2 time: 4.260000 primary movement = 2.422876841472e-04 time: 4.260000000000e+00 total movement = 2.422876841472e-04 vel = 2.422994855079e-01 ------------------- tc state : vr = 0.242299, vf = 0.000000, maxvel = 0.429094, current_vel = 0.242299, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.242299, acc = 0.000000,T = 0.004378, P = 0.000588 initial results: dx= 0.003791,dt = 0.031290, a_f = -7.743618, v_f = 0.000000 dt = 0.031290, not at end yet tc id = 63, canon_type = 3, mot type = 2 time: 4.261000 primary movement = 2.422876841471e-04 time: 4.261000000000e+00 total movement = 2.422876841471e-04 vel = 2.422994855079e-01 ------------------- tc state : vr = 0.242299, vf = 0.000000, maxvel = 0.429094, current_vel = 0.242299, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.242299, acc = 0.000000,T = 0.004378, P = 0.000830 initial results: dx= 0.003549,dt = 0.029290, a_f = -8.272369, v_f = 0.000000 dt = 0.029290, not at end yet tc id = 63, canon_type = 3, mot type = 2 time: 4.262000 primary movement = 2.422876841472e-04 time: 4.262000000000e+00 total movement = 2.422876841472e-04 vel = 2.422994855079e-01 ------------------- tc state : vr = 0.242299, vf = 0.000000, maxvel = 0.429094, current_vel = 0.242299, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.242299, acc = 0.000000,T = 0.004378, P = 0.001072 initial results: dx= 0.003306,dt = 0.027290, a_f = -8.878620, v_f = 0.000000 dt = 0.027290, not at end yet tc id = 63, canon_type = 3, mot type = 2 time: 4.263000 primary movement = 2.422876841471e-04 time: 4.263000000000e+00 total movement = 2.422876841471e-04 vel = 2.422994855079e-01 ------------------- tc state : vr = 0.242299, vf = 0.000000, maxvel = 0.429094, current_vel = 0.242299, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.242299, acc = 0.000000,T = 0.004378, P = 0.001314 initial results: dx= 0.003064,dt = 0.025290, a_f = -9.580759, v_f = 0.000000 dt = 0.025290, not at end yet tc id = 63, canon_type = 3, mot type = 2 time: 4.264000 primary movement = 2.422876841472e-04 time: 4.264000000000e+00 total movement = 2.422876841472e-04 vel = 2.422994855079e-01 ------------------- tc state : vr = 0.242299, vf = 0.000000, maxvel = 0.429094, current_vel = 0.242299, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.242299, acc = 0.000000,T = 0.004378, P = 0.001557 initial results: dx= 0.002822,dt = 0.023290, a_f = -10.403487, v_f = 0.000000 dt = 0.023290, not at end yet tc id = 63, canon_type = 3, mot type = 2 time: 4.265000 primary movement = 2.422876841472e-04 time: 4.265000000000e+00 total movement = 2.422876841472e-04 vel = 2.422994855079e-01 ------------------- tc state : vr = 0.242299, vf = 0.000000, maxvel = 0.429094, current_vel = 0.242299, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.242299, acc = 0.000000,T = 0.004378, P = 0.001799 initial results: dx= 0.002579,dt = 0.021290, a_f = -11.380789, v_f = 0.000000 dt = 0.021290, not at end yet tc id = 63, canon_type = 3, mot type = 2 time: 4.266000 primary movement = 2.422876841471e-04 time: 4.266000000000e+00 total movement = 2.422876841471e-04 vel = 2.422994855079e-01 ------------------- tc state : vr = 0.242299, vf = 0.000000, maxvel = 0.429094, current_vel = 0.242299, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.242299, acc = 0.000000,T = 0.004378, P = 0.002041 initial results: dx= 0.002337,dt = 0.019290, a_f = -12.560744, v_f = 0.000000 dt = 0.019290, not at end yet tc id = 63, canon_type = 3, mot type = 2 time: 4.267000 primary movement = 2.422876841472e-04 time: 4.267000000000e+00 total movement = 2.422876841472e-04 vel = 2.422994855079e-01 ------------------- tc state : vr = 0.242299, vf = 0.000000, maxvel = 0.429094, current_vel = 0.242299, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.242299, acc = 0.000000,T = 0.004378, P = 0.002284 initial results: dx= 0.002095,dt = 0.017290, a_f = -14.013674, v_f = 0.000000 dt = 0.017290, not at end yet tc id = 63, canon_type = 3, mot type = 2 time: 4.268000 primary movement = 2.422876841472e-04 time: 4.268000000000e+00 total movement = 2.422876841472e-04 vel = 2.422994855079e-01 ------------------- tc state : vr = 0.242299, vf = 0.000000, maxvel = 0.429094, current_vel = 0.235940, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.235940, acc = -6.359714,T = 0.004378, P = 0.002523 on final decel initial results: dx= 0.001856,dt = 0.015729, a_f = -15.000000, v_f = 0.000000 dt = 0.015729, not at end yet tc id = 63, canon_type = 3, mot type = 2 time: 4.269000 primary movement = 2.391082857039e-04 time: 4.269000000000e+00 total movement = 2.391082857039e-04 vel = 2.359397715096e-01 ------------------- tc state : vr = 0.242299, vf = 0.000000, maxvel = 0.429094, current_vel = 0.220940, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.220940, acc = -15.000000,T = 0.004378, P = 0.002751 on final decel initial results: dx= 0.001627,dt = 0.014729, a_f = -15.000000, v_f = 0.000000 dt = 0.014729, not at end yet tc id = 63, canon_type = 3, mot type = 2 time: 4.270000 primary movement = 2.284298816423e-04 time: 4.270000000000e+00 total movement = 2.284298816423e-04 vel = 2.209397715096e-01 ------------------- tc state : vr = 0.242299, vf = 0.000000, maxvel = 0.429094, current_vel = 0.205940, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.205940, acc = -15.000000,T = 0.004378, P = 0.002965 on final decel initial results: dx= 0.001414,dt = 0.013729, a_f = -15.000000, v_f = 0.000000 dt = 0.013729, not at end yet tc id = 63, canon_type = 3, mot type = 2 time: 4.271000 primary movement = 2.134317046950e-04 time: 4.271000000000e+00 total movement = 2.134317046950e-04 vel = 2.059397715096e-01 ------------------- tc state : vr = 0.242299, vf = 0.000000, maxvel = 0.429094, current_vel = 0.190940, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.190940, acc = -15.000000,T = 0.004378, P = 0.003163 on final decel initial results: dx= 0.001215,dt = 0.012729, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.012729 dt = 0.012729, not at end yet tc id = 63, canon_type = 3, mot type = 2 time: 4.272000 primary movement = 1.984332887062e-04 time: 4.272000000000e+00 total movement = 1.984332887062e-04 vel = 1.909397715096e-01 ------------------- tc state : vr = 0.242299, vf = 0.000000, maxvel = 0.429094, current_vel = 0.175940, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.175940, acc = -15.000000,T = 0.004378, P = 0.003347 on final decel initial results: dx= 0.001032,dt = 0.011729, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.011729 dt = 0.011729, not at end yet tc id = 63, canon_type = 3, mot type = 2 time: 4.273000 primary movement = 1.834346504736e-04 time: 4.273000000000e+00 total movement = 1.834346504736e-04 vel = 1.759397715096e-01 ------------------- tc state : vr = 0.242299, vf = 0.000000, maxvel = 0.429094, current_vel = 0.160940, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.160940, acc = -15.000000,T = 0.004378, P = 0.003515 on final decel initial results: dx= 0.000863,dt = 0.010729, a_f = -15.000000, v_f = 0.000000 dt = 0.010729, not at end yet tc id = 63, canon_type = 3, mot type = 2 time: 4.274000 primary movement = 1.684358067960e-04 time: 4.274000000000e+00 total movement = 1.684358067960e-04 vel = 1.609397715096e-01 ------------------- tc state : vr = 0.242299, vf = 0.000000, maxvel = 0.429094, current_vel = 0.145940, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.145940, acc = -15.000000,T = 0.004378, P = 0.003668 on final decel initial results: dx= 0.000710,dt = 0.009729, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.009729 dt = 0.009729, not at end yet tc id = 63, canon_type = 3, mot type = 2 time: 4.275000 primary movement = 1.534367744716e-04 time: 4.275000000000e+00 total movement = 1.534367744716e-04 vel = 1.459397715096e-01 ------------------- tc state : vr = 0.242299, vf = 0.000000, maxvel = 0.429094, current_vel = 0.130940, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.130940, acc = -15.000000,T = 0.004378, P = 0.003807 on final decel initial results: dx= 0.000572,dt = 0.008729, a_f = -15.000000, v_f = 0.000000 dt = 0.008729, not at end yet tc id = 63, canon_type = 3, mot type = 2 time: 4.276000 primary movement = 1.384375702995e-04 time: 4.276000000000e+00 total movement = 1.384375702995e-04 vel = 1.309397715096e-01 ------------------- tc state : vr = 0.242299, vf = 0.000000, maxvel = 0.429094, current_vel = 0.115940, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.115940, acc = -15.000000,T = 0.004378, P = 0.003930 on final decel initial results: dx= 0.000448,dt = 0.007729, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.007729 dt = 0.007729, not at end yet tc id = 63, canon_type = 3, mot type = 2 time: 4.277000 primary movement = 1.234382110783e-04 time: 4.277000000000e+00 total movement = 1.234382110783e-04 vel = 1.159397715096e-01 ------------------- tc state : vr = 0.242299, vf = 0.000000, maxvel = 0.429094, current_vel = 0.100940, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.100940, acc = -15.000000,T = 0.004378, P = 0.004039 on final decel initial results: dx= 0.000340,dt = 0.006729, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.006729 dt = 0.006729, not at end yet tc id = 63, canon_type = 3, mot type = 2 time: 4.278000 primary movement = 1.084387136075e-04 time: 4.278000000000e+00 total movement = 1.084387136075e-04 vel = 1.009397715096e-01 ------------------- tc state : vr = 0.242299, vf = 0.000000, maxvel = 0.429094, current_vel = 0.085940, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.085940, acc = -15.000000,T = 0.004378, P = 0.004132 on final decel initial results: dx= 0.000246,dt = 0.005729, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.005729 dt = 0.005729, not at end yet tc id = 63, canon_type = 3, mot type = 2 time: 4.279000 primary movement = 9.343909468624e-05 time: 4.279000000000e+00 total movement = 9.343909468624e-05 vel = 8.593977150956e-02 ------------------- tc state : vr = 0.242299, vf = 0.000000, maxvel = 0.429094, current_vel = 0.070940, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.070940, acc = -15.000000,T = 0.004378, P = 0.004211 on final decel initial results: dx= 0.000168,dt = 0.004729, a_f = -15.000000, v_f = 0.000000 dt = 0.004729, not at end yet tc id = 63, canon_type = 3, mot type = 2 time: 4.280000 primary movement = 7.843937111400e-05 time: 4.280000000000e+00 total movement = 7.843937111400e-05 vel = 7.093977150956e-02 ------------------- tc state : vr = 0.242299, vf = 0.000000, maxvel = 0.429094, current_vel = 0.055940, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.055940, acc = -15.000000,T = 0.004378, P = 0.004274 on final decel initial results: dx= 0.000104,dt = 0.003729, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.003729 dt = 0.003729, not at end yet tc id = 63, canon_type = 3, mot type = 2 time: 4.281000 primary movement = 6.343955969035e-05 time: 4.281000000000e+00 total movement = 6.343955969035e-05 vel = 5.593977150956e-02 ------------------- tc state : vr = 0.242299, vf = 0.000000, maxvel = 0.429094, current_vel = 0.040940, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.040940, acc = -15.000000,T = 0.004378, P = 0.004322 on final decel initial results: dx= 0.000056,dt = 0.002729, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.002729 dt = 0.002729, not at end yet tc id = 63, canon_type = 3, mot type = 2 time: 4.282000 primary movement = 4.843967721492e-05 time: 4.282000000000e+00 total movement = 4.843967721492e-05 vel = 4.093977150956e-02 ------------------- tc state : vr = 0.242299, vf = 0.000000, maxvel = 0.429094, current_vel = 0.025940, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.025940, acc = -15.000000,T = 0.004378, P = 0.004356 on final decel initial results: dx= 0.000022,dt = 0.001729, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.001729 dt = 0.001729, not at end yet tc id = 63, canon_type = 3, mot type = 2 time: 4.283000 primary movement = 3.343974048750e-05 time: 4.283000000000e+00 total movement = 3.343974048750e-05 vel = 2.593977150956e-02 ------------------- tc state : vr = 0.242299, vf = 0.000000, maxvel = 0.429094, current_vel = 0.010940, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.010940, acc = -15.000000,T = 0.004378, P = 0.004374 on final decel initial results: dx= 0.000004,dt = 0.000729, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.000729 actual v_f = 0.000000, a = -15.000000 split time is 0.000729318 tc id = 63, canon_type = 3, mot type = 2 time: 4.284000 primary movement = 1.843976630782e-05 time: 4.284000000000e+00 total movement = 1.843976630782e-05 vel = 1.093977150956e-02 ------------------- tc id 63 done Finishing split-cycle on id 63 tc state : vr = 10.757390, vf = 0.000000, maxvel = 10.757390, current_vel = 0.005241, fs = 1.000000, tc = 0.000271, term = 2 tc result: v = 0.005241, acc = 19.363304,T = 0.004064, P = 0.000001 secondary movement = 0.000001 tc id = 63, canon_type = 2, mot type = 1 time: 4.285000 primary movement = 3.989286636718e-06 time: 4.285000000000e+00 total movement = 4.698651202828e-06 vel = 5.241305457937e-03 Finished tc id 63 ------------------- Activate tc id = 63 target_vel = 10.757390 final_vel = 0.000000 length = 0.004064 Activate nexttc id 64 tc state : vr = 10.757390, vf = 0.000000, maxvel = 10.757390, current_vel = 0.024605, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.024605, acc = 19.363304,T = 0.004064, P = 0.000016 tc id = 63, canon_type = 2, mot type = 1 time: 4.286000 primary movement = 1.492295725437e-05 time: 4.286000000000e+00 total movement = 1.492295725437e-05 vel = 2.460460905084e-02 ------------------- tc state : vr = 10.757390, vf = 0.000000, maxvel = 10.757390, current_vel = 0.043968, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.043968, acc = 19.363304,T = 0.004064, P = 0.000050 tc id = 63, canon_type = 2, mot type = 1 time: 4.287000 primary movement = 3.428626084729e-05 time: 4.287000000000e+00 total movement = 3.428626084729e-05 vel = 4.396791264374e-02 ------------------- tc state : vr = 10.757390, vf = 0.000000, maxvel = 10.757390, current_vel = 0.063331, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.063331, acc = 19.363304,T = 0.004064, P = 0.000104 tc id = 63, canon_type = 2, mot type = 1 time: 4.288000 primary movement = 5.364956444022e-05 time: 4.288000000000e+00 total movement = 5.364956444022e-05 vel = 6.333121623664e-02 ------------------- tc state : vr = 10.757390, vf = 0.000000, maxvel = 10.757390, current_vel = 0.082695, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.082695, acc = 19.363304,T = 0.004064, P = 0.000177 tc id = 63, canon_type = 2, mot type = 1 time: 4.289000 primary movement = 7.301286803308e-05 time: 4.289000000000e+00 total movement = 7.301286803308e-05 vel = 8.269451982954e-02 ------------------- tc state : vr = 10.757390, vf = 0.000000, maxvel = 10.757390, current_vel = 0.102058, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.102058, acc = 19.363304,T = 0.004064, P = 0.000269 tc id = 63, canon_type = 2, mot type = 1 time: 4.290000 primary movement = 9.237617162598e-05 time: 4.290000000000e+00 total movement = 9.237617162598e-05 vel = 1.020578234224e-01 ------------------- tc state : vr = 10.757390, vf = 0.000000, maxvel = 10.757390, current_vel = 0.121421, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.121421, acc = 19.363304,T = 0.004064, P = 0.000381 tc id = 63, canon_type = 2, mot type = 1 time: 4.291000 primary movement = 1.117394752189e-04 time: 4.291000000000e+00 total movement = 1.117394752189e-04 vel = 1.214211270153e-01 ------------------- tc state : vr = 10.757390, vf = 0.000000, maxvel = 10.757390, current_vel = 0.140784, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.140784, acc = 19.363304,T = 0.004064, P = 0.000512 tc id = 63, canon_type = 2, mot type = 1 time: 4.292000 primary movement = 1.311027788118e-04 time: 4.292000000000e+00 total movement = 1.311027788118e-04 vel = 1.407844306082e-01 ------------------- tc state : vr = 10.757390, vf = 0.000000, maxvel = 10.757390, current_vel = 0.160148, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.160148, acc = 19.363304,T = 0.004064, P = 0.000662 tc id = 63, canon_type = 2, mot type = 1 time: 4.293000 primary movement = 1.504660824047e-04 time: 4.293000000000e+00 total movement = 1.504660824047e-04 vel = 1.601477342011e-01 ------------------- tc state : vr = 10.757390, vf = 0.000000, maxvel = 10.757390, current_vel = 0.179511, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.179511, acc = 19.363304,T = 0.004064, P = 0.000832 tc id = 63, canon_type = 2, mot type = 1 time: 4.294000 primary movement = 1.698293859976e-04 time: 4.294000000000e+00 total movement = 1.698293859976e-04 vel = 1.795110377940e-01 ------------------- tc state : vr = 10.757390, vf = 0.000000, maxvel = 10.757390, current_vel = 0.198874, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.198874, acc = 19.363304,T = 0.004064, P = 0.001021 tc id = 63, canon_type = 2, mot type = 1 time: 4.295000 primary movement = 1.891926895905e-04 time: 4.295000000000e+00 total movement = 1.891926895905e-04 vel = 1.988743413869e-01 ------------------- tc state : vr = 10.757390, vf = 0.000000, maxvel = 10.757390, current_vel = 0.218238, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.218238, acc = 19.363304,T = 0.004064, P = 0.001230 tc id = 63, canon_type = 2, mot type = 1 time: 4.296000 primary movement = 2.085559931834e-04 time: 4.296000000000e+00 total movement = 2.085559931834e-04 vel = 2.182376449798e-01 ------------------- tc state : vr = 10.757390, vf = 0.000000, maxvel = 10.757390, current_vel = 0.237601, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.237601, acc = 19.363304,T = 0.004064, P = 0.001458 tc id = 63, canon_type = 2, mot type = 1 time: 4.297000 primary movement = 2.279192967763e-04 time: 4.297000000000e+00 total movement = 2.279192967763e-04 vel = 2.376009485727e-01 ------------------- tc state : vr = 10.757390, vf = 0.000000, maxvel = 10.757390, current_vel = 0.256964, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.256964, acc = 19.363304,T = 0.004064, P = 0.001705 tc id = 63, canon_type = 2, mot type = 1 time: 4.298000 primary movement = 2.472826003692e-04 time: 4.298000000000e+00 total movement = 2.472826003692e-04 vel = 2.569642521656e-01 ------------------- tc state : vr = 10.757390, vf = 0.000000, maxvel = 10.757390, current_vel = 0.276328, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.276328, acc = 19.363304,T = 0.004064, P = 0.001972 tc id = 63, canon_type = 2, mot type = 1 time: 4.299000 primary movement = 2.666459039621e-04 time: 4.299000000000e+00 total movement = 2.666459039621e-04 vel = 2.763275557585e-01 ------------------- tc state : vr = 10.757390, vf = 0.000000, maxvel = 10.757390, current_vel = 0.265568, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.265568, acc = -10.759729,T = 0.004064, P = 0.002243 on final decel tc id = 63, canon_type = 2, mot type = 1 time: 4.300000 primary movement = 2.709476910238e-04 time: 4.300000000000e+00 total movement = 2.709476910238e-04 vel = 2.655678262891e-01 ------------------- tc state : vr = 10.757390, vf = 0.000000, maxvel = 10.757390, current_vel = 0.246205, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.246205, acc = -19.363304,T = 0.004064, P = 0.002499 on final decel tc id = 63, canon_type = 2, mot type = 1 time: 4.301000 primary movement = 2.558861744926e-04 time: 4.301000000000e+00 total movement = 2.558861744926e-04 vel = 2.462045226962e-01 ------------------- tc state : vr = 10.757390, vf = 0.000000, maxvel = 10.757390, current_vel = 0.226841, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.226841, acc = -19.363304,T = 0.004064, P = 0.002735 on final decel tc id = 63, canon_type = 2, mot type = 1 time: 4.302000 primary movement = 2.365228708997e-04 time: 4.302000000000e+00 total movement = 2.365228708997e-04 vel = 2.268412191033e-01 ------------------- tc state : vr = 10.757390, vf = 0.000000, maxvel = 10.757390, current_vel = 0.207478, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.207478, acc = -19.363304,T = 0.004064, P = 0.002952 on final decel tc id = 63, canon_type = 2, mot type = 1 time: 4.303000 primary movement = 2.171595673068e-04 time: 4.303000000000e+00 total movement = 2.171595673068e-04 vel = 2.074779155104e-01 ------------------- tc state : vr = 10.757390, vf = 0.000000, maxvel = 10.757390, current_vel = 0.188115, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.188115, acc = -19.363304,T = 0.004064, P = 0.003150 on final decel tc id = 63, canon_type = 2, mot type = 1 tc state : vr = 0.019363, vf = 0.019363, maxvel = 8.642661, current_vel = 0.015557, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.015557, acc = 15.556851,T = 0.002755, P = 0.000008 initial results: dx= 0.002747,dt = 0.018488, a_f = 14.390714, v_f = 0.281610 dt = 0.018488, not at end yet tc id = 63, canon_type = 2, mot type = 1 secondary movement = 0.000008 time: 4.304000 primary movement = 1.977962637139e-04 time: 4.304000000000e+00 total movement = 2.055746894062e-04 vel = 2.036714633020e-01 ------------------- tc state : vr = 10.757390, vf = 0.000000, maxvel = 10.757390, current_vel = 0.168751, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.168751, acc = -19.363304,T = 0.004064, P = 0.003328 on final decel tc id = 63, canon_type = 2, mot type = 1 tc state : vr = 0.038727, vf = 0.038727, maxvel = 8.642661, current_vel = 0.031114, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.031114, acc = 15.556851,T = 0.002755, P = 0.000031 initial results: dx= 0.002724,dt = 0.017419, a_f = 14.380723, v_f = 0.281610 dt = 0.017419, not at end yet tc id = 63, canon_type = 2, mot type = 1 secondary movement = 0.000023 time: 4.305000 primary movement = 1.784329601210e-04 time: 4.305000000000e+00 total movement = 2.017682371978e-04 vel = 1.998650110936e-01 ------------------- tc state : vr = 10.757390, vf = 0.000000, maxvel = 10.757390, current_vel = 0.149388, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.149388, acc = -19.363304,T = 0.004064, P = 0.003488 on final decel tc id = 63, canon_type = 2, mot type = 1 tc state : vr = 0.058090, vf = 0.058090, maxvel = 8.642661, current_vel = 0.046671, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.046671, acc = 15.556851,T = 0.002755, P = 0.000070 initial results: dx= 0.002685,dt = 0.016356, a_f = 14.363685, v_f = 0.281610 dt = 0.016356, not at end yet tc id = 63, canon_type = 2, mot type = 1 secondary movement = 0.000039 time: 4.306000 primary movement = 1.590696565281e-04 time: 4.306000000000e+00 total movement = 1.979617849894e-04 vel = 1.960585588852e-01 ------------------- tc state : vr = 10.757390, vf = 0.000000, maxvel = 10.757390, current_vel = 0.130025, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.130025, acc = -19.363304,T = 0.004064, P = 0.003627 on final decel tc id = 63, canon_type = 2, mot type = 1 tc state : vr = 0.077453, vf = 0.077453, maxvel = 8.642661, current_vel = 0.062227, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.062227, acc = 15.556851,T = 0.002755, P = 0.000124 initial results: dx= 0.002630,dt = 0.015300, a_f = 14.338986, v_f = 0.281610 dt = 0.015300, not at end yet tc id = 63, canon_type = 2, mot type = 1 secondary movement = 0.000054 time: 4.307000 primary movement = 1.397063529352e-04 time: 4.307000000000e+00 total movement = 1.941553327810e-04 vel = 1.922521066768e-01 ------------------- tc state : vr = 10.757390, vf = 0.000000, maxvel = 10.757390, current_vel = 0.110661, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.110661, acc = -19.363304,T = 0.004064, P = 0.003748 on final decel tc id = 63, canon_type = 2, mot type = 1 tc state : vr = 0.096817, vf = 0.096817, maxvel = 8.642661, current_vel = 0.077784, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.077784, acc = 15.556851,T = 0.002755, P = 0.000194 initial results: dx= 0.002560,dt = 0.014248, a_f = 14.305686, v_f = 0.281610 dt = 0.014248, not at end yet tc id = 63, canon_type = 2, mot type = 1 secondary movement = 0.000070 time: 4.308000 primary movement = 1.203430493423e-04 time: 4.308000000000e+00 total movement = 1.903488805726e-04 vel = 1.884456544684e-01 ------------------- tc state : vr = 10.757390, vf = 0.000000, maxvel = 10.757390, current_vel = 0.091298, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.091298, acc = -19.363304,T = 0.004064, P = 0.003849 on final decel tc id = 63, canon_type = 2, mot type = 1 tc state : vr = 0.116180, vf = 0.116180, maxvel = 8.642661, current_vel = 0.093341, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.093341, acc = 15.556851,T = 0.002755, P = 0.000280 initial results: dx= 0.002475,dt = 0.013200, a_f = 14.262427, v_f = 0.281610 dt = 0.013200, not at end yet tc id = 64, canon_type = 2, mot type = 1 secondary movement = 0.000086 time: 4.309000 primary movement = 1.009797457494e-04 time: 4.309000000000e+00 total movement = 1.865424283643e-04 vel = 1.846392022601e-01 ------------------- tc state : vr = 10.757390, vf = 0.000000, maxvel = 10.757390, current_vel = 0.071935, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.071935, acc = -19.363304,T = 0.004064, P = 0.003930 on final decel tc id = 63, canon_type = 2, mot type = 1 tc state : vr = 0.135543, vf = 0.135543, maxvel = 8.642661, current_vel = 0.108898, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.108898, acc = 15.556851,T = 0.002755, P = 0.000381 initial results: dx= 0.002374,dt = 0.012157, a_f = 14.207283, v_f = 0.281610 dt = 0.012157, not at end yet tc id = 64, canon_type = 2, mot type = 1 secondary movement = 0.000101 time: 4.310000 primary movement = 8.161644215648e-05 time: 4.310000000000e+00 total movement = 1.827359761559e-04 vel = 1.808327500517e-01 ------------------- tc state : vr = 10.757390, vf = 0.000000, maxvel = 10.757390, current_vel = 0.052571, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.052571, acc = -19.363304,T = 0.004064, P = 0.003992 on final decel tc id = 63, canon_type = 2, mot type = 1 tc state : vr = 0.154906, vf = 0.154906, maxvel = 8.642661, current_vel = 0.124455, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.124455, acc = 15.556851,T = 0.002755, P = 0.000498 initial results: dx= 0.002257,dt = 0.011116, a_f = 14.137515, v_f = 0.281610 dt = 0.011116, not at end yet tc id = 64, canon_type = 2, mot type = 1 secondary movement = 0.000117 time: 4.311000 primary movement = 6.225313856360e-05 time: 4.311000000000e+00 total movement = 1.789295239474e-04 vel = 1.770262978433e-01 ------------------- tc state : vr = 10.757390, vf = 0.000000, maxvel = 10.757390, current_vel = 0.033208, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.033208, acc = -19.363304,T = 0.004064, P = 0.004035 on final decel tc id = 63, canon_type = 2, mot type = 1 tc state : vr = 0.174270, vf = 0.174270, maxvel = 8.642661, current_vel = 0.140012, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.140012, acc = 15.556851,T = 0.002755, P = 0.000630 initial results: dx= 0.002125,dt = 0.010079, a_f = 14.049181, v_f = 0.281610 dt = 0.010079, not at end yet tc id = 64, canon_type = 2, mot type = 1 secondary movement = 0.000132 time: 4.312000 primary movement = 4.288983497070e-05 time: 4.312000000000e+00 total movement = 1.751230717391e-04 vel = 1.732198456349e-01 ------------------- tc state : vr = 10.757390, vf = 0.000000, maxvel = 10.757390, current_vel = 0.013845, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.013845, acc = -19.363304,T = 0.004064, P = 0.004059 on final decel tc id = 63, canon_type = 2, mot type = 1 tc state : vr = 0.193633, vf = 0.193633, maxvel = 8.642661, current_vel = 0.155569, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.155569, acc = 15.556851,T = 0.002755, P = 0.000778 initial results: dx= 0.001977,dt = 0.009044, a_f = 13.936471, v_f = 0.281610 dt = 0.009044, not at end yet tc id = 64, canon_type = 2, mot type = 1 secondary movement = 0.000148 time: 4.313000 primary movement = 2.352653137783e-05 time: 4.313000000000e+00 total movement = 1.713166195307e-04 vel = 1.694133934265e-01 ------------------- Found newvel = -0.005518, assuming segment is done segment 63 at target in runcycle tc state : vr = 10.757390, vf = 0.000000, maxvel = 10.757390, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.004064, P = 0.004064 tc id = 63, canon_type = 2, mot type = 1 tc state : vr = 0.207478, vf = 0.207478, maxvel = 8.642661, current_vel = 0.171125, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.171125, acc = 15.556851,T = 0.002755, P = 0.000941 initial results: dx= 0.001814,dt = 0.008012, a_f = 13.790525, v_f = 0.281610 dt = 0.008012, not at end yet tc id = 64, canon_type = 2, mot type = 1 secondary movement = 0.000163 time: 4.314000 primary movement = 4.949586461358e-06 time: 4.314000000000e+00 total movement = 1.682965259988e-04 vel = 1.711253652297e-01 Finished tc id 63 ------------------- tc state : vr = 1.311791, vf = 0.281610, maxvel = 8.642661, current_vel = 0.186682, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.186682, acc = 15.556851,T = 0.002755, P = 0.001120 initial results: dx= 0.001635,dt = 0.006981, a_f = 13.597212, v_f = 0.281610 dt = 0.006981, not at end yet tc id = 64, canon_type = 2, mot type = 1 time: 4.315000 primary movement = 1.789037909220e-04 time: 4.315000000000e+00 total movement = 1.789037909220e-04 vel = 1.866822166142e-01 ------------------- tc state : vr = 1.311791, vf = 0.281610, maxvel = 8.642661, current_vel = 0.202239, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.202239, acc = 15.556851,T = 0.002755, P = 0.001315 initial results: dx= 0.001440,dt = 0.005953, a_f = 13.332616, v_f = 0.281610 dt = 0.005953, not at end yet tc id = 64, canon_type = 2, mot type = 1 time: 4.316000 primary movement = 1.944606423064e-04 time: 4.316000000000e+00 total movement = 1.944606423064e-04 vel = 2.022390679987e-01 ------------------- tc state : vr = 1.311791, vf = 0.281610, maxvel = 8.642661, current_vel = 0.217796, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.217796, acc = 15.556851,T = 0.002755, P = 0.001525 initial results: dx= 0.001230,dt = 0.004927, a_f = 12.952895, v_f = 0.281610 dt = 0.004927, not at end yet tc id = 64, canon_type = 2, mot type = 1 time: 4.317000 primary movement = 2.100174936911e-04 time: 4.317000000000e+00 total movement = 2.100174936911e-04 vel = 2.177959193833e-01 ------------------- tc state : vr = 1.311791, vf = 0.281610, maxvel = 8.642661, current_vel = 0.233353, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.233353, acc = 15.556851,T = 0.002755, P = 0.001750 initial results: dx= 0.001005,dt = 0.003902, a_f = 12.368208, v_f = 0.281610 dt = 0.003902, not at end yet tc id = 64, canon_type = 2, mot type = 1 time: 4.318000 primary movement = 2.255743450755e-04 time: 4.318000000000e+00 total movement = 2.255743450755e-04 vel = 2.333527707678e-01 ------------------- tc state : vr = 1.311791, vf = 0.281610, maxvel = 8.642661, current_vel = 0.248910, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.248910, acc = 15.556851,T = 0.002755, P = 0.001991 initial results: dx= 0.000763,dt = 0.002878, a_f = 11.361138, v_f = 0.281610 dt = 0.002878, not at end yet tc id = 64, canon_type = 2, mot type = 1 time: 4.319000 primary movement = 2.411311964600e-04 time: 4.319000000000e+00 total movement = 2.411311964600e-04 vel = 2.489096221523e-01 ------------------- tc state : vr = 1.311791, vf = 0.281610, maxvel = 8.642661, current_vel = 0.264466, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.264466, acc = 15.556851,T = 0.002755, P = 0.002248 initial results: dx= 0.000507,dt = 0.001856, a_f = 9.236043, v_f = 0.281610 dt = 0.001856, not at end yet tc id = 64, canon_type = 2, mot type = 1 time: 4.320000 primary movement = 2.566880478446e-04 time: 4.320000000000e+00 total movement = 2.566880478446e-04 vel = 2.644664735368e-01 ------------------- tc state : vr = 1.311791, vf = 0.281610, maxvel = 8.642661, current_vel = 0.280023, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.280023, acc = 15.556851,T = 0.002755, P = 0.002520 initial results: dx= 0.000235,dt = 0.000835, a_f = 1.899436, v_f = 0.281610 actual v_f = 0.281610, a = 1.899436 split time is 0.000835246 tc id = 64, canon_type = 2, mot type = 1 time: 4.321000 primary movement = 2.722448992291e-04 time: 4.321000000000e+00 total movement = 2.722448992291e-04 vel = 2.800233249213e-01 ------------------- tc id 64 done Finishing split-cycle on id 65 tc state : vr = 0.281610, vf = 0.000000, maxvel = 0.296110, current_vel = 0.279139, fs = 1.000000, tc = 0.000165, term = 3 tc result: v = 0.279139, acc = -15.000000,T = 0.002643, P = 0.000046 on final decel initial results: dx= 0.002597,dt = 0.018609, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.018609 dt = 0.018609, not at end yet secondary movement = 0.000046 tc id = 65, canon_type = 3, mot type = 2 time: 4.322000 primary movement = 2.345509292844e-04 time: 4.322000000000e+00 total movement = 2.807433244286e-04 vel = 2.791385120435e-01 Finished tc id 64 ------------------- Activate tc id = 65 target_vel = 0.281610 final_vel = 0.000000 length = 0.002643 tc state : vr = 0.281610, vf = 0.000000, maxvel = 0.296110, current_vel = 0.264139, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.264139, acc = -15.000000,T = 0.002643, P = 0.000318 on final decel initial results: dx= 0.002326,dt = 0.017609, a_f = -15.000000, v_f = 0.000000 dt = 0.017609, not at end yet tc id = 65, canon_type = 3, mot type = 2 time: 4.323000 primary movement = 2.715651928888e-04 time: 4.323000000000e+00 total movement = 2.715651928888e-04 vel = 2.641385120435e-01 ------------------- tc state : vr = 0.281610, vf = 0.000000, maxvel = 0.296110, current_vel = 0.249139, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.249139, acc = -15.000000,T = 0.002643, P = 0.000574 on final decel initial results: dx= 0.002069,dt = 0.016609, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.016609 dt = 0.016609, not at end yet tc id = 65, canon_type = 3, mot type = 2 time: 4.324000 primary movement = 2.565766801304e-04 time: 4.324000000000e+00 total movement = 2.565766801304e-04 vel = 2.491385120435e-01 ------------------- tc state : vr = 0.281610, vf = 0.000000, maxvel = 0.296110, current_vel = 0.234139, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.234139, acc = -15.000000,T = 0.002643, P = 0.000816 on final decel initial results: dx= 0.001827,dt = 0.015609, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.015609 dt = 0.015609, not at end yet tc id = 65, canon_type = 3, mot type = 2 time: 4.325000 primary movement = 2.415869002182e-04 time: 4.325000000000e+00 total movement = 2.415869002182e-04 vel = 2.341385120435e-01 ------------------- tc state : vr = 0.281610, vf = 0.000000, maxvel = 0.296110, current_vel = 0.219139, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.219139, acc = -15.000000,T = 0.002643, P = 0.001043 on final decel initial results: dx= 0.001601,dt = 0.014609, a_f = -15.000000, v_f = 0.000000 dt = 0.014609, not at end yet tc id = 65, canon_type = 3, mot type = 2 time: 4.326000 primary movement = 2.265959271820e-04 time: 4.326000000000e+00 total movement = 2.265959271820e-04 vel = 2.191385120435e-01 ------------------- tc state : vr = 0.281610, vf = 0.000000, maxvel = 0.296110, current_vel = 0.204139, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.204139, acc = -15.000000,T = 0.002643, P = 0.001254 on final decel initial results: dx= 0.001389,dt = 0.013609, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.013609 dt = 0.013609, not at end yet tc id = 65, canon_type = 3, mot type = 2 time: 4.327000 primary movement = 2.116038350578e-04 time: 4.327000000000e+00 total movement = 2.116038350578e-04 vel = 2.041385120435e-01 ------------------- tc state : vr = 0.281610, vf = 0.000000, maxvel = 0.296110, current_vel = 0.189139, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.189139, acc = -15.000000,T = 0.002643, P = 0.001451 on final decel initial results: dx= 0.001192,dt = 0.012609, a_f = -15.000000, v_f = 0.000000 dt = 0.012609, not at end yet tc id = 65, canon_type = 3, mot type = 2 time: 4.328000 primary movement = 1.966106978867e-04 time: 4.328000000000e+00 total movement = 1.966106978867e-04 vel = 1.891385120435e-01 ------------------- tc state : vr = 0.281610, vf = 0.000000, maxvel = 0.296110, current_vel = 0.174139, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.174139, acc = -15.000000,T = 0.002643, P = 0.001633 on final decel initial results: dx= 0.001011,dt = 0.011609, a_f = -15.000000, v_f = 0.000000 dt = 0.011609, not at end yet tc id = 65, canon_type = 3, mot type = 2 time: 4.329000 primary movement = 1.816165897155e-04 time: 4.329000000000e+00 total movement = 1.816165897155e-04 vel = 1.741385120435e-01 ------------------- tc state : vr = 0.281610, vf = 0.000000, maxvel = 0.296110, current_vel = 0.159139, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.159139, acc = -15.000000,T = 0.002643, P = 0.001799 on final decel initial results: dx= 0.000844,dt = 0.010609, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.010609 dt = 0.010609, not at end yet tc id = 65, canon_type = 3, mot type = 2 time: 4.330000 primary movement = 1.666215845954e-04 time: 4.330000000000e+00 total movement = 1.666215845954e-04 vel = 1.591385120435e-01 ------------------- tc state : vr = 0.281610, vf = 0.000000, maxvel = 0.296110, current_vel = 0.144139, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.144139, acc = -15.000000,T = 0.002643, P = 0.001951 on final decel initial results: dx= 0.000693,dt = 0.009609, a_f = -15.000000, v_f = 0.000000 dt = 0.009609, not at end yet tc id = 65, canon_type = 3, mot type = 2 time: 4.331000 primary movement = 1.516257565821e-04 time: 4.331000000000e+00 total movement = 1.516257565821e-04 vel = 1.441385120435e-01 ------------------- tc state : vr = 0.281610, vf = 0.000000, maxvel = 0.296110, current_vel = 0.129139, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.129139, acc = -15.000000,T = 0.002643, P = 0.002088 on final decel initial results: dx= 0.000556,dt = 0.008609, a_f = -15.000000, v_f = 0.000000 dt = 0.008609, not at end yet tc id = 65, canon_type = 3, mot type = 2 time: 4.332000 primary movement = 1.366291797355e-04 time: 4.332000000000e+00 total movement = 1.366291797355e-04 vel = 1.291385120435e-01 ------------------- tc state : vr = 0.281610, vf = 0.000000, maxvel = 0.296110, current_vel = 0.114139, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.114139, acc = -15.000000,T = 0.002643, P = 0.002209 on final decel initial results: dx= 0.000434,dt = 0.007609, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.007609 dt = 0.007609, not at end yet tc id = 65, canon_type = 3, mot type = 2 time: 4.333000 primary movement = 1.216319281192e-04 time: 4.333000000000e+00 total movement = 1.216319281192e-04 vel = 1.141385120435e-01 ------------------- tc state : vr = 0.281610, vf = 0.000000, maxvel = 0.296110, current_vel = 0.099139, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.099139, acc = -15.000000,T = 0.002643, P = 0.002316 on final decel initial results: dx= 0.000328,dt = 0.006609, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.006609 dt = 0.006609, not at end yet tc id = 65, canon_type = 3, mot type = 2 time: 4.334000 primary movement = 1.066340757998e-04 time: 4.334000000000e+00 total movement = 1.066340757998e-04 vel = 9.913851204354e-02 ------------------- tc state : vr = 0.281610, vf = 0.000000, maxvel = 0.296110, current_vel = 0.084139, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.084139, acc = -15.000000,T = 0.002643, P = 0.002407 on final decel initial results: dx= 0.000236,dt = 0.005609, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.005609 dt = 0.005609, not at end yet tc id = 65, canon_type = 3, mot type = 2 time: 4.335000 primary movement = 9.163569684729e-05 time: 4.335000000000e+00 total movement = 9.163569684729e-05 vel = 8.413851204354e-02 ------------------- tc state : vr = 0.281610, vf = 0.000000, maxvel = 0.296110, current_vel = 0.069139, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.069139, acc = -15.000000,T = 0.002643, P = 0.002484 on final decel initial results: dx= 0.000159,dt = 0.004609, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.004609 dt = 0.004609, not at end yet tc id = 65, canon_type = 3, mot type = 2 time: 4.336000 primary movement = 7.663686533408e-05 time: 4.336000000000e+00 total movement = 7.663686533408e-05 vel = 6.913851204354e-02 ------------------- tc state : vr = 0.281610, vf = 0.000000, maxvel = 0.296110, current_vel = 0.054139, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.054139, acc = -15.000000,T = 0.002643, P = 0.002546 on final decel initial results: dx= 0.000098,dt = 0.003609, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.003609 dt = 0.003609, not at end yet tc id = 65, canon_type = 3, mot type = 2 time: 4.337000 primary movement = 6.163765533476e-05 time: 4.337000000000e+00 total movement = 6.163765533476e-05 vel = 5.413851204354e-02 ------------------- tc state : vr = 0.281610, vf = 0.000000, maxvel = 0.296110, current_vel = 0.039139, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.039139, acc = -15.000000,T = 0.002643, P = 0.002592 on final decel initial results: dx= 0.000051,dt = 0.002609, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.002609 dt = 0.002609, not at end yet tc id = 65, canon_type = 3, mot type = 2 time: 4.338000 primary movement = 4.663814092589e-05 time: 4.338000000000e+00 total movement = 4.663814092589e-05 vel = 3.913851204354e-02 ------------------- tc state : vr = 0.281610, vf = 0.000000, maxvel = 0.296110, current_vel = 0.024139, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.024139, acc = -15.000000,T = 0.002643, P = 0.002624 on final decel initial results: dx= 0.000019,dt = 0.001609, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.001609 dt = 0.001609, not at end yet tc id = 65, canon_type = 3, mot type = 2 time: 4.339000 primary movement = 3.163839618546e-05 time: 4.339000000000e+00 total movement = 3.163839618546e-05 vel = 2.413851204354e-02 ------------------- tc state : vr = 0.281610, vf = 0.000000, maxvel = 0.296110, current_vel = 0.009139, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.009139, acc = -15.000000,T = 0.002643, P = 0.002641 on final decel initial results: dx= 0.000003,dt = 0.000609, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.000609 actual v_f = 0.000000, a = -15.000000 split time is 0.000609234 tc id = 65, canon_type = 3, mot type = 2 time: 4.340000 primary movement = 1.663849519269e-05 time: 4.340000000000e+00 total movement = 1.663849519269e-05 vel = 9.138512043542e-03 ------------------- tc id 65 done Finishing split-cycle on id 65 tc state : vr = 9.597926, vf = 0.000000, maxvel = 9.597926, current_vel = 0.006751, fs = 1.000000, tc = 0.000391, term = 2 tc result: v = 0.006751, acc = 17.276267,T = 0.002637, P = 0.000001 secondary movement = 0.000001 tc id = 65, canon_type = 2, mot type = 1 time: 4.341000 primary movement = 2.783746666755e-06 time: 4.341000000000e+00 total movement = 4.102774505630e-06 vel = 6.750981647398e-03 Finished tc id 65 ------------------- Activate tc id = 65 target_vel = 9.597926 final_vel = 0.000000 length = 0.002637 Activate nexttc id 66 tc state : vr = 9.597926, vf = 0.000000, maxvel = 9.597926, current_vel = 0.024027, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.024027, acc = 17.276267,T = 0.002637, P = 0.000017 tc id = 65, canon_type = 2, mot type = 1 time: 4.342000 primary movement = 1.538911494913e-05 time: 4.342000000000e+00 total movement = 1.538911494913e-05 vel = 2.402724825089e-02 ------------------- tc state : vr = 9.597926, vf = 0.000000, maxvel = 9.597926, current_vel = 0.041304, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.041304, acc = 17.276267,T = 0.002637, P = 0.000049 tc id = 65, canon_type = 2, mot type = 1 time: 4.343000 primary movement = 3.266538155264e-05 time: 4.343000000000e+00 total movement = 3.266538155264e-05 vel = 4.130351485439e-02 ------------------- tc state : vr = 9.597926, vf = 0.000000, maxvel = 9.597926, current_vel = 0.058580, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.058580, acc = 17.276267,T = 0.002637, P = 0.000099 tc id = 65, canon_type = 2, mot type = 1 time: 4.344000 primary movement = 4.994164815614e-05 time: 4.344000000000e+00 total movement = 4.994164815614e-05 vel = 5.857978145789e-02 ------------------- tc state : vr = 9.597926, vf = 0.000000, maxvel = 9.597926, current_vel = 0.075856, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.075856, acc = 17.276267,T = 0.002637, P = 0.000167 tc id = 65, canon_type = 2, mot type = 1 time: 4.345000 primary movement = 6.721791475965e-05 time: 4.345000000000e+00 total movement = 6.721791475965e-05 vel = 7.585604806139e-02 ------------------- tc state : vr = 9.597926, vf = 0.000000, maxvel = 9.597926, current_vel = 0.093132, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.093132, acc = 17.276267,T = 0.002637, P = 0.000251 tc id = 65, canon_type = 2, mot type = 1 time: 4.346000 primary movement = 8.449418136315e-05 time: 4.346000000000e+00 total movement = 8.449418136315e-05 vel = 9.313231466488e-02 ------------------- tc state : vr = 9.597926, vf = 0.000000, maxvel = 9.597926, current_vel = 0.110409, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.110409, acc = 17.276267,T = 0.002637, P = 0.000353 tc id = 65, canon_type = 2, mot type = 1 time: 4.347000 primary movement = 1.017704479666e-04 time: 4.347000000000e+00 total movement = 1.017704479666e-04 vel = 1.104085812684e-01 ------------------- tc state : vr = 9.597926, vf = 0.000000, maxvel = 9.597926, current_vel = 0.127685, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.127685, acc = 17.276267,T = 0.002637, P = 0.000472 tc id = 65, canon_type = 2, mot type = 1 time: 4.348000 primary movement = 1.190467145701e-04 time: 4.348000000000e+00 total movement = 1.190467145701e-04 vel = 1.276848478719e-01 ------------------- tc state : vr = 9.597926, vf = 0.000000, maxvel = 9.597926, current_vel = 0.144961, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.144961, acc = 17.276267,T = 0.002637, P = 0.000608 tc id = 65, canon_type = 2, mot type = 1 time: 4.349000 primary movement = 1.363229811736e-04 time: 4.349000000000e+00 total movement = 1.363229811736e-04 vel = 1.449611144754e-01 ------------------- tc state : vr = 9.597926, vf = 0.000000, maxvel = 9.597926, current_vel = 0.162237, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.162237, acc = 17.276267,T = 0.002637, P = 0.000762 tc id = 65, canon_type = 2, mot type = 1 time: 4.350000 primary movement = 1.535992477771e-04 time: 4.350000000000e+00 total movement = 1.535992477771e-04 vel = 1.622373810789e-01 ------------------- tc state : vr = 9.597926, vf = 0.000000, maxvel = 9.597926, current_vel = 0.179514, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.179514, acc = 17.276267,T = 0.002637, P = 0.000933 tc id = 65, canon_type = 2, mot type = 1 time: 4.351000 primary movement = 1.708755143806e-04 time: 4.351000000000e+00 total movement = 1.708755143806e-04 vel = 1.795136476824e-01 ------------------- tc state : vr = 9.597926, vf = 0.000000, maxvel = 9.597926, current_vel = 0.196790, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.196790, acc = 17.276267,T = 0.002637, P = 0.001121 tc id = 65, canon_type = 2, mot type = 1 time: 4.352000 primary movement = 1.881517809841e-04 time: 4.352000000000e+00 total movement = 1.881517809841e-04 vel = 1.967899142859e-01 ------------------- tc state : vr = 9.597926, vf = 0.000000, maxvel = 9.597926, current_vel = 0.212896, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.212896, acc = 16.105845,T = 0.002637, P = 0.001326 tc id = 65, canon_type = 2, mot type = 1 time: 4.353000 primary movement = 2.048428369365e-04 time: 4.353000000000e+00 total movement = 2.048428369365e-04 vel = 2.128957595871e-01 ------------------- tc state : vr = 9.597926, vf = 0.000000, maxvel = 9.597926, current_vel = 0.195619, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.195619, acc = -17.276267,T = 0.002637, P = 0.001530 on final decel tc id = 65, canon_type = 2, mot type = 1 tc state : vr = 0.017276, vf = 0.017276, maxvel = 9.718214, current_vel = 0.017276, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.017276, acc = 17.276267,T = 0.004477, P = 0.000009 initial results: dx= 0.004469,dt = 0.023882, a_f = 14.223228, v_f = 0.356949 dt = 0.023882, not at end yet tc id = 65, canon_type = 2, mot type = 1 secondary movement = 0.000009 time: 4.354000 primary movement = 2.042576262854e-04 time: 4.354000000000e+00 total movement = 2.128957595872e-04 vel = 2.128957595871e-01 ------------------- tc state : vr = 9.597926, vf = 0.000000, maxvel = 9.597926, current_vel = 0.178343, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.178343, acc = -17.276267,T = 0.002637, P = 0.001717 on final decel tc id = 65, canon_type = 2, mot type = 1 tc state : vr = 0.034553, vf = 0.034553, maxvel = 9.718214, current_vel = 0.034553, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.034553, acc = 17.276267,T = 0.004477, P = 0.000035 initial results: dx= 0.004443,dt = 0.022695, a_f = 14.205419, v_f = 0.356949 dt = 0.022695, not at end yet tc id = 65, canon_type = 2, mot type = 1 secondary movement = 0.000026 time: 4.355000 primary movement = 1.869813596819e-04 time: 4.355000000000e+00 total movement = 2.128957595871e-04 vel = 2.128957595871e-01 ------------------- tc state : vr = 9.597926, vf = 0.000000, maxvel = 9.597926, current_vel = 0.161067, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.161067, acc = -17.276267,T = 0.002637, P = 0.001887 on final decel tc id = 65, canon_type = 2, mot type = 1 tc state : vr = 0.051829, vf = 0.051829, maxvel = 9.718214, current_vel = 0.051829, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.051829, acc = 17.276267,T = 0.004477, P = 0.000078 initial results: dx= 0.004399,dt = 0.021525, a_f = 14.175272, v_f = 0.356949 dt = 0.021525, not at end yet tc id = 65, canon_type = 2, mot type = 1 secondary movement = 0.000043 time: 4.356000 primary movement = 1.697050930784e-04 time: 4.356000000000e+00 total movement = 2.128957595871e-04 vel = 2.128957595871e-01 ------------------- tc state : vr = 9.597926, vf = 0.000000, maxvel = 9.597926, current_vel = 0.143791, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.143791, acc = -17.276267,T = 0.002637, P = 0.002039 on final decel tc id = 65, canon_type = 2, mot type = 1 tc state : vr = 0.069105, vf = 0.069105, maxvel = 9.718214, current_vel = 0.069105, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.069105, acc = 17.276267,T = 0.004477, P = 0.000138 initial results: dx= 0.004339,dt = 0.020368, a_f = 14.132057, v_f = 0.356949 dt = 0.020368, not at end yet tc id = 65, canon_type = 2, mot type = 1 secondary movement = 0.000060 time: 4.357000 primary movement = 1.524288264749e-04 time: 4.357000000000e+00 total movement = 2.128957595871e-04 vel = 2.128957595871e-01 ------------------- tc state : vr = 9.597926, vf = 0.000000, maxvel = 9.597926, current_vel = 0.126514, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.126514, acc = -17.276267,T = 0.002637, P = 0.002174 on final decel tc id = 65, canon_type = 2, mot type = 1 tc state : vr = 0.086381, vf = 0.086381, maxvel = 9.718214, current_vel = 0.086381, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.086381, acc = 17.276267,T = 0.004477, P = 0.000216 initial results: dx= 0.004261,dt = 0.019224, a_f = 14.074693, v_f = 0.356949 dt = 0.019224, not at end yet tc id = 65, canon_type = 2, mot type = 1 secondary movement = 0.000078 time: 4.358000 primary movement = 1.351525598714e-04 time: 4.358000000000e+00 total movement = 2.128957595871e-04 vel = 2.128957595871e-01 ------------------- tc state : vr = 9.597926, vf = 0.000000, maxvel = 9.597926, current_vel = 0.109238, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.109238, acc = -17.276267,T = 0.002637, P = 0.002292 on final decel tc id = 65, canon_type = 2, mot type = 1 tc state : vr = 0.103658, vf = 0.103658, maxvel = 9.718214, current_vel = 0.103658, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.103658, acc = 17.276267,T = 0.004477, P = 0.000311 initial results: dx= 0.004166,dt = 0.018090, a_f = 14.001674, v_f = 0.356949 dt = 0.018090, not at end yet tc id = 65, canon_type = 2, mot type = 1 secondary movement = 0.000095 time: 4.359000 primary movement = 1.178762932679e-04 time: 4.359000000000e+00 total movement = 2.128957595872e-04 vel = 2.128957595871e-01 ------------------- tc state : vr = 9.597926, vf = 0.000000, maxvel = 9.597926, current_vel = 0.091962, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.091962, acc = -17.276267,T = 0.002637, P = 0.002393 on final decel tc id = 65, canon_type = 2, mot type = 1 tc state : vr = 0.120934, vf = 0.120934, maxvel = 9.718214, current_vel = 0.120934, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.120934, acc = 17.276267,T = 0.004477, P = 0.000423 initial results: dx= 0.004054,dt = 0.016966, a_f = 13.910966, v_f = 0.356949 dt = 0.016966, not at end yet tc id = 66, canon_type = 2, mot type = 1 secondary movement = 0.000112 time: 4.360000 primary movement = 1.006000266644e-04 time: 4.360000000000e+00 total movement = 2.128957595871e-04 vel = 2.128957595871e-01 ------------------- tc state : vr = 9.597926, vf = 0.000000, maxvel = 9.597926, current_vel = 0.074686, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.074686, acc = -17.276267,T = 0.002637, P = 0.002476 on final decel tc id = 65, canon_type = 2, mot type = 1 tc state : vr = 0.138210, vf = 0.138210, maxvel = 9.718214, current_vel = 0.138210, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.138210, acc = 17.276267,T = 0.004477, P = 0.000553 initial results: dx= 0.003924,dt = 0.015851, a_f = 13.799852, v_f = 0.356949 dt = 0.015851, not at end yet tc id = 66, canon_type = 2, mot type = 1 secondary movement = 0.000130 time: 4.361000 primary movement = 8.332376006091e-05 time: 4.361000000000e+00 total movement = 2.128957595871e-04 vel = 2.128957595871e-01 ------------------- tc state : vr = 9.597926, vf = 0.000000, maxvel = 9.597926, current_vel = 0.057409, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.057409, acc = -17.276267,T = 0.002637, P = 0.002542 on final decel tc id = 65, canon_type = 2, mot type = 1 tc state : vr = 0.155486, vf = 0.155486, maxvel = 9.718214, current_vel = 0.155486, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.155486, acc = 17.276267,T = 0.004477, P = 0.000700 initial results: dx= 0.003777,dt = 0.014743, a_f = 13.664708, v_f = 0.356949 dt = 0.014743, not at end yet tc id = 66, canon_type = 2, mot type = 1 secondary movement = 0.000147 time: 4.362000 primary movement = 6.604749345740e-05 time: 4.362000000000e+00 total movement = 2.128957595871e-04 vel = 2.128957595871e-01 ------------------- tc state : vr = 9.597926, vf = 0.000000, maxvel = 9.597926, current_vel = 0.040133, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.040133, acc = -17.276267,T = 0.002637, P = 0.002591 on final decel tc id = 65, canon_type = 2, mot type = 1 tc state : vr = 0.172763, vf = 0.172763, maxvel = 9.718214, current_vel = 0.172763, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.172763, acc = 17.276267,T = 0.004477, P = 0.000864 initial results: dx= 0.003613,dt = 0.013643, a_f = 13.500665, v_f = 0.356949 dt = 0.013643, not at end yet tc id = 66, canon_type = 2, mot type = 1 secondary movement = 0.000164 time: 4.363000 primary movement = 4.877122685390e-05 time: 4.363000000000e+00 total movement = 2.128957595871e-04 vel = 2.128957595871e-01 ------------------- tc state : vr = 9.597926, vf = 0.000000, maxvel = 9.597926, current_vel = 0.022857, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.022857, acc = -17.276267,T = 0.002637, P = 0.002622 on final decel tc id = 65, canon_type = 2, mot type = 1 tc state : vr = 0.190039, vf = 0.190039, maxvel = 9.718214, current_vel = 0.190039, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.190039, acc = 17.276267,T = 0.004477, P = 0.001045 initial results: dx= 0.003432,dt = 0.012549, a_f = 13.301101, v_f = 0.356949 dt = 0.012549, not at end yet tc id = 66, canon_type = 2, mot type = 1 secondary movement = 0.000181 time: 4.364000 primary movement = 3.149496025042e-05 time: 4.364000000000e+00 total movement = 2.128957595872e-04 vel = 2.128957595871e-01 ------------------- tc state : vr = 9.597926, vf = 0.000000, maxvel = 9.597926, current_vel = 0.005581, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.005581, acc = -17.276267,T = 0.002637, P = 0.002636 on final decel tc id = 65, canon_type = 2, mot type = 1 tc state : vr = 0.207315, vf = 0.207315, maxvel = 9.718214, current_vel = 0.207315, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.207315, acc = 17.276267,T = 0.004477, P = 0.001244 initial results: dx= 0.003233,dt = 0.011460, a_f = 13.056837, v_f = 0.356949 dt = 0.011460, not at end yet tc id = 66, canon_type = 2, mot type = 1 secondary movement = 0.000199 time: 4.365000 primary movement = 1.421869364692e-05 time: 4.365000000000e+00 total movement = 2.128957595871e-04 vel = 2.128957595871e-01 ------------------- Found newvel = -0.005581, assuming segment is done segment 65 at target in runcycle tc state : vr = 9.597926, vf = 0.000000, maxvel = 9.597926, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.002637, P = 0.002637 tc id = 65, canon_type = 2, mot type = 1 tc state : vr = 0.212896, vf = 0.212896, maxvel = 9.718214, current_vel = 0.212896, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.212896, acc = 5.580560,T = 0.004477, P = 0.001454 initial results: dx= 0.003023,dt = 0.010611, a_f = 13.576425, v_f = 0.356949 dt = 0.010611, not at end yet tc id = 66, canon_type = 2, mot type = 1 secondary movement = 0.000210 time: 4.366000 primary movement = 9.013131853342e-07 time: 4.366000000000e+00 total movement = 2.110067925999e-04 vel = 2.128957595871e-01 Finished tc id 65 ------------------- tc state : vr = 2.131990, vf = 0.356949, maxvel = 9.718214, current_vel = 0.230389, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.230389, acc = 17.492856,T = 0.004477, P = 0.001676 initial results: dx= 0.002802,dt = 0.009540, a_f = 13.266578, v_f = 0.356949 dt = 0.009540, not at end yet tc id = 66, canon_type = 2, mot type = 1 time: 4.367000 primary movement = 2.216421874294e-04 time: 4.367000000000e+00 total movement = 2.216421874294e-04 vel = 2.303886152717e-01 ------------------- tc state : vr = 2.131990, vf = 0.356949, maxvel = 9.718214, current_vel = 0.247881, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.247881, acc = 17.492856,T = 0.004477, P = 0.001915 initial results: dx= 0.002562,dt = 0.008473, a_f = 12.872163, v_f = 0.356949 dt = 0.008473, not at end yet tc id = 66, canon_type = 2, mot type = 1 time: 4.368000 primary movement = 2.391350431139e-04 time: 4.368000000000e+00 total movement = 2.391350431139e-04 vel = 2.478814709562e-01 ------------------- tc state : vr = 2.131990, vf = 0.356949, maxvel = 9.718214, current_vel = 0.265374, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.265374, acc = 17.492856,T = 0.004477, P = 0.002171 initial results: dx= 0.002306,dt = 0.007410, a_f = 12.357890, v_f = 0.356949 dt = 0.007410, not at end yet tc id = 66, canon_type = 2, mot type = 1 time: 4.369000 primary movement = 2.566278987985e-04 time: 4.369000000000e+00 total movement = 2.566278987985e-04 vel = 2.653743266407e-01 ------------------- tc state : vr = 2.131990, vf = 0.356949, maxvel = 9.718214, current_vel = 0.282867, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.282867, acc = 17.492856,T = 0.004477, P = 0.002446 initial results: dx= 0.002032,dt = 0.006351, a_f = 11.665056, v_f = 0.356949 dt = 0.006351, not at end yet tc id = 66, canon_type = 2, mot type = 1 time: 4.370000 primary movement = 2.741207544830e-04 time: 4.370000000000e+00 total movement = 2.741207544830e-04 vel = 2.828671823253e-01 ------------------- tc state : vr = 2.131990, vf = 0.356949, maxvel = 9.718214, current_vel = 0.300360, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.300360, acc = 17.492856,T = 0.004477, P = 0.002737 initial results: dx= 0.001740,dt = 0.005294, a_f = 10.688376, v_f = 0.356949 dt = 0.005294, not at end yet tc id = 66, canon_type = 2, mot type = 1 time: 4.371000 primary movement = 2.916136101676e-04 time: 4.371000000000e+00 total movement = 2.916136101676e-04 vel = 3.003600380098e-01 ------------------- tc state : vr = 2.131990, vf = 0.356949, maxvel = 9.718214, current_vel = 0.317853, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.317853, acc = 17.492856,T = 0.004477, P = 0.003046 initial results: dx= 0.001431,dt = 0.004241, a_f = 9.218493, v_f = 0.356949 dt = 0.004241, not at end yet tc id = 66, canon_type = 2, mot type = 1 time: 4.372000 primary movement = 3.091064658521e-04 time: 4.372000000000e+00 total movement = 3.091064658521e-04 vel = 3.178528936943e-01 ------------------- tc state : vr = 2.131990, vf = 0.356949, maxvel = 9.718214, current_vel = 0.335346, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.335346, acc = 17.492856,T = 0.004477, P = 0.003373 initial results: dx= 0.001104,dt = 0.003190, a_f = 6.771412, v_f = 0.356949 dt = 0.003190, not at end yet tc id = 66, canon_type = 2, mot type = 1 time: 4.373000 primary movement = 3.265993215366e-04 time: 4.373000000000e+00 total movement = 3.265993215366e-04 vel = 3.353457493789e-01 ------------------- tc state : vr = 2.131990, vf = 0.356949, maxvel = 9.718214, current_vel = 0.352839, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.352839, acc = 17.492856,T = 0.004477, P = 0.003717 initial results: dx= 0.000760,dt = 0.002142, a_f = 1.918809, v_f = 0.356949 dt = 0.002142, not at end yet tc id = 66, canon_type = 2, mot type = 1 time: 4.374000 primary movement = 3.440921772211e-04 time: 4.374000000000e+00 total movement = 3.440921772211e-04 vel = 3.528386050634e-01 ------------------- tc state : vr = 2.131990, vf = 0.356949, maxvel = 9.718214, current_vel = 0.370331, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.370331, acc = 17.492856,T = 0.004477, P = 0.004079 initial results: dx= 0.000399,dt = 0.001096, a_f = -12.206884, v_f = 0.356949 dt = 0.001096, not at end yet tc id = 66, canon_type = 2, mot type = 1 time: 4.375000 primary movement = 3.615850329057e-04 time: 4.375000000000e+00 total movement = 3.615850329057e-04 vel = 3.703314607480e-01 ------------------- tc state : vr = 2.131990, vf = 0.356949, maxvel = 9.718214, current_vel = 0.358620, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.358620, acc = -11.711121,T = 0.004477, P = 0.004443 on final decel initial results: dx= 0.000034,dt = 0.000096, a_f = -17.492856, v_f = 0.356949 recalculating with a_f = -17.492856, a = -17.492856 revised dt = 0.000096 actual v_f = 0.356949, a = -17.492856 split time is 9.55424e-05 tc id = 66, canon_type = 2, mot type = 1 time: 4.376000 primary movement = 3.644759003030e-04 time: 4.376000000000e+00 total movement = 3.644759003030e-04 vel = 3.586203398581e-01 ------------------- tc id 66 done Finishing split-cycle on id 67 tc state : vr = 0.356949, vf = 0.356949, maxvel = 0.356949, current_vel = 0.356949, fs = 1.000000, tc = 0.000904, term = 3 tc result: v = 0.356949, acc = -0.000000,T = 0.004656, P = 0.000323 initial results: dx= 0.004333,dt = 0.012138, a_f = 0.000000, v_f = 0.356949 dt = 0.012138, not at end yet secondary movement = 0.000323 tc id = 67, canon_type = 3, mot type = 2 time: 4.377000 primary movement = 3.418362446750e-05 time: 4.377000000000e+00 total movement = 3.569705756763e-04 vel = 3.569490296118e-01 Finished tc id 66 ------------------- Activate tc id = 67 target_vel = 0.356949 final_vel = 0.356949 length = 0.004656 tc state : vr = 0.356949, vf = 0.356949, maxvel = 0.356949, current_vel = 0.356949, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.356949, acc = 0.000000,T = 0.004656, P = 0.000680 initial results: dx= 0.003976,dt = 0.011138, a_f = 0.000000, v_f = 0.356949 dt = 0.011138, not at end yet tc id = 67, canon_type = 3, mot type = 2 time: 4.378000 primary movement = 3.568702420673e-04 time: 4.378000000000e+00 total movement = 3.568702420673e-04 vel = 3.569490296118e-01 ------------------- tc state : vr = 0.356949, vf = 0.356949, maxvel = 0.356949, current_vel = 0.356949, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.356949, acc = 0.000000,T = 0.004656, P = 0.001037 initial results: dx= 0.003619,dt = 0.010138, a_f = 0.000000, v_f = 0.356949 dt = 0.010138, not at end yet tc id = 67, canon_type = 3, mot type = 2 time: 4.379000 primary movement = 3.568702420672e-04 time: 4.379000000000e+00 total movement = 3.568702420672e-04 vel = 3.569490296118e-01 ------------------- tc state : vr = 0.356949, vf = 0.356949, maxvel = 0.356949, current_vel = 0.356949, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.356949, acc = 0.000000,T = 0.004656, P = 0.001394 initial results: dx= 0.003262,dt = 0.009138, a_f = 0.000000, v_f = 0.356949 dt = 0.009138, not at end yet tc id = 67, canon_type = 3, mot type = 2 time: 4.380000 primary movement = 3.568702420673e-04 time: 4.380000000000e+00 total movement = 3.568702420673e-04 vel = 3.569490296118e-01 ------------------- tc state : vr = 0.356949, vf = 0.356949, maxvel = 0.356949, current_vel = 0.356949, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.356949, acc = 0.000000,T = 0.004656, P = 0.001751 initial results: dx= 0.002905,dt = 0.008138, a_f = 0.000000, v_f = 0.356949 dt = 0.008138, not at end yet tc id = 67, canon_type = 3, mot type = 2 time: 4.381000 primary movement = 3.568702420672e-04 time: 4.381000000000e+00 total movement = 3.568702420672e-04 vel = 3.569490296118e-01 ------------------- tc state : vr = 0.356949, vf = 0.356949, maxvel = 0.356949, current_vel = 0.356949, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.356949, acc = 0.000000,T = 0.004656, P = 0.002108 initial results: dx= 0.002548,dt = 0.007138, a_f = 0.000000, v_f = 0.356949 dt = 0.007138, not at end yet tc id = 67, canon_type = 3, mot type = 2 time: 4.382000 primary movement = 3.568702420673e-04 time: 4.382000000000e+00 total movement = 3.568702420673e-04 vel = 3.569490296118e-01 ------------------- tc state : vr = 0.356949, vf = 0.356949, maxvel = 0.356949, current_vel = 0.356949, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.356949, acc = 0.000000,T = 0.004656, P = 0.002465 initial results: dx= 0.002191,dt = 0.006138, a_f = 0.000000, v_f = 0.356949 dt = 0.006138, not at end yet tc id = 67, canon_type = 3, mot type = 2 time: 4.383000 primary movement = 3.568702420672e-04 time: 4.383000000000e+00 total movement = 3.568702420672e-04 vel = 3.569490296118e-01 ------------------- tc state : vr = 0.356949, vf = 0.356949, maxvel = 0.356949, current_vel = 0.356949, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.356949, acc = 0.000000,T = 0.004656, P = 0.002821 initial results: dx= 0.001834,dt = 0.005138, a_f = 0.000000, v_f = 0.356949 dt = 0.005138, not at end yet tc id = 67, canon_type = 3, mot type = 2 time: 4.384000 primary movement = 3.568702420672e-04 time: 4.384000000000e+00 total movement = 3.568702420672e-04 vel = 3.569490296118e-01 ------------------- tc state : vr = 0.356949, vf = 0.356949, maxvel = 0.356949, current_vel = 0.356949, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.356949, acc = 0.000000,T = 0.004656, P = 0.003178 initial results: dx= 0.001477,dt = 0.004138, a_f = 0.000000, v_f = 0.356949 dt = 0.004138, not at end yet tc id = 67, canon_type = 3, mot type = 2 time: 4.385000 primary movement = 3.568702420673e-04 time: 4.385000000000e+00 total movement = 3.568702420673e-04 vel = 3.569490296118e-01 ------------------- tc state : vr = 0.356949, vf = 0.356949, maxvel = 0.356949, current_vel = 0.356949, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.356949, acc = 0.000000,T = 0.004656, P = 0.003535 initial results: dx= 0.001120,dt = 0.003138, a_f = 0.000000, v_f = 0.356949 dt = 0.003138, not at end yet tc id = 67, canon_type = 3, mot type = 2 time: 4.386000 primary movement = 3.568702420672e-04 time: 4.386000000000e+00 total movement = 3.568702420672e-04 vel = 3.569490296118e-01 ------------------- tc state : vr = 0.356949, vf = 0.356949, maxvel = 0.356949, current_vel = 0.356949, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.356949, acc = 0.000000,T = 0.004656, P = 0.003892 initial results: dx= 0.000763,dt = 0.002138, a_f = 0.000000, v_f = 0.356949 dt = 0.002138, not at end yet tc id = 67, canon_type = 3, mot type = 2 time: 4.387000 primary movement = 3.568702420672e-04 time: 4.387000000000e+00 total movement = 3.568702420672e-04 vel = 3.569490296118e-01 ------------------- tc state : vr = 0.356949, vf = 0.356949, maxvel = 0.356949, current_vel = 0.356949, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.356949, acc = 0.000000,T = 0.004656, P = 0.004249 initial results: dx= 0.000406,dt = 0.001138, a_f = 0.000000, v_f = 0.356949 dt = 0.001138, not at end yet tc id = 67, canon_type = 3, mot type = 2 time: 4.388000 primary movement = 3.568702420673e-04 time: 4.388000000000e+00 total movement = 3.568702420673e-04 vel = 3.569490296118e-01 ------------------- tc state : vr = 0.356949, vf = 0.356949, maxvel = 0.356949, current_vel = 0.356949, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.356949, acc = 0.000000,T = 0.004656, P = 0.004606 initial results: dx= 0.000049,dt = 0.000138, a_f = 0.000000, v_f = 0.356949 actual v_f = 0.356949, a = 0.000000 split time is 0.000138326 tc id = 67, canon_type = 3, mot type = 2 time: 4.389000 primary movement = 3.568702420672e-04 time: 4.389000000000e+00 total movement = 3.568702420672e-04 vel = 3.569490296118e-01 ------------------- tc id 67 done Finishing split-cycle on id 67 tc state : vr = 0.932144, vf = 0.453960, maxvel = 9.082065, current_vel = 0.385122, fs = 1.000000, tc = 0.000862, term = 3 tc result: v = 0.385122, acc = 32.695565,T = 0.001958, P = 0.000320 initial results: dx= 0.001638,dt = 0.003904, a_f = 17.633737, v_f = 0.453960 dt = 0.003904, not at end yet secondary movement = 0.000320 tc id = 67, canon_type = 2, mot type = 1 time: 4.390000 primary movement = 4.937529018899e-05 time: 4.390000000000e+00 total movement = 3.690867436219e-04 vel = 3.851219329531e-01 Finished tc id 67 ------------------- Activate tc id = 67 target_vel = 0.932144 final_vel = 0.453960 length = 0.001958 tc state : vr = 0.932144, vf = 0.453960, maxvel = 9.082065, current_vel = 0.417817, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.417817, acc = 32.695565,T = 0.001958, P = 0.000721 initial results: dx= 0.001236,dt = 0.002836, a_f = 12.742722, v_f = 0.453960 dt = 0.002836, not at end yet tc id = 67, canon_type = 2, mot type = 1 time: 4.391000 primary movement = 4.014697156773e-04 time: 4.391000000000e+00 total movement = 4.014697156773e-04 vel = 4.178174984016e-01 ------------------- tc state : vr = 0.932144, vf = 0.453960, maxvel = 9.082065, current_vel = 0.450513, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.450513, acc = 32.695565,T = 0.001958, P = 0.001155 initial results: dx= 0.000802,dt = 0.001774, a_f = 1.943291, v_f = 0.453960 dt = 0.001774, not at end yet tc id = 67, canon_type = 2, mot type = 1 time: 4.392000 primary movement = 4.341652811259e-04 time: 4.392000000000e+00 total movement = 4.341652811259e-04 vel = 4.505130638502e-01 ------------------- tc state : vr = 0.932144, vf = 0.453960, maxvel = 9.082065, current_vel = 0.477688, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.477688, acc = 27.174625,T = 0.001958, P = 0.001619 initial results: dx= 0.000338,dt = 0.000726, a_f = -32.695565, v_f = 0.453960 recalculating with a_f = -32.695565, a = -32.695565 revised dt = 0.000726 actual v_f = 0.453960, a = -32.695565 split time is 0.000725716 tc id = 67, canon_type = 2, mot type = 1 time: 4.393000 primary movement = 4.641003765651e-04 time: 4.393000000000e+00 total movement = 4.641003765651e-04 vel = 4.776876892801e-01 ------------------- tc id 67 done Finishing split-cycle on id 68 tc state : vr = 0.453960, vf = 0.453960, maxvel = 0.453960, current_vel = 0.453960, fs = 1.000000, tc = 0.000274, term = 3 tc result: v = 0.453960, acc = 0.000000,T = 0.004034, P = 0.000125 initial results: dx= 0.003910,dt = 0.008612, a_f = 0.000000, v_f = 0.453960 dt = 0.008612, not at end yet secondary movement = 0.000125 tc id = 68, canon_type = 3, mot type = 2 time: 4.394000 primary movement = 3.380559600321e-04 time: 4.394000000000e+00 total movement = 4.625684969667e-04 vel = 4.539599838717e-01 Finished tc id 67 ------------------- Activate tc id = 68 target_vel = 0.453960 final_vel = 0.453960 length = 0.004034 tc state : vr = 0.453960, vf = 0.453960, maxvel = 0.453960, current_vel = 0.453960, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.453960, acc = 0.000000,T = 0.004034, P = 0.000578 initial results: dx= 0.003456,dt = 0.007612, a_f = 0.000000, v_f = 0.453960 dt = 0.007612, not at end yet tc id = 68, canon_type = 3, mot type = 2 time: 4.395000 primary movement = 4.538980316083e-04 time: 4.395000000000e+00 total movement = 4.538980316083e-04 vel = 4.539599838717e-01 ------------------- tc state : vr = 0.453960, vf = 0.453960, maxvel = 0.453960, current_vel = 0.453960, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.453960, acc = 0.000000,T = 0.004034, P = 0.001032 initial results: dx= 0.003002,dt = 0.006612, a_f = 0.000000, v_f = 0.453960 dt = 0.006612, not at end yet tc id = 68, canon_type = 3, mot type = 2 time: 4.396000 primary movement = 4.538980316083e-04 time: 4.396000000000e+00 total movement = 4.538980316083e-04 vel = 4.539599838717e-01 ------------------- tc state : vr = 0.453960, vf = 0.453960, maxvel = 0.453960, current_vel = 0.453960, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.453960, acc = 0.000000,T = 0.004034, P = 0.001486 initial results: dx= 0.002548,dt = 0.005612, a_f = 0.000000, v_f = 0.453960 dt = 0.005612, not at end yet tc id = 68, canon_type = 3, mot type = 2 time: 4.397000 primary movement = 4.538980316083e-04 time: 4.397000000000e+00 total movement = 4.538980316083e-04 vel = 4.539599838717e-01 ------------------- tc state : vr = 0.453960, vf = 0.453960, maxvel = 0.453960, current_vel = 0.453960, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.453960, acc = 0.000000,T = 0.004034, P = 0.001940 initial results: dx= 0.002094,dt = 0.004612, a_f = 0.000000, v_f = 0.453960 dt = 0.004612, not at end yet tc id = 68, canon_type = 3, mot type = 2 time: 4.398000 primary movement = 4.538980316083e-04 time: 4.398000000000e+00 total movement = 4.538980316083e-04 vel = 4.539599838717e-01 ------------------- tc state : vr = 0.453960, vf = 0.453960, maxvel = 0.453960, current_vel = 0.453960, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.453960, acc = 0.000000,T = 0.004034, P = 0.002394 initial results: dx= 0.001640,dt = 0.003612, a_f = 0.000000, v_f = 0.453960 dt = 0.003612, not at end yet tc id = 68, canon_type = 3, mot type = 2 time: 4.399000 primary movement = 4.538980316083e-04 time: 4.399000000000e+00 total movement = 4.538980316083e-04 vel = 4.539599838717e-01 ------------------- tc state : vr = 0.453960, vf = 0.453960, maxvel = 0.453960, current_vel = 0.453960, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.453960, acc = 0.000000,T = 0.004034, P = 0.002848 initial results: dx= 0.001186,dt = 0.002612, a_f = 0.000000, v_f = 0.453960 dt = 0.002612, not at end yet tc id = 68, canon_type = 3, mot type = 2 time: 4.400000 primary movement = 4.538980316082e-04 time: 4.400000000000e+00 total movement = 4.538980316082e-04 vel = 4.539599838717e-01 ------------------- tc state : vr = 0.453960, vf = 0.453960, maxvel = 0.453960, current_vel = 0.453960, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.453960, acc = 0.000000,T = 0.004034, P = 0.003302 initial results: dx= 0.000732,dt = 0.001612, a_f = 0.000000, v_f = 0.453960 dt = 0.001612, not at end yet tc id = 68, canon_type = 3, mot type = 2 time: 4.401000 primary movement = 4.538980316083e-04 time: 4.401000000000e+00 total movement = 4.538980316083e-04 vel = 4.539599838717e-01 ------------------- tc state : vr = 0.453960, vf = 0.453960, maxvel = 0.453960, current_vel = 0.453960, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.453960, acc = 0.000000,T = 0.004034, P = 0.003756 initial results: dx= 0.000278,dt = 0.000612, a_f = 0.000000, v_f = 0.453960 actual v_f = 0.453960, a = 0.000000 split time is 0.000612037 tc id = 68, canon_type = 3, mot type = 2 time: 4.402000 primary movement = 4.538980316083e-04 time: 4.402000000000e+00 total movement = 4.538980316083e-04 vel = 4.539599838717e-01 ------------------- tc id 68 done Finishing split-cycle on id 68 tc state : vr = 0.453960, vf = 0.335524, maxvel = 8.374863, current_vel = 0.453960, fs = 1.000000, tc = 0.000388, term = 3 tc result: v = 0.453960, acc = 0.000000,T = 0.001867, P = 0.000176 initial results: dx= 0.001691,dt = 0.004283, a_f = -27.649772, v_f = 0.335524 dt = 0.004283, not at end yet secondary movement = 0.000176 tc id = 68, canon_type = 2, mot type = 1 time: 4.403000 primary movement = 2.778258869890e-04 time: 4.403000000000e+00 total movement = 4.539457802100e-04 vel = 4.539599838717e-01 Finished tc id 68 ------------------- Activate tc id = 68 target_vel = 0.453960 final_vel = 0.335524 length = 0.001867 tc state : vr = 0.453960, vf = 0.335524, maxvel = 8.374863, current_vel = 0.433338, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.433338, acc = -20.622117,T = 0.001867, P = 0.000620 on final decel initial results: dx= 0.001247,dt = 0.003244, a_f = -30.149627, v_f = 0.335524 dt = 0.003244, not at end yet tc id = 68, canon_type = 2, mot type = 1 time: 4.404000 primary movement = 4.436489255384e-04 time: 4.404000000000e+00 total movement = 4.436489255384e-04 vel = 4.333378672050e-01 ------------------- tc state : vr = 0.453960, vf = 0.335524, maxvel = 8.374863, current_vel = 0.403188, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.403188, acc = -30.149627,T = 0.001867, P = 0.001038 on final decel initial results: dx= 0.000829,dt = 0.002244, a_f = -30.149627, v_f = 0.335524 dt = 0.002244, not at end yet tc id = 68, canon_type = 2, mot type = 1 time: 4.405000 primary movement = 4.182630537733e-04 time: 4.405000000000e+00 total movement = 4.182630537733e-04 vel = 4.031882403417e-01 ------------------- tc state : vr = 0.453960, vf = 0.335524, maxvel = 8.374863, current_vel = 0.373039, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.373039, acc = -30.149627,T = 0.001867, P = 0.001426 on final decel initial results: dx= 0.000441,dt = 0.001244, a_f = -30.149627, v_f = 0.335524 dt = 0.001244, not at end yet tc id = 68, canon_type = 2, mot type = 1 time: 4.406000 primary movement = 3.881134269100e-04 time: 4.406000000000e+00 total movement = 3.881134269100e-04 vel = 3.730386134783e-01 ------------------- tc state : vr = 0.453960, vf = 0.335524, maxvel = 8.374863, current_vel = 0.342889, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.342889, acc = -30.149627,T = 0.001867, P = 0.001784 on final decel initial results: dx= 0.000083,dt = 0.000244, a_f = -30.149627, v_f = 0.335524 recalculating with a_f = -30.149627, a = -30.149627 revised dt = 0.000244 actual v_f = 0.335524, a = -30.149627 split time is 0.000244266 tc id = 68, canon_type = 2, mot type = 1 time: 4.407000 primary movement = 3.579638000466e-04 time: 4.407000000000e+00 total movement = 3.579638000466e-04 vel = 3.428889866149e-01 ------------------- tc id 68 done Finishing split-cycle on id 69 tc state : vr = 0.335524, vf = 0.000000, maxvel = 0.505221, current_vel = 0.335524, fs = 1.000000, tc = 0.000756, term = 3 tc result: v = 0.335524, acc = 0.000000,T = 0.004140, P = 0.000254 initial results: dx= 0.003887,dt = 0.023168, a_f = -14.482379, v_f = 0.000000 dt = 0.023168, not at end yet secondary movement = 0.000254 tc id = 69, canon_type = 3, mot type = 2 time: 4.408000 primary movement = 8.285682871660e-05 time: 4.408000000000e+00 total movement = 3.364168611599e-04 vel = 3.355244435269e-01 Finished tc id 68 ------------------- Activate tc id = 69 target_vel = 0.335524 final_vel = 0.000000 length = 0.004140 tc state : vr = 0.335524, vf = 0.000000, maxvel = 0.505221, current_vel = 0.326601, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.326601, acc = -8.923135,T = 0.004140, P = 0.000585 on final decel initial results: dx= 0.003556,dt = 0.021773, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.021773 dt = 0.021773, not at end yet tc id = 69, canon_type = 3, mot type = 2 time: 4.409000 primary movement = 3.310472122793e-04 time: 4.409000000000e+00 total movement = 3.310472122793e-04 vel = 3.266013081804e-01 ------------------- tc state : vr = 0.335524, vf = 0.000000, maxvel = 0.505221, current_vel = 0.311601, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.311601, acc = -15.000000,T = 0.004140, P = 0.000904 on final decel initial results: dx= 0.003237,dt = 0.020773, a_f = -15.000000, v_f = 0.000000 dt = 0.020773, not at end yet tc id = 69, canon_type = 3, mot type = 2 time: 4.410000 primary movement = 3.190872818000e-04 time: 4.410000000000e+00 total movement = 3.190872818000e-04 vel = 3.116013081804e-01 ------------------- tc state : vr = 0.335524, vf = 0.000000, maxvel = 0.505221, current_vel = 0.296601, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.296601, acc = -15.000000,T = 0.004140, P = 0.001208 on final decel initial results: dx= 0.002932,dt = 0.019773, a_f = -15.000000, v_f = 0.000000 dt = 0.019773, not at end yet tc id = 69, canon_type = 3, mot type = 2 time: 4.411000 primary movement = 3.040891682765e-04 time: 4.411000000000e+00 total movement = 3.040891682765e-04 vel = 2.966013081804e-01 ------------------- tc state : vr = 0.335524, vf = 0.000000, maxvel = 0.505221, current_vel = 0.281601, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.281601, acc = -15.000000,T = 0.004140, P = 0.001497 on final decel initial results: dx= 0.002643,dt = 0.018773, a_f = -15.000000, v_f = 0.000000 dt = 0.018773, not at end yet tc id = 69, canon_type = 3, mot type = 2 time: 4.412000 primary movement = 2.890908775380e-04 time: 4.412000000000e+00 total movement = 2.890908775380e-04 vel = 2.816013081804e-01 ------------------- tc state : vr = 0.335524, vf = 0.000000, maxvel = 0.505221, current_vel = 0.266601, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.266601, acc = -15.000000,T = 0.004140, P = 0.001771 on final decel initial results: dx= 0.002369,dt = 0.017773, a_f = -15.000000, v_f = 0.000000 dt = 0.017773, not at end yet tc id = 69, canon_type = 3, mot type = 2 time: 4.413000 primary movement = 2.740924183253e-04 time: 4.413000000000e+00 total movement = 2.740924183253e-04 vel = 2.666013081804e-01 ------------------- tc state : vr = 0.335524, vf = 0.000000, maxvel = 0.505221, current_vel = 0.251601, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.251601, acc = -15.000000,T = 0.004140, P = 0.002030 on final decel initial results: dx= 0.002110,dt = 0.016773, a_f = -15.000000, v_f = 0.000000 dt = 0.016773, not at end yet tc id = 69, canon_type = 3, mot type = 2 time: 4.414000 primary movement = 2.590937993788e-04 time: 4.414000000000e+00 total movement = 2.590937993788e-04 vel = 2.516013081804e-01 ------------------- tc state : vr = 0.335524, vf = 0.000000, maxvel = 0.505221, current_vel = 0.236601, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.236601, acc = -15.000000,T = 0.004140, P = 0.002274 on final decel initial results: dx= 0.001866,dt = 0.015773, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.015773 dt = 0.015773, not at end yet tc id = 69, canon_type = 3, mot type = 2 time: 4.415000 primary movement = 2.440950294396e-04 time: 4.415000000000e+00 total movement = 2.440950294396e-04 vel = 2.366013081804e-01 ------------------- tc state : vr = 0.335524, vf = 0.000000, maxvel = 0.505221, current_vel = 0.221601, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.221601, acc = -15.000000,T = 0.004140, P = 0.002503 on final decel initial results: dx= 0.001637,dt = 0.014773, a_f = -15.000000, v_f = 0.000000 dt = 0.014773, not at end yet tc id = 69, canon_type = 3, mot type = 2 time: 4.416000 primary movement = 2.290961172483e-04 time: 4.416000000000e+00 total movement = 2.290961172483e-04 vel = 2.216013081804e-01 ------------------- tc state : vr = 0.335524, vf = 0.000000, maxvel = 0.505221, current_vel = 0.206601, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.206601, acc = -15.000000,T = 0.004140, P = 0.002717 on final decel initial results: dx= 0.001423,dt = 0.013773, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.013773 dt = 0.013773, not at end yet tc id = 69, canon_type = 3, mot type = 2 time: 4.417000 primary movement = 2.140970715461e-04 time: 4.417000000000e+00 total movement = 2.140970715461e-04 vel = 2.066013081804e-01 ------------------- tc state : vr = 0.335524, vf = 0.000000, maxvel = 0.505221, current_vel = 0.191601, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.191601, acc = -15.000000,T = 0.004140, P = 0.002917 on final decel initial results: dx= 0.001224,dt = 0.012773, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.012773 dt = 0.012773, not at end yet tc id = 69, canon_type = 3, mot type = 2 time: 4.418000 primary movement = 1.990979010739e-04 time: 4.418000000000e+00 total movement = 1.990979010739e-04 vel = 1.916013081804e-01 ------------------- tc state : vr = 0.335524, vf = 0.000000, maxvel = 0.505221, current_vel = 0.176601, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.176601, acc = -15.000000,T = 0.004140, P = 0.003101 on final decel initial results: dx= 0.001040,dt = 0.011773, a_f = -15.000000, v_f = 0.000000 dt = 0.011773, not at end yet tc id = 69, canon_type = 3, mot type = 2 time: 4.419000 primary movement = 1.840986145730e-04 time: 4.419000000000e+00 total movement = 1.840986145730e-04 vel = 1.766013081804e-01 ------------------- tc state : vr = 0.335524, vf = 0.000000, maxvel = 0.505221, current_vel = 0.161601, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.161601, acc = -15.000000,T = 0.004140, P = 0.003270 on final decel initial results: dx= 0.000870,dt = 0.010773, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.010773 dt = 0.010773, not at end yet tc id = 69, canon_type = 3, mot type = 2 time: 4.420000 primary movement = 1.690992207842e-04 time: 4.420000000000e+00 total movement = 1.690992207842e-04 vel = 1.616013081804e-01 ------------------- tc state : vr = 0.335524, vf = 0.000000, maxvel = 0.505221, current_vel = 0.146601, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.146601, acc = -15.000000,T = 0.004140, P = 0.003424 on final decel initial results: dx= 0.000716,dt = 0.009773, a_f = -15.000000, v_f = 0.000000 dt = 0.009773, not at end yet tc id = 69, canon_type = 3, mot type = 2 time: 4.421000 primary movement = 1.540997284491e-04 time: 4.421000000000e+00 total movement = 1.540997284491e-04 vel = 1.466013081804e-01 ------------------- tc state : vr = 0.335524, vf = 0.000000, maxvel = 0.505221, current_vel = 0.131601, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.131601, acc = -15.000000,T = 0.004140, P = 0.003563 on final decel initial results: dx= 0.000577,dt = 0.008773, a_f = -15.000000, v_f = 0.000000 dt = 0.008773, not at end yet tc id = 69, canon_type = 3, mot type = 2 time: 4.422000 primary movement = 1.391001463088e-04 time: 4.422000000000e+00 total movement = 1.391001463088e-04 vel = 1.316013081804e-01 ------------------- tc state : vr = 0.335524, vf = 0.000000, maxvel = 0.505221, current_vel = 0.116601, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.116601, acc = -15.000000,T = 0.004140, P = 0.003687 on final decel initial results: dx= 0.000453,dt = 0.007773, a_f = -15.000000, v_f = 0.000000 dt = 0.007773, not at end yet tc id = 69, canon_type = 3, mot type = 2 time: 4.423000 primary movement = 1.241004831046e-04 time: 4.423000000000e+00 total movement = 1.241004831046e-04 vel = 1.166013081804e-01 ------------------- tc state : vr = 0.335524, vf = 0.000000, maxvel = 0.505221, current_vel = 0.101601, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.101601, acc = -15.000000,T = 0.004140, P = 0.003796 on final decel initial results: dx= 0.000344,dt = 0.006773, a_f = -15.000000, v_f = 0.000000 dt = 0.006773, not at end yet tc id = 69, canon_type = 3, mot type = 2 time: 4.424000 primary movement = 1.091007475782e-04 time: 4.424000000000e+00 total movement = 1.091007475782e-04 vel = 1.016013081804e-01 ------------------- tc state : vr = 0.335524, vf = 0.000000, maxvel = 0.505221, current_vel = 0.086601, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.086601, acc = -15.000000,T = 0.004140, P = 0.003890 on final decel initial results: dx= 0.000250,dt = 0.005773, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.005773 dt = 0.005773, not at end yet tc id = 69, canon_type = 3, mot type = 2 time: 4.425000 primary movement = 9.410094847078e-05 time: 4.425000000000e+00 total movement = 9.410094847078e-05 vel = 8.660130818037e-02 ------------------- tc state : vr = 0.335524, vf = 0.000000, maxvel = 0.505221, current_vel = 0.071601, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.071601, acc = -15.000000,T = 0.004140, P = 0.003969 on final decel initial results: dx= 0.000171,dt = 0.004773, a_f = -15.000000, v_f = 0.000000 dt = 0.004773, not at end yet tc id = 69, canon_type = 3, mot type = 2 time: 4.426000 primary movement = 7.910109452380e-05 time: 4.426000000000e+00 total movement = 7.910109452380e-05 vel = 7.160130818037e-02 ------------------- tc state : vr = 0.335524, vf = 0.000000, maxvel = 0.505221, current_vel = 0.056601, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.056601, acc = -15.000000,T = 0.004140, P = 0.004033 on final decel initial results: dx= 0.000107,dt = 0.003773, a_f = -15.000000, v_f = 0.000000 dt = 0.003773, not at end yet tc id = 69, canon_type = 3, mot type = 2 time: 4.427000 primary movement = 6.410119447888e-05 time: 4.427000000000e+00 total movement = 6.410119447888e-05 vel = 5.660130818037e-02 ------------------- tc state : vr = 0.335524, vf = 0.000000, maxvel = 0.505221, current_vel = 0.041601, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.041601, acc = -15.000000,T = 0.004140, P = 0.004083 on final decel initial results: dx= 0.000058,dt = 0.002773, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.002773 dt = 0.002773, not at end yet tc id = 69, canon_type = 3, mot type = 2 time: 4.428000 primary movement = 4.910125707761e-05 time: 4.428000000000e+00 total movement = 4.910125707761e-05 vel = 4.160130818037e-02 ------------------- tc state : vr = 0.335524, vf = 0.000000, maxvel = 0.505221, current_vel = 0.026601, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.026601, acc = -15.000000,T = 0.004140, P = 0.004117 on final decel initial results: dx= 0.000024,dt = 0.001773, a_f = -15.000000, v_f = 0.000000 dt = 0.001773, not at end yet tc id = 69, canon_type = 3, mot type = 2 time: 4.429000 primary movement = 3.410129106133e-05 time: 4.429000000000e+00 total movement = 3.410129106133e-05 vel = 2.660130818037e-02 ------------------- tc state : vr = 0.335524, vf = 0.000000, maxvel = 0.505221, current_vel = 0.011601, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.011601, acc = -15.000000,T = 0.004140, P = 0.004136 on final decel initial results: dx= 0.000004,dt = 0.000773, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.000773 actual v_f = 0.000000, a = -15.000000 split time is 0.00077342 tc id = 69, canon_type = 3, mot type = 2 time: 4.430000 primary movement = 1.910130517183e-05 time: 4.430000000000e+00 total movement = 1.910130517183e-05 vel = 1.160130818037e-02 ------------------- tc id 69 done Finishing split-cycle on id 69 tc state : vr = 8.784069, vf = 0.000000, maxvel = 8.784069, current_vel = 0.003583, fs = 1.000000, tc = 0.000227, term = 2 tc result: v = 0.003583, acc = 15.811388,T = 0.004223, P = 0.000000 secondary movement = 0.000000 tc id = 69, canon_type = 2, mot type = 1 time: 4.431000 primary movement = 4.486345010907e-06 time: 4.431000000000e+00 total movement = 4.892211123105e-06 vel = 3.582542867294e-03 Finished tc id 69 ------------------- Activate tc id = 69 target_vel = 8.784069 final_vel = 0.000000 length = 0.004223 Activate nexttc id 70 tc state : vr = 8.784069, vf = 0.000000, maxvel = 8.784069, current_vel = 0.019394, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.019394, acc = 15.811388,T = 0.004223, P = 0.000012 tc id = 69, canon_type = 2, mot type = 1 time: 4.432000 primary movement = 1.148823701769e-05 time: 4.432000000000e+00 total movement = 1.148823701769e-05 vel = 1.939393116814e-02 ------------------- tc state : vr = 8.784069, vf = 0.000000, maxvel = 8.784069, current_vel = 0.035205, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.035205, acc = 15.811388,T = 0.004223, P = 0.000039 tc id = 69, canon_type = 2, mot type = 1 time: 4.433000 primary movement = 2.729962531858e-05 time: 4.433000000000e+00 total movement = 2.729962531858e-05 vel = 3.520531946898e-02 ------------------- tc state : vr = 8.784069, vf = 0.000000, maxvel = 8.784069, current_vel = 0.051017, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.051017, acc = 15.811388,T = 0.004223, P = 0.000082 tc id = 69, canon_type = 2, mot type = 1 time: 4.434000 primary movement = 4.311101361940e-05 time: 4.434000000000e+00 total movement = 4.311101361940e-05 vel = 5.101670776982e-02 ------------------- tc state : vr = 8.784069, vf = 0.000000, maxvel = 8.784069, current_vel = 0.066828, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.066828, acc = 15.811388,T = 0.004223, P = 0.000141 tc id = 69, canon_type = 2, mot type = 1 time: 4.435000 primary movement = 5.892240192023e-05 time: 4.435000000000e+00 total movement = 5.892240192023e-05 vel = 6.682809607066e-02 ------------------- tc state : vr = 8.784069, vf = 0.000000, maxvel = 8.784069, current_vel = 0.082639, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.082639, acc = 15.811388,T = 0.004223, P = 0.000216 tc id = 69, canon_type = 2, mot type = 1 time: 4.436000 primary movement = 7.473379022107e-05 time: 4.436000000000e+00 total movement = 7.473379022107e-05 vel = 8.263948437150e-02 ------------------- tc state : vr = 8.784069, vf = 0.000000, maxvel = 8.784069, current_vel = 0.098451, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.098451, acc = 15.811388,T = 0.004223, P = 0.000307 tc id = 69, canon_type = 2, mot type = 1 time: 4.437000 primary movement = 9.054517852195e-05 time: 4.437000000000e+00 total movement = 9.054517852195e-05 vel = 9.845087267235e-02 ------------------- tc state : vr = 8.784069, vf = 0.000000, maxvel = 8.784069, current_vel = 0.114262, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.114262, acc = 15.811388,T = 0.004223, P = 0.000413 tc id = 69, canon_type = 2, mot type = 1 time: 4.438000 primary movement = 1.063565668228e-04 time: 4.438000000000e+00 total movement = 1.063565668228e-04 vel = 1.142622609732e-01 ------------------- tc state : vr = 8.784069, vf = 0.000000, maxvel = 8.784069, current_vel = 0.130074, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.130074, acc = 15.811388,T = 0.004223, P = 0.000535 tc id = 69, canon_type = 2, mot type = 1 time: 4.439000 primary movement = 1.221679551236e-04 time: 4.439000000000e+00 total movement = 1.221679551236e-04 vel = 1.300736492740e-01 ------------------- tc state : vr = 8.784069, vf = 0.000000, maxvel = 8.784069, current_vel = 0.145885, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.145885, acc = 15.811388,T = 0.004223, P = 0.000673 tc id = 69, canon_type = 2, mot type = 1 time: 4.440000 primary movement = 1.379793434244e-04 time: 4.440000000000e+00 total movement = 1.379793434244e-04 vel = 1.458850375749e-01 ------------------- tc state : vr = 8.784069, vf = 0.000000, maxvel = 8.784069, current_vel = 0.161696, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.161696, acc = 15.811388,T = 0.004223, P = 0.000827 tc id = 69, canon_type = 2, mot type = 1 time: 4.441000 primary movement = 1.537907317253e-04 time: 4.441000000000e+00 total movement = 1.537907317253e-04 vel = 1.616964258757e-01 ------------------- tc state : vr = 8.784069, vf = 0.000000, maxvel = 8.784069, current_vel = 0.177508, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.177508, acc = 15.811388,T = 0.004223, P = 0.000996 tc id = 69, canon_type = 2, mot type = 1 time: 4.442000 primary movement = 1.696021200262e-04 time: 4.442000000000e+00 total movement = 1.696021200262e-04 vel = 1.775078141766e-01 ------------------- tc state : vr = 8.784069, vf = 0.000000, maxvel = 8.784069, current_vel = 0.193319, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.193319, acc = 15.811388,T = 0.004223, P = 0.001182 tc id = 69, canon_type = 2, mot type = 1 time: 4.443000 primary movement = 1.854135083270e-04 time: 4.443000000000e+00 total movement = 1.854135083270e-04 vel = 1.933192024774e-01 ------------------- tc state : vr = 8.784069, vf = 0.000000, maxvel = 8.784069, current_vel = 0.209131, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.209131, acc = 15.811388,T = 0.004223, P = 0.001383 tc id = 69, canon_type = 2, mot type = 1 time: 4.444000 primary movement = 2.012248966278e-04 time: 4.444000000000e+00 total movement = 2.012248966278e-04 vel = 2.091305907782e-01 ------------------- tc state : vr = 8.784069, vf = 0.000000, maxvel = 8.784069, current_vel = 0.224942, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.224942, acc = 15.811388,T = 0.004223, P = 0.001600 tc id = 69, canon_type = 2, mot type = 1 time: 4.445000 primary movement = 2.170362849287e-04 time: 4.445000000000e+00 total movement = 2.170362849287e-04 vel = 2.249419790791e-01 ------------------- tc state : vr = 8.784069, vf = 0.000000, maxvel = 8.784069, current_vel = 0.240753, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.240753, acc = 15.811388,T = 0.004223, P = 0.001833 tc id = 69, canon_type = 2, mot type = 1 time: 4.446000 primary movement = 2.328476732295e-04 time: 4.446000000000e+00 total movement = 2.328476732295e-04 vel = 2.407533673799e-01 ------------------- tc state : vr = 8.784069, vf = 0.000000, maxvel = 8.784069, current_vel = 0.256565, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.256565, acc = 15.811388,T = 0.004223, P = 0.002082 tc id = 69, canon_type = 2, mot type = 1 time: 4.447000 primary movement = 2.486590615303e-04 time: 4.447000000000e+00 total movement = 2.486590615303e-04 vel = 2.565647556808e-01 ------------------- tc state : vr = 8.784069, vf = 0.000000, maxvel = 8.784069, current_vel = 0.244544, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.244544, acc = -12.020379,T = 0.004223, P = 0.002332 on final decel tc id = 69, canon_type = 2, mot type = 1 tc state : vr = 0.012020, vf = 0.000000, maxvel = 0.689574, current_vel = 0.007500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.007500, acc = 7.500000,T = 0.016640, P = 0.000004 tc id = 69, canon_type = 2, mot type = 1 secondary movement = 0.000004 time: 4.448000 primary movement = 2.505545662341e-04 time: 4.448000000000e+00 total movement = 2.543045692163e-04 vel = 2.520443767874e-01 ------------------- tc state : vr = 8.784069, vf = 0.000000, maxvel = 8.784069, current_vel = 0.228733, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.228733, acc = -15.811388,T = 0.004223, P = 0.002569 on final decel tc id = 69, canon_type = 2, mot type = 1 tc state : vr = 0.027832, vf = 0.000000, maxvel = 0.689574, current_vel = 0.015000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.015000, acc = 7.500000,T = 0.016640, P = 0.000015 tc id = 69, canon_type = 2, mot type = 1 secondary movement = 0.000011 time: 4.449000 primary movement = 2.366386826370e-04 time: 4.449000000000e+00 total movement = 2.478886885162e-04 vel = 2.437329884866e-01 ------------------- tc state : vr = 8.784069, vf = 0.000000, maxvel = 8.784069, current_vel = 0.212922, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.212922, acc = -15.811388,T = 0.004223, P = 0.002790 on final decel tc id = 69, canon_type = 2, mot type = 1 tc state : vr = 0.043643, vf = 0.000000, maxvel = 0.689574, current_vel = 0.022500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.022500, acc = 7.500000,T = 0.016640, P = 0.000034 tc id = 69, canon_type = 2, mot type = 1 secondary movement = 0.000019 time: 4.450000 primary movement = 2.208272943361e-04 time: 4.450000000000e+00 total movement = 2.395772939093e-04 vel = 2.354216001857e-01 ------------------- tc state : vr = 8.784069, vf = 0.000000, maxvel = 8.784069, current_vel = 0.197110, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.197110, acc = -15.811388,T = 0.004223, P = 0.002995 on final decel tc id = 69, canon_type = 2, mot type = 1 tc state : vr = 0.059455, vf = 0.000000, maxvel = 0.689574, current_vel = 0.030000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.030000, acc = 7.500000,T = 0.016640, P = 0.000060 tc id = 69, canon_type = 2, mot type = 1 secondary movement = 0.000026 time: 4.451000 primary movement = 2.050159060353e-04 time: 4.451000000000e+00 total movement = 2.312658839643e-04 vel = 2.271102118849e-01 ------------------- tc state : vr = 8.784069, vf = 0.000000, maxvel = 8.784069, current_vel = 0.181299, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.181299, acc = -15.811388,T = 0.004223, P = 0.003184 on final decel tc id = 69, canon_type = 2, mot type = 1 tc state : vr = 0.075266, vf = 0.000000, maxvel = 0.689574, current_vel = 0.037500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.037500, acc = 7.500000,T = 0.016640, P = 0.000094 tc id = 69, canon_type = 2, mot type = 1 secondary movement = 0.000034 time: 4.452000 primary movement = 1.892045177345e-04 time: 4.452000000000e+00 total movement = 2.229544525459e-04 vel = 2.187988235840e-01 ------------------- tc state : vr = 8.784069, vf = 0.000000, maxvel = 8.784069, current_vel = 0.165487, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.165487, acc = -15.811388,T = 0.004223, P = 0.003357 on final decel tc id = 69, canon_type = 2, mot type = 1 tc state : vr = 0.091077, vf = 0.000000, maxvel = 0.689574, current_vel = 0.045000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.045000, acc = 7.500000,T = 0.016640, P = 0.000135 tc id = 69, canon_type = 2, mot type = 1 secondary movement = 0.000041 time: 4.453000 primary movement = 1.733931294336e-04 time: 4.453000000000e+00 total movement = 2.146429935191e-04 vel = 2.104874352832e-01 ------------------- tc state : vr = 8.784069, vf = 0.000000, maxvel = 8.784069, current_vel = 0.149676, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.149676, acc = -15.811388,T = 0.004223, P = 0.003515 on final decel tc id = 69, canon_type = 2, mot type = 1 tc state : vr = 0.106889, vf = 0.000000, maxvel = 0.689574, current_vel = 0.052500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.052500, acc = 7.500000,T = 0.016640, P = 0.000184 tc id = 69, canon_type = 2, mot type = 1 secondary movement = 0.000049 time: 4.454000 primary movement = 1.575817411328e-04 time: 4.454000000000e+00 total movement = 2.063315007482e-04 vel = 2.021760469824e-01 ------------------- tc state : vr = 8.784069, vf = 0.000000, maxvel = 8.784069, current_vel = 0.133865, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.133865, acc = -15.811388,T = 0.004223, P = 0.003657 on final decel tc id = 69, canon_type = 2, mot type = 1 tc state : vr = 0.122700, vf = 0.000000, maxvel = 0.689574, current_vel = 0.060000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.060000, acc = 7.500000,T = 0.016640, P = 0.000240 tc id = 69, canon_type = 2, mot type = 1 secondary movement = 0.000056 time: 4.455000 primary movement = 1.417703528319e-04 time: 4.455000000000e+00 total movement = 1.980199680982e-04 vel = 1.938646586815e-01 ------------------- tc state : vr = 8.784069, vf = 0.000000, maxvel = 8.784069, current_vel = 0.118053, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.118053, acc = -15.811388,T = 0.004223, P = 0.003783 on final decel tc id = 69, canon_type = 2, mot type = 1 tc state : vr = 0.138511, vf = 0.000000, maxvel = 0.689574, current_vel = 0.067500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.067500, acc = 7.500000,T = 0.016640, P = 0.000304 tc id = 69, canon_type = 2, mot type = 1 secondary movement = 0.000064 time: 4.456000 primary movement = 1.259589645311e-04 time: 4.456000000000e+00 total movement = 1.897083894338e-04 vel = 1.855532703807e-01 ------------------- tc state : vr = 8.784069, vf = 0.000000, maxvel = 8.784069, current_vel = 0.102242, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.102242, acc = -15.811388,T = 0.004223, P = 0.003893 on final decel tc id = 69, canon_type = 2, mot type = 1 tc state : vr = 0.154323, vf = 0.000000, maxvel = 0.689574, current_vel = 0.075000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.075000, acc = 7.500000,T = 0.016640, P = 0.000375 tc id = 69, canon_type = 2, mot type = 1 secondary movement = 0.000071 time: 4.457000 primary movement = 1.101475762303e-04 time: 4.457000000000e+00 total movement = 1.813967586199e-04 vel = 1.772418820798e-01 ------------------- tc state : vr = 8.784069, vf = 0.000000, maxvel = 8.784069, current_vel = 0.086430, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.086430, acc = -15.811388,T = 0.004223, P = 0.003987 on final decel tc id = 69, canon_type = 2, mot type = 1 tc state : vr = 0.170134, vf = 0.000000, maxvel = 0.689574, current_vel = 0.082500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.082500, acc = 7.500000,T = 0.016640, P = 0.000454 tc id = 69, canon_type = 2, mot type = 1 secondary movement = 0.000079 time: 4.458000 primary movement = 9.433618792937e-05 time: 4.458000000000e+00 total movement = 1.730850695210e-04 vel = 1.689304937790e-01 ------------------- tc state : vr = 8.784069, vf = 0.000000, maxvel = 8.784069, current_vel = 0.070619, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.070619, acc = -15.811388,T = 0.004223, P = 0.004066 on final decel tc id = 69, canon_type = 2, mot type = 1 tc state : vr = 0.185946, vf = 0.000000, maxvel = 0.689574, current_vel = 0.090000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.090000, acc = 7.500000,T = 0.016640, P = 0.000540 tc id = 70, canon_type = 3, mot type = 2 secondary movement = 0.000086 time: 4.459000 primary movement = 7.852479962860e-05 time: 4.459000000000e+00 total movement = 1.647733160022e-04 vel = 1.606191054781e-01 ------------------- tc state : vr = 8.784069, vf = 0.000000, maxvel = 8.784069, current_vel = 0.054808, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.054808, acc = -15.811388,T = 0.004223, P = 0.004128 on final decel tc id = 69, canon_type = 2, mot type = 1 tc state : vr = 0.201757, vf = 0.000000, maxvel = 0.689574, current_vel = 0.097500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.097500, acc = 7.500000,T = 0.016640, P = 0.000634 tc id = 70, canon_type = 3, mot type = 2 secondary movement = 0.000094 time: 4.460000 primary movement = 6.271341132772e-05 time: 4.460000000000e+00 total movement = 1.564614919280e-04 vel = 1.523077171773e-01 ------------------- tc state : vr = 8.784069, vf = 0.000000, maxvel = 8.784069, current_vel = 0.038996, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.038996, acc = -15.811388,T = 0.004223, P = 0.004175 on final decel tc id = 69, canon_type = 2, mot type = 1 tc state : vr = 0.217568, vf = 0.000000, maxvel = 0.689574, current_vel = 0.105000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.105000, acc = 7.500000,T = 0.016640, P = 0.000735 tc id = 70, canon_type = 3, mot type = 2 secondary movement = 0.000101 time: 4.461000 primary movement = 4.690202302689e-05 time: 4.461000000000e+00 total movement = 1.481495911631e-04 vel = 1.439963288765e-01 ------------------- tc state : vr = 8.784069, vf = 0.000000, maxvel = 8.784069, current_vel = 0.023185, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.023185, acc = -15.811388,T = 0.004223, P = 0.004206 on final decel tc id = 69, canon_type = 2, mot type = 1 tc state : vr = 0.233380, vf = 0.000000, maxvel = 0.689574, current_vel = 0.112500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.112500, acc = 7.500000,T = 0.016640, P = 0.000844 tc id = 70, canon_type = 3, mot type = 2 secondary movement = 0.000109 time: 4.462000 primary movement = 3.109063472601e-05 time: 4.462000000000e+00 total movement = 1.398376075724e-04 vel = 1.356849405756e-01 ------------------- tc state : vr = 8.784069, vf = 0.000000, maxvel = 8.784069, current_vel = 0.007374, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.007374, acc = -15.811388,T = 0.004223, P = 0.004222 on final decel tc id = 69, canon_type = 2, mot type = 1 tc state : vr = 0.249191, vf = 0.000000, maxvel = 0.689574, current_vel = 0.120000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.120000, acc = 7.500000,T = 0.016640, P = 0.000960 tc id = 70, canon_type = 3, mot type = 2 secondary movement = 0.000116 time: 4.463000 primary movement = 1.527924642523e-05 time: 4.463000000000e+00 total movement = 1.315255350208e-04 vel = 1.273735522748e-01 ------------------- Found newvel = -0.007374, assuming segment is done segment 69 at target in runcycle tc state : vr = 8.784069, vf = 0.000000, maxvel = 8.784069, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.004223, P = 0.004223 tc id = 69, canon_type = 2, mot type = 1 tc state : vr = 0.256565, vf = 0.000000, maxvel = 0.689574, current_vel = 0.127500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.127500, acc = 7.500000,T = 0.016640, P = 0.001084 tc id = 70, canon_type = 3, mot type = 2 secondary movement = 0.000124 time: 4.464000 primary movement = 1.719307378766e-06 time: 4.464000000000e+00 total movement = 1.254648166273e-04 vel = 1.275000000000e-01 Finished tc id 69 ------------------- Activate nexttc id 71 tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.135000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.135000, acc = 7.500000,T = 0.016640, P = 0.001215 tc id = 70, canon_type = 3, mot type = 2 time: 4.465000 primary movement = 1.312446286700e-04 time: 4.465000000000e+00 total movement = 1.312446286700e-04 vel = 1.350000000000e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.142500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.142500, acc = 7.500000,T = 0.016640, P = 0.001354 tc id = 70, canon_type = 3, mot type = 2 time: 4.466000 primary movement = 1.387436407246e-04 time: 4.466000000000e+00 total movement = 1.387436407246e-04 vel = 1.425000000000e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.150000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.150000, acc = 7.500000,T = 0.016640, P = 0.001500 tc id = 70, canon_type = 3, mot type = 2 time: 4.467000 primary movement = 1.462425392774e-04 time: 4.467000000000e+00 total movement = 1.462425392774e-04 vel = 1.500000000000e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.157500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.157500, acc = 7.500000,T = 0.016640, P = 0.001654 tc id = 70, canon_type = 3, mot type = 2 time: 4.468000 primary movement = 1.537413181931e-04 time: 4.468000000000e+00 total movement = 1.537413181931e-04 vel = 1.575000000000e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.165000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.165000, acc = 7.500000,T = 0.016640, P = 0.001815 tc id = 70, canon_type = 3, mot type = 2 time: 4.469000 primary movement = 1.612399713364e-04 time: 4.469000000000e+00 total movement = 1.612399713364e-04 vel = 1.650000000000e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.172500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.172500, acc = 7.500000,T = 0.016640, P = 0.001984 tc id = 70, canon_type = 3, mot type = 2 time: 4.470000 primary movement = 1.687384925721e-04 time: 4.470000000000e+00 total movement = 1.687384925721e-04 vel = 1.725000000000e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.180000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.180000, acc = 7.500000,T = 0.016640, P = 0.002160 tc id = 70, canon_type = 3, mot type = 2 time: 4.471000 primary movement = 1.762368757651e-04 time: 4.471000000000e+00 total movement = 1.762368757651e-04 vel = 1.800000000000e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.187500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.187500, acc = 7.500000,T = 0.016640, P = 0.002344 tc id = 70, canon_type = 3, mot type = 2 time: 4.472000 primary movement = 1.837351147802e-04 time: 4.472000000000e+00 total movement = 1.837351147802e-04 vel = 1.875000000000e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.195000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.195000, acc = 7.500000,T = 0.016640, P = 0.002535 tc id = 70, canon_type = 3, mot type = 2 time: 4.473000 primary movement = 1.912332034821e-04 time: 4.473000000000e+00 total movement = 1.912332034821e-04 vel = 1.950000000000e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.202500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.202500, acc = 7.500000,T = 0.016640, P = 0.002734 tc id = 70, canon_type = 3, mot type = 2 time: 4.474000 primary movement = 1.987311357357e-04 time: 4.474000000000e+00 total movement = 1.987311357357e-04 vel = 2.025000000000e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.210000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.210000, acc = 7.500000,T = 0.016640, P = 0.002940 tc id = 70, canon_type = 3, mot type = 2 time: 4.475000 primary movement = 2.062289054057e-04 time: 4.475000000000e+00 total movement = 2.062289054057e-04 vel = 2.100000000000e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.217500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.217500, acc = 7.500000,T = 0.016640, P = 0.003154 tc id = 70, canon_type = 3, mot type = 2 time: 4.476000 primary movement = 2.137265063572e-04 time: 4.476000000000e+00 total movement = 2.137265063572e-04 vel = 2.175000000000e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.225000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.225000, acc = 7.500000,T = 0.016640, P = 0.003375 tc id = 70, canon_type = 3, mot type = 2 time: 4.477000 primary movement = 2.212239324547e-04 time: 4.477000000000e+00 total movement = 2.212239324547e-04 vel = 2.250000000000e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.232500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.232500, acc = 7.500000,T = 0.016640, P = 0.003604 tc id = 70, canon_type = 3, mot type = 2 time: 4.478000 primary movement = 2.287211775633e-04 time: 4.478000000000e+00 total movement = 2.287211775633e-04 vel = 2.325000000000e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.240000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.240000, acc = 7.500000,T = 0.016640, P = 0.003840 tc id = 70, canon_type = 3, mot type = 2 time: 4.479000 primary movement = 2.362182355476e-04 time: 4.479000000000e+00 total movement = 2.362182355476e-04 vel = 2.400000000000e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.247500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.247500, acc = 7.500000,T = 0.016640, P = 0.004084 tc id = 70, canon_type = 3, mot type = 2 time: 4.480000 primary movement = 2.437151002728e-04 time: 4.480000000000e+00 total movement = 2.437151002728e-04 vel = 2.475000000000e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.255000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.255000, acc = 7.500000,T = 0.016640, P = 0.004335 tc id = 70, canon_type = 3, mot type = 2 time: 4.481000 primary movement = 2.512117656034e-04 time: 4.481000000000e+00 total movement = 2.512117656034e-04 vel = 2.550000000000e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.262500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.262500, acc = 7.500000,T = 0.016640, P = 0.004594 tc id = 70, canon_type = 3, mot type = 2 time: 4.482000 primary movement = 2.587082254044e-04 time: 4.482000000000e+00 total movement = 2.587082254044e-04 vel = 2.625000000000e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.270000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.270000, acc = 7.500000,T = 0.016640, P = 0.004860 tc id = 70, canon_type = 3, mot type = 2 time: 4.483000 primary movement = 2.662044735407e-04 time: 4.483000000000e+00 total movement = 2.662044735407e-04 vel = 2.700000000000e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.277500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.277500, acc = 7.500000,T = 0.016640, P = 0.005134 tc id = 70, canon_type = 3, mot type = 2 time: 4.484000 primary movement = 2.737005038772e-04 time: 4.484000000000e+00 total movement = 2.737005038772e-04 vel = 2.775000000000e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.285000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.285000, acc = 7.500000,T = 0.016640, P = 0.005415 tc id = 70, canon_type = 3, mot type = 2 time: 4.485000 primary movement = 2.811963102788e-04 time: 4.485000000000e+00 total movement = 2.811963102788e-04 vel = 2.850000000000e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.292500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.292500, acc = 7.500000,T = 0.016640, P = 0.005704 tc id = 70, canon_type = 3, mot type = 2 time: 4.486000 primary movement = 2.886918866102e-04 time: 4.486000000000e+00 total movement = 2.886918866102e-04 vel = 2.925000000000e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.300000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.300000, acc = 7.500000,T = 0.016640, P = 0.006000 tc id = 70, canon_type = 3, mot type = 2 time: 4.487000 primary movement = 2.961872267366e-04 time: 4.487000000000e+00 total movement = 2.961872267366e-04 vel = 3.000000000000e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.307500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.307500, acc = 7.500000,T = 0.016640, P = 0.006304 tc id = 70, canon_type = 3, mot type = 2 time: 4.488000 primary movement = 3.036823245227e-04 time: 4.488000000000e+00 total movement = 3.036823245227e-04 vel = 3.075000000000e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.315000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.315000, acc = 7.500000,T = 0.016640, P = 0.006615 tc id = 70, canon_type = 3, mot type = 2 time: 4.489000 primary movement = 3.111771738334e-04 time: 4.489000000000e+00 total movement = 3.111771738334e-04 vel = 3.150000000000e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.322500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.322500, acc = 7.500000,T = 0.016640, P = 0.006934 tc id = 70, canon_type = 3, mot type = 2 time: 4.490000 primary movement = 3.186717685337e-04 time: 4.490000000000e+00 total movement = 3.186717685337e-04 vel = 3.225000000000e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.330000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.330000, acc = 7.500000,T = 0.016640, P = 0.007260 tc id = 70, canon_type = 3, mot type = 2 time: 4.491000 primary movement = 3.261661024886e-04 time: 4.491000000000e+00 total movement = 3.261661024886e-04 vel = 3.300000000000e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.337500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.337500, acc = 7.500000,T = 0.016640, P = 0.007594 tc id = 70, canon_type = 3, mot type = 2 time: 4.492000 primary movement = 3.336601695630e-04 time: 4.492000000000e+00 total movement = 3.336601695630e-04 vel = 3.375000000000e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.345000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.345000, acc = 7.500000,T = 0.016640, P = 0.007935 tc id = 70, canon_type = 3, mot type = 2 time: 4.493000 primary movement = 3.411539636218e-04 time: 4.493000000000e+00 total movement = 3.411539636218e-04 vel = 3.450000000000e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.352500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.352500, acc = 7.500000,T = 0.016640, P = 0.008284 tc id = 70, canon_type = 3, mot type = 2 time: 4.494000 primary movement = 3.486474785300e-04 time: 4.494000000000e+00 total movement = 3.486474785300e-04 vel = 3.525000000000e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.346561, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.346561, acc = -5.939050,T = 0.016640, P = 0.008633 on final decel tc id = 70, canon_type = 3, mot type = 2 time: 4.495000 primary movement = 3.494233382866e-04 time: 4.495000000000e+00 total movement = 3.494233382866e-04 vel = 3.465609500226e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.339061, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.339061, acc = -7.500000,T = 0.016640, P = 0.008976 on final decel tc id = 70, canon_type = 3, mot type = 2 time: 4.496000 primary movement = 3.427016633575e-04 time: 4.496000000000e+00 total movement = 3.427016633575e-04 vel = 3.390609500226e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.331561, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.331561, acc = -7.500000,T = 0.016640, P = 0.009311 on final decel tc id = 70, canon_type = 3, mot type = 2 tc state : vr = 0.007500, vf = 0.000000, maxvel = 0.603351, current_vel = 0.007500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.007500, acc = 7.500000,T = 0.014707, P = 0.000004 tc id = 70, canon_type = 3, mot type = 2 secondary movement = 0.000004 time: 4.497000 primary movement = 3.352000269212e-04 time: 4.497000000000e+00 total movement = 3.389500305935e-04 vel = 3.390609500226e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.324061, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.324061, acc = -7.500000,T = 0.016640, P = 0.009639 on final decel tc id = 70, canon_type = 3, mot type = 2 tc state : vr = 0.015000, vf = 0.000000, maxvel = 0.603351, current_vel = 0.015000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.015000, acc = 7.500000,T = 0.014707, P = 0.000015 tc id = 70, canon_type = 3, mot type = 2 secondary movement = 0.000011 time: 4.498000 primary movement = 3.276986577411e-04 time: 4.498000000000e+00 total movement = 3.389486642694e-04 vel = 3.390609500226e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.316561, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.316561, acc = -7.500000,T = 0.016640, P = 0.009960 on final decel tc id = 70, canon_type = 3, mot type = 2 tc state : vr = 0.022500, vf = 0.000000, maxvel = 0.603351, current_vel = 0.022500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.022500, acc = 7.500000,T = 0.014707, P = 0.000034 tc id = 70, canon_type = 3, mot type = 2 secondary movement = 0.000019 time: 4.499000 primary movement = 3.201975498398e-04 time: 4.499000000000e+00 total movement = 3.389475457578e-04 vel = 3.390609500226e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.309061, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.309061, acc = -7.500000,T = 0.016640, P = 0.010272 on final decel tc id = 70, canon_type = 3, mot type = 2 tc state : vr = 0.030000, vf = 0.000000, maxvel = 0.603351, current_vel = 0.030000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.030000, acc = 7.500000,T = 0.014707, P = 0.000060 tc id = 70, canon_type = 3, mot type = 2 secondary movement = 0.000026 time: 4.500000 primary movement = 3.126966972393e-04 time: 4.500000000000e+00 total movement = 3.389466601032e-04 vel = 3.390609500226e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.301561, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.301561, acc = -7.500000,T = 0.016640, P = 0.010578 on final decel tc id = 70, canon_type = 3, mot type = 2 tc state : vr = 0.037500, vf = 0.000000, maxvel = 0.603351, current_vel = 0.037500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.037500, acc = 7.500000,T = 0.014707, P = 0.000094 tc id = 70, canon_type = 3, mot type = 2 secondary movement = 0.000034 time: 4.501000 primary movement = 3.051960939623e-04 time: 4.501000000000e+00 total movement = 3.389459923506e-04 vel = 3.390609500226e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.294061, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.294061, acc = -7.500000,T = 0.016640, P = 0.010875 on final decel tc id = 70, canon_type = 3, mot type = 2 tc state : vr = 0.045000, vf = 0.000000, maxvel = 0.603351, current_vel = 0.045000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.045000, acc = 7.500000,T = 0.014707, P = 0.000135 tc id = 70, canon_type = 3, mot type = 2 secondary movement = 0.000041 time: 4.502000 primary movement = 2.976957340308e-04 time: 4.502000000000e+00 total movement = 3.389455275447e-04 vel = 3.390609500226e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.286561, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.286561, acc = -7.500000,T = 0.016640, P = 0.011166 on final decel tc id = 70, canon_type = 3, mot type = 2 tc state : vr = 0.052500, vf = 0.000000, maxvel = 0.603351, current_vel = 0.052500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.052500, acc = 7.500000,T = 0.014707, P = 0.000184 tc id = 70, canon_type = 3, mot type = 2 secondary movement = 0.000049 time: 4.503000 primary movement = 2.901956114673e-04 time: 4.503000000000e+00 total movement = 3.389452507303e-04 vel = 3.390609500226e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.279061, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.279061, acc = -7.500000,T = 0.016640, P = 0.011449 on final decel tc id = 70, canon_type = 3, mot type = 2 tc state : vr = 0.060000, vf = 0.000000, maxvel = 0.603351, current_vel = 0.060000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.060000, acc = 7.500000,T = 0.014707, P = 0.000240 tc id = 70, canon_type = 3, mot type = 2 secondary movement = 0.000056 time: 4.504000 primary movement = 2.826957202939e-04 time: 4.504000000000e+00 total movement = 3.389451469522e-04 vel = 3.390609500226e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.271561, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.271561, acc = -7.500000,T = 0.016640, P = 0.011724 on final decel tc id = 70, canon_type = 3, mot type = 2 tc state : vr = 0.067500, vf = 0.000000, maxvel = 0.603351, current_vel = 0.067500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.067500, acc = 7.500000,T = 0.014707, P = 0.000304 tc id = 70, canon_type = 3, mot type = 2 secondary movement = 0.000064 time: 4.505000 primary movement = 2.751960545330e-04 time: 4.505000000000e+00 total movement = 3.389452012552e-04 vel = 3.390609500226e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.264061, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.264061, acc = -7.500000,T = 0.016640, P = 0.011992 on final decel tc id = 70, canon_type = 3, mot type = 2 tc state : vr = 0.075000, vf = 0.000000, maxvel = 0.603351, current_vel = 0.075000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.075000, acc = 7.500000,T = 0.014707, P = 0.000375 tc id = 70, canon_type = 3, mot type = 2 secondary movement = 0.000071 time: 4.506000 primary movement = 2.676966082069e-04 time: 4.506000000000e+00 total movement = 3.389453986838e-04 vel = 3.390609500226e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.256561, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.256561, acc = -7.500000,T = 0.016640, P = 0.012252 on final decel tc id = 70, canon_type = 3, mot type = 2 tc state : vr = 0.082500, vf = 0.000000, maxvel = 0.603351, current_vel = 0.082500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.082500, acc = 7.500000,T = 0.014707, P = 0.000454 tc id = 70, canon_type = 3, mot type = 2 secondary movement = 0.000079 time: 4.507000 primary movement = 2.601973753378e-04 time: 4.507000000000e+00 total movement = 3.389457242830e-04 vel = 3.390609500226e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.249061, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.249061, acc = -7.500000,T = 0.016640, P = 0.012505 on final decel tc id = 70, canon_type = 3, mot type = 2 tc state : vr = 0.090000, vf = 0.000000, maxvel = 0.603351, current_vel = 0.090000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.090000, acc = 7.500000,T = 0.014707, P = 0.000540 tc id = 70, canon_type = 3, mot type = 2 secondary movement = 0.000086 time: 4.508000 primary movement = 2.526983499479e-04 time: 4.508000000000e+00 total movement = 3.389461630975e-04 vel = 3.390609500226e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.241561, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.241561, acc = -7.500000,T = 0.016640, P = 0.012750 on final decel tc id = 70, canon_type = 3, mot type = 2 tc state : vr = 0.097500, vf = 0.000000, maxvel = 0.603351, current_vel = 0.097500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.097500, acc = 7.500000,T = 0.014707, P = 0.000634 tc id = 70, canon_type = 3, mot type = 2 secondary movement = 0.000094 time: 4.509000 primary movement = 2.451995260596e-04 time: 4.509000000000e+00 total movement = 3.389467001721e-04 vel = 3.390609500226e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.234061, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.234061, acc = -7.500000,T = 0.016640, P = 0.012988 on final decel tc id = 70, canon_type = 3, mot type = 2 tc state : vr = 0.105000, vf = 0.000000, maxvel = 0.603351, current_vel = 0.105000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.105000, acc = 7.500000,T = 0.014707, P = 0.000735 tc id = 70, canon_type = 3, mot type = 2 secondary movement = 0.000101 time: 4.510000 primary movement = 2.377008976951e-04 time: 4.510000000000e+00 total movement = 3.389473205514e-04 vel = 3.390609500226e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.226561, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.226561, acc = -7.500000,T = 0.016640, P = 0.013218 on final decel tc id = 70, canon_type = 3, mot type = 2 tc state : vr = 0.112500, vf = 0.000000, maxvel = 0.603351, current_vel = 0.112500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.112500, acc = 7.500000,T = 0.014707, P = 0.000844 tc id = 70, canon_type = 3, mot type = 2 secondary movement = 0.000109 time: 4.511000 primary movement = 2.302024588766e-04 time: 4.511000000000e+00 total movement = 3.389480092803e-04 vel = 3.390609500226e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.219061, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.219061, acc = -7.500000,T = 0.016640, P = 0.013441 on final decel tc id = 70, canon_type = 3, mot type = 2 tc state : vr = 0.120000, vf = 0.000000, maxvel = 0.603351, current_vel = 0.120000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.120000, acc = 7.500000,T = 0.014707, P = 0.000960 tc id = 70, canon_type = 3, mot type = 2 secondary movement = 0.000116 time: 4.512000 primary movement = 2.227042036263e-04 time: 4.512000000000e+00 total movement = 3.389487514034e-04 vel = 3.390609500226e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.211561, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.211561, acc = -7.500000,T = 0.016640, P = 0.013656 on final decel tc id = 70, canon_type = 3, mot type = 2 tc state : vr = 0.127500, vf = 0.000000, maxvel = 0.603351, current_vel = 0.127500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.127500, acc = 7.500000,T = 0.014707, P = 0.001084 tc id = 70, canon_type = 3, mot type = 2 secondary movement = 0.000124 time: 4.513000 primary movement = 2.152061259665e-04 time: 4.513000000000e+00 total movement = 3.389495319656e-04 vel = 3.390609500226e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.204061, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.204061, acc = -7.500000,T = 0.016640, P = 0.013864 on final decel tc id = 70, canon_type = 3, mot type = 2 tc state : vr = 0.135000, vf = 0.000000, maxvel = 0.603351, current_vel = 0.135000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.135000, acc = 7.500000,T = 0.014707, P = 0.001215 tc id = 70, canon_type = 3, mot type = 2 secondary movement = 0.000131 time: 4.514000 primary movement = 2.077082199193e-04 time: 4.514000000000e+00 total movement = 3.389503360117e-04 vel = 3.390609500226e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.196561, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.196561, acc = -7.500000,T = 0.016640, P = 0.014064 on final decel tc id = 70, canon_type = 3, mot type = 2 tc state : vr = 0.142500, vf = 0.000000, maxvel = 0.603351, current_vel = 0.142500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.142500, acc = 7.500000,T = 0.014707, P = 0.001354 tc id = 70, canon_type = 3, mot type = 2 secondary movement = 0.000139 time: 4.515000 primary movement = 2.002104795071e-04 time: 4.515000000000e+00 total movement = 3.389511485862e-04 vel = 3.390609500226e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.189061, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.189061, acc = -7.500000,T = 0.016640, P = 0.014257 on final decel tc id = 70, canon_type = 3, mot type = 2 tc state : vr = 0.150000, vf = 0.000000, maxvel = 0.603351, current_vel = 0.150000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.150000, acc = 7.500000,T = 0.014707, P = 0.001500 tc id = 70, canon_type = 3, mot type = 2 secondary movement = 0.000146 time: 4.516000 primary movement = 1.927128987519e-04 time: 4.516000000000e+00 total movement = 3.389519547340e-04 vel = 3.390609500226e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.181561, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.181561, acc = -7.500000,T = 0.016640, P = 0.014443 on final decel tc id = 70, canon_type = 3, mot type = 2 tc state : vr = 0.157500, vf = 0.000000, maxvel = 0.603351, current_vel = 0.157500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.157500, acc = 7.500000,T = 0.014707, P = 0.001654 tc id = 70, canon_type = 3, mot type = 2 secondary movement = 0.000154 time: 4.517000 primary movement = 1.852154716761e-04 time: 4.517000000000e+00 total movement = 3.389527395000e-04 vel = 3.390609500226e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.174061, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.174061, acc = -7.500000,T = 0.016640, P = 0.014620 on final decel tc id = 70, canon_type = 3, mot type = 2 tc state : vr = 0.165000, vf = 0.000000, maxvel = 0.603351, current_vel = 0.165000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.165000, acc = 7.500000,T = 0.014707, P = 0.001815 tc id = 70, canon_type = 3, mot type = 2 secondary movement = 0.000161 time: 4.518000 primary movement = 1.777181923018e-04 time: 4.518000000000e+00 total movement = 3.389534879287e-04 vel = 3.390609500226e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.166561, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.166561, acc = -7.500000,T = 0.016640, P = 0.014791 on final decel tc id = 70, canon_type = 3, mot type = 2 tc state : vr = 0.172500, vf = 0.000000, maxvel = 0.603351, current_vel = 0.172500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.172500, acc = 7.500000,T = 0.014707, P = 0.001984 tc id = 71, canon_type = 3, mot type = 2 secondary movement = 0.000169 time: 4.519000 primary movement = 1.702210546511e-04 time: 4.519000000000e+00 total movement = 3.389541850651e-04 vel = 3.390609500226e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.159061, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.159061, acc = -7.500000,T = 0.016640, P = 0.014954 on final decel tc id = 70, canon_type = 3, mot type = 2 tc state : vr = 0.180000, vf = 0.000000, maxvel = 0.603351, current_vel = 0.180000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.180000, acc = 7.500000,T = 0.014707, P = 0.002160 tc id = 71, canon_type = 3, mot type = 2 secondary movement = 0.000176 time: 4.520000 primary movement = 1.627240527463e-04 time: 4.520000000000e+00 total movement = 3.389548159539e-04 vel = 3.390609500226e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.151561, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.151561, acc = -7.500000,T = 0.016640, P = 0.015109 on final decel tc id = 70, canon_type = 3, mot type = 2 tc state : vr = 0.187500, vf = 0.000000, maxvel = 0.603351, current_vel = 0.187500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.187500, acc = 7.500000,T = 0.014707, P = 0.002344 tc id = 71, canon_type = 3, mot type = 2 secondary movement = 0.000184 time: 4.521000 primary movement = 1.552271806096e-04 time: 4.521000000000e+00 total movement = 3.389553656398e-04 vel = 3.390609500226e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.144061, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.144061, acc = -7.500000,T = 0.016640, P = 0.015257 on final decel tc id = 70, canon_type = 3, mot type = 2 tc state : vr = 0.195000, vf = 0.000000, maxvel = 0.603351, current_vel = 0.195000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.195000, acc = 7.500000,T = 0.014707, P = 0.002535 tc id = 71, canon_type = 3, mot type = 2 secondary movement = 0.000191 time: 4.522000 primary movement = 1.477304322630e-04 time: 4.522000000000e+00 total movement = 3.389558191678e-04 vel = 3.390609500226e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.136561, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.136561, acc = -7.500000,T = 0.016640, P = 0.015397 on final decel tc id = 70, canon_type = 3, mot type = 2 tc state : vr = 0.202500, vf = 0.000000, maxvel = 0.603351, current_vel = 0.202500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.202500, acc = 7.500000,T = 0.014707, P = 0.002734 tc id = 71, canon_type = 3, mot type = 2 secondary movement = 0.000199 time: 4.523000 primary movement = 1.402338017289e-04 time: 4.523000000000e+00 total movement = 3.389561615825e-04 vel = 3.390609500226e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.129061, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.129061, acc = -7.500000,T = 0.016640, P = 0.015530 on final decel tc id = 70, canon_type = 3, mot type = 2 tc state : vr = 0.210000, vf = 0.000000, maxvel = 0.603351, current_vel = 0.210000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.210000, acc = 7.500000,T = 0.014707, P = 0.002940 tc id = 71, canon_type = 3, mot type = 2 secondary movement = 0.000206 time: 4.524000 primary movement = 1.327372830294e-04 time: 4.524000000000e+00 total movement = 3.389563779289e-04 vel = 3.390609500226e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.121561, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.121561, acc = -7.500000,T = 0.016640, P = 0.015655 on final decel tc id = 70, canon_type = 3, mot type = 2 tc state : vr = 0.217500, vf = 0.000000, maxvel = 0.603351, current_vel = 0.217500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.217500, acc = 7.500000,T = 0.014707, P = 0.003154 tc id = 71, canon_type = 3, mot type = 2 secondary movement = 0.000214 time: 4.525000 primary movement = 1.252408701865e-04 time: 4.525000000000e+00 total movement = 3.389564532515e-04 vel = 3.390609500226e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.114061, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.114061, acc = -7.500000,T = 0.016640, P = 0.015773 on final decel tc id = 70, canon_type = 3, mot type = 2 tc state : vr = 0.225000, vf = 0.000000, maxvel = 0.603351, current_vel = 0.225000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.225000, acc = 7.500000,T = 0.014707, P = 0.003375 tc id = 71, canon_type = 3, mot type = 2 secondary movement = 0.000221 time: 4.526000 primary movement = 1.177445572226e-04 time: 4.526000000000e+00 total movement = 3.389563725955e-04 vel = 3.390609500226e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.106561, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.106561, acc = -7.500000,T = 0.016640, P = 0.015883 on final decel tc id = 70, canon_type = 3, mot type = 2 tc state : vr = 0.232500, vf = 0.000000, maxvel = 0.603351, current_vel = 0.232500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.232500, acc = 7.500000,T = 0.014707, P = 0.003604 tc id = 71, canon_type = 3, mot type = 2 secondary movement = 0.000229 time: 4.527000 primary movement = 1.102483381596e-04 time: 4.527000000000e+00 total movement = 3.389561210056e-04 vel = 3.390609500226e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.099061, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.099061, acc = -7.500000,T = 0.016640, P = 0.015986 on final decel tc id = 70, canon_type = 3, mot type = 2 tc state : vr = 0.240000, vf = 0.000000, maxvel = 0.603351, current_vel = 0.240000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.240000, acc = 7.500000,T = 0.014707, P = 0.003840 tc id = 71, canon_type = 3, mot type = 2 secondary movement = 0.000236 time: 4.528000 primary movement = 1.027522070199e-04 time: 4.528000000000e+00 total movement = 3.389556835266e-04 vel = 3.390609500226e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.091561, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.091561, acc = -7.500000,T = 0.016640, P = 0.016081 on final decel tc id = 70, canon_type = 3, mot type = 2 tc state : vr = 0.247500, vf = 0.000000, maxvel = 0.603351, current_vel = 0.247500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.247500, acc = 7.500000,T = 0.014707, P = 0.004084 tc id = 71, canon_type = 3, mot type = 2 secondary movement = 0.000244 time: 4.529000 primary movement = 9.525615782557e-05 time: 4.529000000000e+00 total movement = 3.389550452036e-04 vel = 3.390609500226e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.084061, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.084061, acc = -7.500000,T = 0.016640, P = 0.016169 on final decel tc id = 70, canon_type = 3, mot type = 2 tc state : vr = 0.255000, vf = 0.000000, maxvel = 0.603351, current_vel = 0.255000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.255000, acc = 7.500000,T = 0.014707, P = 0.004335 tc id = 71, canon_type = 3, mot type = 2 secondary movement = 0.000251 time: 4.530000 primary movement = 8.776018459862e-05 time: 4.530000000000e+00 total movement = 3.389541910811e-04 vel = 3.390609500226e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.076561, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.076561, acc = -7.500000,T = 0.016640, P = 0.016249 on final decel tc id = 70, canon_type = 3, mot type = 2 tc state : vr = 0.262500, vf = 0.000000, maxvel = 0.603351, current_vel = 0.262500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.262500, acc = 7.500000,T = 0.014707, P = 0.004594 tc id = 71, canon_type = 3, mot type = 2 secondary movement = 0.000259 time: 4.531000 primary movement = 8.026428136136e-05 time: 4.531000000000e+00 total movement = 3.389531062043e-04 vel = 3.390609500226e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.069061, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.069061, acc = -7.500000,T = 0.016640, P = 0.016322 on final decel tc id = 70, canon_type = 3, mot type = 2 tc state : vr = 0.270000, vf = 0.000000, maxvel = 0.603351, current_vel = 0.270000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.270000, acc = 7.500000,T = 0.014707, P = 0.004860 tc id = 71, canon_type = 3, mot type = 2 secondary movement = 0.000266 time: 4.532000 primary movement = 7.276844213585e-05 time: 4.532000000000e+00 total movement = 3.389517756181e-04 vel = 3.390609500226e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.061561, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.061561, acc = -7.500000,T = 0.016640, P = 0.016388 on final decel tc id = 70, canon_type = 3, mot type = 2 tc state : vr = 0.277500, vf = 0.000000, maxvel = 0.603351, current_vel = 0.277500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.277500, acc = 7.500000,T = 0.014707, P = 0.005134 tc id = 71, canon_type = 3, mot type = 2 secondary movement = 0.000274 time: 4.533000 primary movement = 6.527266094421e-05 time: 4.533000000000e+00 total movement = 3.389501843672e-04 vel = 3.390609500226e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.054061, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.054061, acc = -7.500000,T = 0.016640, P = 0.016445 on final decel tc id = 70, canon_type = 3, mot type = 2 tc state : vr = 0.285000, vf = 0.000000, maxvel = 0.603351, current_vel = 0.285000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.285000, acc = 7.500000,T = 0.014707, P = 0.005415 tc id = 71, canon_type = 3, mot type = 2 secondary movement = 0.000281 time: 4.534000 primary movement = 5.777693180872e-05 time: 4.534000000000e+00 total movement = 3.389483174969e-04 vel = 3.390609500226e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.046561, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.046561, acc = -7.500000,T = 0.016640, P = 0.016496 on final decel tc id = 70, canon_type = 3, mot type = 2 tc state : vr = 0.292500, vf = 0.000000, maxvel = 0.603351, current_vel = 0.292500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.292500, acc = 7.500000,T = 0.014707, P = 0.005704 tc id = 71, canon_type = 3, mot type = 2 secondary movement = 0.000289 time: 4.535000 primary movement = 5.028124875133e-05 time: 4.535000000000e+00 total movement = 3.389461600518e-04 vel = 3.390609500226e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.039061, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.039061, acc = -7.500000,T = 0.016640, P = 0.016539 on final decel tc id = 70, canon_type = 3, mot type = 2 tc state : vr = 0.300000, vf = 0.000000, maxvel = 0.603351, current_vel = 0.300000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.300000, acc = 7.500000,T = 0.014707, P = 0.006000 tc id = 71, canon_type = 3, mot type = 2 secondary movement = 0.000296 time: 4.536000 primary movement = 4.278560579430e-05 time: 4.536000000000e+00 total movement = 3.389436970772e-04 vel = 3.390609500226e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.031561, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.031561, acc = -7.500000,T = 0.016640, P = 0.016574 on final decel tc id = 70, canon_type = 3, mot type = 2 tc state : vr = 0.307500, vf = 0.000000, maxvel = 0.603351, current_vel = 0.307500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.307500, acc = 7.500000,T = 0.014707, P = 0.006304 tc id = 71, canon_type = 3, mot type = 2 secondary movement = 0.000304 time: 4.537000 primary movement = 3.528999695966e-05 time: 4.537000000000e+00 total movement = 3.389409136178e-04 vel = 3.390609500226e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.024061, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.024061, acc = -7.500000,T = 0.016640, P = 0.016602 on final decel tc id = 70, canon_type = 3, mot type = 2 tc state : vr = 0.315000, vf = 0.000000, maxvel = 0.603351, current_vel = 0.315000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.315000, acc = 7.500000,T = 0.014707, P = 0.006615 tc id = 71, canon_type = 3, mot type = 2 secondary movement = 0.000311 time: 4.538000 primary movement = 2.779441626966e-05 time: 4.538000000000e+00 total movement = 3.389377947189e-04 vel = 3.390609500226e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.016561, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.016561, acc = -7.500000,T = 0.016640, P = 0.016622 on final decel tc id = 70, canon_type = 3, mot type = 2 tc state : vr = 0.322500, vf = 0.000000, maxvel = 0.603351, current_vel = 0.322500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.322500, acc = 7.500000,T = 0.014707, P = 0.006934 tc id = 71, canon_type = 3, mot type = 2 secondary movement = 0.000319 time: 4.539000 primary movement = 2.029885774632e-05 time: 4.539000000000e+00 total movement = 3.389343254254e-04 vel = 3.390609500226e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.009061, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.009061, acc = -7.500000,T = 0.016640, P = 0.016635 on final decel tc id = 70, canon_type = 3, mot type = 2 tc state : vr = 0.330000, vf = 0.000000, maxvel = 0.603351, current_vel = 0.330000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.330000, acc = 7.500000,T = 0.014707, P = 0.007260 tc id = 71, canon_type = 3, mot type = 2 secondary movement = 0.000326 time: 4.540000 primary movement = 1.280331541182e-05 time: 4.540000000000e+00 total movement = 3.389304907823e-04 vel = 3.390609500226e-01 ------------------- tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.001561, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.001561, acc = -7.500000,T = 0.016640, P = 0.016640 on final decel tc id = 70, canon_type = 3, mot type = 2 tc state : vr = 0.337500, vf = 0.000000, maxvel = 0.603351, current_vel = 0.326767, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.326767, acc = -3.232515,T = 0.014707, P = 0.007588 on final decel tc id = 71, canon_type = 3, mot type = 2 secondary movement = 0.000328 time: 4.541000 primary movement = 5.307783288310e-06 time: 4.541000000000e+00 total movement = 3.335622411062e-04 vel = 3.283284355189e-01 ------------------- Found newvel = -0.001561, assuming segment is done segment 70 at target in runcycle tc state : vr = 0.689574, vf = 0.000000, maxvel = 0.689574, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.016640, P = 0.016640 tc id = 70, canon_type = 3, mot type = 2 tc state : vr = 0.339061, vf = 0.000000, maxvel = 0.603351, current_vel = 0.319267, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.319267, acc = -7.500000,T = 0.014707, P = 0.007911 on final decel tc id = 71, canon_type = 3, mot type = 2 secondary movement = 0.000323 time: 4.542000 primary movement = 1.623407931449e-07 time: 4.542000000000e+00 total movement = 3.230472006758e-04 vel = 3.192674854963e-01 Finished tc id 70 ------------------- Activate nexttc id 72 tc state : vr = 0.603351, vf = 0.000000, maxvel = 0.603351, current_vel = 0.311767, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.311767, acc = -7.500000,T = 0.014707, P = 0.008227 on final decel tc id = 71, canon_type = 3, mot type = 2 time: 4.543000 primary movement = 3.153827405044e-04 time: 4.543000000000e+00 total movement = 3.153827405044e-04 vel = 3.117674854963e-01 ------------------- tc state : vr = 0.603351, vf = 0.000000, maxvel = 0.603351, current_vel = 0.304267, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.304267, acc = -7.500000,T = 0.014707, P = 0.008535 on final decel tc id = 71, canon_type = 3, mot type = 2 time: 4.544000 primary movement = 3.078809874998e-04 time: 4.544000000000e+00 total movement = 3.078809874998e-04 vel = 3.042674854963e-01 ------------------- tc state : vr = 0.603351, vf = 0.000000, maxvel = 0.603351, current_vel = 0.296767, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.296767, acc = -7.500000,T = 0.014707, P = 0.008835 on final decel tc id = 71, canon_type = 3, mot type = 2 time: 4.545000 primary movement = 3.003795921601e-04 time: 4.545000000000e+00 total movement = 3.003795921601e-04 vel = 2.967674854963e-01 ------------------- tc state : vr = 0.603351, vf = 0.000000, maxvel = 0.603351, current_vel = 0.289267, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.289267, acc = -7.500000,T = 0.014707, P = 0.009128 on final decel tc id = 71, canon_type = 3, mot type = 2 time: 4.546000 primary movement = 2.928785457767e-04 time: 4.546000000000e+00 total movement = 2.928785457767e-04 vel = 2.892674854963e-01 ------------------- tc state : vr = 0.603351, vf = 0.000000, maxvel = 0.603351, current_vel = 0.281767, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.281767, acc = -7.500000,T = 0.014707, P = 0.009414 on final decel tc id = 71, canon_type = 3, mot type = 2 time: 4.547000 primary movement = 2.853778396411e-04 time: 4.547000000000e+00 total movement = 2.853778396411e-04 vel = 2.817674854963e-01 ------------------- tc state : vr = 0.603351, vf = 0.000000, maxvel = 0.603351, current_vel = 0.274267, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.274267, acc = -7.500000,T = 0.014707, P = 0.009692 on final decel tc id = 71, canon_type = 3, mot type = 2 time: 4.548000 primary movement = 2.778774650446e-04 time: 4.548000000000e+00 total movement = 2.778774650446e-04 vel = 2.742674854963e-01 ------------------- tc state : vr = 0.603351, vf = 0.000000, maxvel = 0.603351, current_vel = 0.266767, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.266767, acc = -7.500000,T = 0.014707, P = 0.009963 on final decel tc id = 71, canon_type = 3, mot type = 2 time: 4.549000 primary movement = 2.703774132786e-04 time: 4.549000000000e+00 total movement = 2.703774132786e-04 vel = 2.667674854963e-01 ------------------- tc state : vr = 0.603351, vf = 0.000000, maxvel = 0.603351, current_vel = 0.259267, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.259267, acc = -7.500000,T = 0.014707, P = 0.010226 on final decel tc id = 71, canon_type = 3, mot type = 2 time: 4.550000 primary movement = 2.628776756342e-04 time: 4.550000000000e+00 total movement = 2.628776756342e-04 vel = 2.592674854963e-01 ------------------- tc state : vr = 0.603351, vf = 0.000000, maxvel = 0.603351, current_vel = 0.251767, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.251767, acc = -7.500000,T = 0.014707, P = 0.010481 on final decel tc id = 71, canon_type = 3, mot type = 2 time: 4.551000 primary movement = 2.553782434030e-04 time: 4.551000000000e+00 total movement = 2.553782434030e-04 vel = 2.517674854963e-01 ------------------- tc state : vr = 0.603351, vf = 0.000000, maxvel = 0.603351, current_vel = 0.244267, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.244267, acc = -7.500000,T = 0.014707, P = 0.010729 on final decel tc id = 71, canon_type = 3, mot type = 2 time: 4.552000 primary movement = 2.478791078761e-04 time: 4.552000000000e+00 total movement = 2.478791078761e-04 vel = 2.442674854963e-01 ------------------- tc state : vr = 0.603351, vf = 0.000000, maxvel = 0.603351, current_vel = 0.236767, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.236767, acc = -7.500000,T = 0.014707, P = 0.010970 on final decel tc id = 71, canon_type = 3, mot type = 2 time: 4.553000 primary movement = 2.403802603449e-04 time: 4.553000000000e+00 total movement = 2.403802603449e-04 vel = 2.367674854963e-01 ------------------- tc state : vr = 0.603351, vf = 0.000000, maxvel = 0.603351, current_vel = 0.229267, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.229267, acc = -7.500000,T = 0.014707, P = 0.011203 on final decel tc id = 71, canon_type = 3, mot type = 2 time: 4.554000 primary movement = 2.328816921005e-04 time: 4.554000000000e+00 total movement = 2.328816921005e-04 vel = 2.292674854963e-01 ------------------- tc state : vr = 0.603351, vf = 0.000000, maxvel = 0.603351, current_vel = 0.221767, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.221767, acc = -7.500000,T = 0.014707, P = 0.011428 on final decel tc id = 71, canon_type = 3, mot type = 2 time: 4.555000 primary movement = 2.253833944343e-04 time: 4.555000000000e+00 total movement = 2.253833944343e-04 vel = 2.217674854963e-01 ------------------- tc state : vr = 0.603351, vf = 0.000000, maxvel = 0.603351, current_vel = 0.214267, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.214267, acc = -7.500000,T = 0.014707, P = 0.011646 on final decel tc id = 71, canon_type = 3, mot type = 2 time: 4.556000 primary movement = 2.178853586374e-04 time: 4.556000000000e+00 total movement = 2.178853586374e-04 vel = 2.142674854963e-01 ------------------- tc state : vr = 0.603351, vf = 0.000000, maxvel = 0.603351, current_vel = 0.206767, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.206767, acc = -7.500000,T = 0.014707, P = 0.011857 on final decel tc id = 71, canon_type = 3, mot type = 2 time: 4.557000 primary movement = 2.103875760011e-04 time: 4.557000000000e+00 total movement = 2.103875760011e-04 vel = 2.067674854963e-01 ------------------- tc state : vr = 0.603351, vf = 0.000000, maxvel = 0.603351, current_vel = 0.199267, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.199267, acc = -7.500000,T = 0.014707, P = 0.012060 on final decel tc id = 71, canon_type = 3, mot type = 2 time: 4.558000 primary movement = 2.028900378164e-04 time: 4.558000000000e+00 total movement = 2.028900378164e-04 vel = 1.992674854963e-01 ------------------- tc state : vr = 0.603351, vf = 0.000000, maxvel = 0.603351, current_vel = 0.191767, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.191767, acc = -7.500000,T = 0.014707, P = 0.012255 on final decel tc id = 71, canon_type = 3, mot type = 2 time: 4.559000 primary movement = 1.953927353747e-04 time: 4.559000000000e+00 total movement = 1.953927353747e-04 vel = 1.917674854963e-01 ------------------- tc state : vr = 0.603351, vf = 0.000000, maxvel = 0.603351, current_vel = 0.184267, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.184267, acc = -7.500000,T = 0.014707, P = 0.012443 on final decel tc id = 71, canon_type = 3, mot type = 2 time: 4.560000 primary movement = 1.878956599670e-04 time: 4.560000000000e+00 total movement = 1.878956599670e-04 vel = 1.842674854963e-01 ------------------- tc state : vr = 0.603351, vf = 0.000000, maxvel = 0.603351, current_vel = 0.176767, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.176767, acc = -7.500000,T = 0.014707, P = 0.012624 on final decel tc id = 71, canon_type = 3, mot type = 2 time: 4.561000 primary movement = 1.803988028845e-04 time: 4.561000000000e+00 total movement = 1.803988028845e-04 vel = 1.767674854963e-01 ------------------- tc state : vr = 0.603351, vf = 0.000000, maxvel = 0.603351, current_vel = 0.169267, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.169267, acc = -7.500000,T = 0.014707, P = 0.012797 on final decel tc id = 71, canon_type = 3, mot type = 2 time: 4.562000 primary movement = 1.729021554184e-04 time: 4.562000000000e+00 total movement = 1.729021554184e-04 vel = 1.692674854963e-01 ------------------- tc state : vr = 0.603351, vf = 0.000000, maxvel = 0.603351, current_vel = 0.161767, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.161767, acc = -7.500000,T = 0.014707, P = 0.012962 on final decel tc id = 71, canon_type = 3, mot type = 2 time: 4.563000 primary movement = 1.654057088596e-04 time: 4.563000000000e+00 total movement = 1.654057088596e-04 vel = 1.617674854963e-01 ------------------- tc state : vr = 0.603351, vf = 0.000000, maxvel = 0.603351, current_vel = 0.154267, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.154267, acc = -7.500000,T = 0.014707, P = 0.013120 on final decel tc id = 71, canon_type = 3, mot type = 2 time: 4.564000 primary movement = 1.579094544994e-04 time: 4.564000000000e+00 total movement = 1.579094544994e-04 vel = 1.542674854963e-01 ------------------- tc state : vr = 0.603351, vf = 0.000000, maxvel = 0.603351, current_vel = 0.146767, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.146767, acc = -7.500000,T = 0.014707, P = 0.013271 on final decel tc id = 71, canon_type = 3, mot type = 2 tc state : vr = 0.007500, vf = 0.007500, maxvel = 9.255634, current_vel = 0.007500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.007500, acc = 7.500000,T = 0.006999, P = 0.000004 initial results: dx= 0.006995,dt = 0.028527, a_f = 16.665118, v_f = 0.482904 recalculating with a_f = 16.665118, a = 16.660207 revised dt = 0.028531 dt = 0.028531, not at end yet tc id = 71, canon_type = 3, mot type = 2 secondary movement = 0.000004 time: 4.565000 primary movement = 1.504133836290e-04 time: 4.565000000000e+00 total movement = 1.541633836290e-04 vel = 1.542674854963e-01 ------------------- tc state : vr = 0.603351, vf = 0.000000, maxvel = 0.603351, current_vel = 0.139267, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.139267, acc = -7.500000,T = 0.014707, P = 0.013414 on final decel tc id = 71, canon_type = 3, mot type = 2 tc state : vr = 0.015000, vf = 0.015000, maxvel = 9.255634, current_vel = 0.015000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.015000, acc = 7.500000,T = 0.006999, P = 0.000015 initial results: dx= 0.006984,dt = 0.028052, a_f = 16.679882, v_f = 0.482904 recalculating with a_f = 16.679882, a = 16.660207 revised dt = 0.028068 dt = 0.028068, not at end yet tc id = 71, canon_type = 3, mot type = 2 secondary movement = 0.000011 time: 4.566000 primary movement = 1.429174875393e-04 time: 4.566000000000e+00 total movement = 1.541674875392e-04 vel = 1.542674854963e-01 ------------------- tc state : vr = 0.603351, vf = 0.000000, maxvel = 0.603351, current_vel = 0.131767, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.131767, acc = -7.500000,T = 0.014707, P = 0.013549 on final decel tc id = 71, canon_type = 3, mot type = 2 tc state : vr = 0.022500, vf = 0.022500, maxvel = 9.255634, current_vel = 0.022500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.022500, acc = 7.500000,T = 0.006999, P = 0.000034 initial results: dx= 0.006965,dt = 0.027561, a_f = 16.704595, v_f = 0.482904 recalculating with a_f = 16.704595, a = 16.660207 revised dt = 0.027596 dt = 0.027596, not at end yet tc id = 71, canon_type = 3, mot type = 2 secondary movement = 0.000019 time: 4.567000 primary movement = 1.354217575213e-04 time: 4.567000000000e+00 total movement = 1.541717575213e-04 vel = 1.542674854963e-01 ------------------- tc state : vr = 0.603351, vf = 0.000000, maxvel = 0.603351, current_vel = 0.124267, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.124267, acc = -7.500000,T = 0.014707, P = 0.013677 on final decel tc id = 71, canon_type = 3, mot type = 2 tc state : vr = 0.030000, vf = 0.030000, maxvel = 9.255634, current_vel = 0.030000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.030000, acc = 7.500000,T = 0.006999, P = 0.000060 initial results: dx= 0.006939,dt = 0.027056, a_f = 16.739418, v_f = 0.482904 recalculating with a_f = 16.739418, a = 16.660207 revised dt = 0.027116 dt = 0.027116, not at end yet tc id = 71, canon_type = 3, mot type = 2 secondary movement = 0.000026 time: 4.568000 primary movement = 1.279261848662e-04 time: 4.568000000000e+00 total movement = 1.541761848662e-04 vel = 1.542674854963e-01 ------------------- tc state : vr = 0.603351, vf = 0.000000, maxvel = 0.603351, current_vel = 0.116767, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.116767, acc = -7.500000,T = 0.014707, P = 0.013798 on final decel tc id = 71, canon_type = 3, mot type = 2 tc state : vr = 0.037500, vf = 0.037500, maxvel = 9.255634, current_vel = 0.037500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.037500, acc = 7.500000,T = 0.006999, P = 0.000094 initial results: dx= 0.006905,dt = 0.026536, a_f = 16.784579, v_f = 0.482904 recalculating with a_f = 16.784579, a = 16.660207 revised dt = 0.026628 dt = 0.026628, not at end yet tc id = 71, canon_type = 3, mot type = 2 secondary movement = 0.000034 time: 4.569000 primary movement = 1.204307608651e-04 time: 4.569000000000e+00 total movement = 1.541807608652e-04 vel = 1.542674854963e-01 ------------------- tc state : vr = 0.603351, vf = 0.000000, maxvel = 0.603351, current_vel = 0.109267, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.109267, acc = -7.500000,T = 0.014707, P = 0.013911 on final decel tc id = 71, canon_type = 3, mot type = 2 tc state : vr = 0.045000, vf = 0.045000, maxvel = 9.255634, current_vel = 0.045000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.045000, acc = 7.500000,T = 0.006999, P = 0.000135 initial results: dx= 0.006864,dt = 0.026003, a_f = 16.840379, v_f = 0.482904 recalculating with a_f = 16.840379, a = 16.660207 revised dt = 0.026130 dt = 0.026130, not at end yet tc id = 71, canon_type = 3, mot type = 2 secondary movement = 0.000041 time: 4.570000 primary movement = 1.129354768090e-04 time: 4.570000000000e+00 total movement = 1.541854768090e-04 vel = 1.542674854963e-01 ------------------- tc state : vr = 0.603351, vf = 0.000000, maxvel = 0.603351, current_vel = 0.101767, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.101767, acc = -7.500000,T = 0.014707, P = 0.014016 on final decel tc id = 71, canon_type = 3, mot type = 2 tc state : vr = 0.052500, vf = 0.052500, maxvel = 9.255634, current_vel = 0.052500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.052500, acc = 7.500000,T = 0.006999, P = 0.000184 initial results: dx= 0.006815,dt = 0.025457, a_f = 16.907196, v_f = 0.482904 recalculating with a_f = 16.907196, a = 16.660207 revised dt = 0.025624 dt = 0.025624, not at end yet tc id = 71, canon_type = 3, mot type = 2 secondary movement = 0.000049 time: 4.571000 primary movement = 1.054403239888e-04 time: 4.571000000000e+00 total movement = 1.541903239888e-04 vel = 1.542674854963e-01 ------------------- tc state : vr = 0.603351, vf = 0.000000, maxvel = 0.603351, current_vel = 0.094267, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.094267, acc = -7.500000,T = 0.014707, P = 0.014114 on final decel tc id = 71, canon_type = 3, mot type = 2 tc state : vr = 0.060000, vf = 0.060000, maxvel = 9.255634, current_vel = 0.060000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.060000, acc = 7.500000,T = 0.006999, P = 0.000240 initial results: dx= 0.006759,dt = 0.024898, a_f = 16.985489, v_f = 0.482904 recalculating with a_f = 16.985489, a = 16.660207 revised dt = 0.025109 dt = 0.025109, not at end yet tc id = 71, canon_type = 3, mot type = 2 secondary movement = 0.000056 time: 4.572000 primary movement = 9.794529369573e-05 time: 4.572000000000e+00 total movement = 1.541952936957e-04 vel = 1.542674854963e-01 ------------------- tc state : vr = 0.603351, vf = 0.000000, maxvel = 0.603351, current_vel = 0.086767, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.086767, acc = -7.500000,T = 0.014707, P = 0.014205 on final decel tc id = 71, canon_type = 3, mot type = 2 tc state : vr = 0.067500, vf = 0.067500, maxvel = 9.255634, current_vel = 0.067500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.067500, acc = 7.500000,T = 0.006999, P = 0.000304 initial results: dx= 0.006695,dt = 0.024327, a_f = 17.075813, v_f = 0.482904 recalculating with a_f = 17.075813, a = 16.660207 revised dt = 0.024586 dt = 0.024586, not at end yet tc id = 71, canon_type = 3, mot type = 2 secondary movement = 0.000064 time: 4.573000 primary movement = 9.045037722062e-05 time: 4.573000000000e+00 total movement = 1.542003772207e-04 vel = 1.542674854963e-01 ------------------- tc state : vr = 0.603351, vf = 0.000000, maxvel = 0.603351, current_vel = 0.079267, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.079267, acc = -7.500000,T = 0.014707, P = 0.014288 on final decel tc id = 71, canon_type = 3, mot type = 2 tc state : vr = 0.075000, vf = 0.075000, maxvel = 9.255634, current_vel = 0.075000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.075000, acc = 7.500000,T = 0.006999, P = 0.000375 initial results: dx= 0.006624,dt = 0.023745, a_f = 17.178820, v_f = 0.482904 recalculating with a_f = 17.178820, a = 16.660207 revised dt = 0.024054 dt = 0.024054, not at end yet tc id = 71, canon_type = 3, mot type = 2 secondary movement = 0.000071 time: 4.574000 primary movement = 8.295556585470e-05 time: 4.574000000000e+00 total movement = 1.542055658547e-04 vel = 1.542674854963e-01 ------------------- tc state : vr = 0.603351, vf = 0.000000, maxvel = 0.603351, current_vel = 0.071767, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.071767, acc = -7.500000,T = 0.014707, P = 0.014363 on final decel tc id = 71, canon_type = 3, mot type = 2 tc state : vr = 0.082500, vf = 0.082500, maxvel = 9.255634, current_vel = 0.082500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.082500, acc = 7.500000,T = 0.006999, P = 0.000454 initial results: dx= 0.006545,dt = 0.023151, a_f = 17.295279, v_f = 0.482904 recalculating with a_f = 17.295279, a = 16.660207 revised dt = 0.023512 dt = 0.023512, not at end yet tc id = 72, canon_type = 2, mot type = 1 secondary movement = 0.000079 time: 4.575000 primary movement = 7.546085088880e-05 time: 4.575000000000e+00 total movement = 1.542108508888e-04 vel = 1.542674854963e-01 ------------------- tc state : vr = 0.603351, vf = 0.000000, maxvel = 0.603351, current_vel = 0.064267, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.064267, acc = -7.500000,T = 0.014707, P = 0.014431 on final decel tc id = 71, canon_type = 3, mot type = 2 tc state : vr = 0.090000, vf = 0.090000, maxvel = 9.255634, current_vel = 0.090000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.090000, acc = 7.500000,T = 0.006999, P = 0.000540 initial results: dx= 0.006459,dt = 0.022547, a_f = 17.426088, v_f = 0.482904 recalculating with a_f = 17.426088, a = 16.660207 revised dt = 0.022962 dt = 0.022962, not at end yet tc id = 72, canon_type = 2, mot type = 1 secondary movement = 0.000086 time: 4.576000 primary movement = 6.796622361402e-05 time: 4.576000000000e+00 total movement = 1.542162236140e-04 vel = 1.542674854963e-01 ------------------- tc state : vr = 0.603351, vf = 0.000000, maxvel = 0.603351, current_vel = 0.056767, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.056767, acc = -7.500000,T = 0.014707, P = 0.014492 on final decel tc id = 71, canon_type = 3, mot type = 2 tc state : vr = 0.097500, vf = 0.097500, maxvel = 9.255634, current_vel = 0.097500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.097500, acc = 7.500000,T = 0.006999, P = 0.000634 initial results: dx= 0.006365,dt = 0.021932, a_f = 17.572293, v_f = 0.482904 recalculating with a_f = 17.572293, a = 16.660207 revised dt = 0.022402 dt = 0.022402, not at end yet tc id = 72, canon_type = 2, mot type = 1 secondary movement = 0.000094 time: 4.577000 primary movement = 6.047167532127e-05 time: 4.577000000000e+00 total movement = 1.542216753213e-04 vel = 1.542674854963e-01 ------------------- tc state : vr = 0.603351, vf = 0.000000, maxvel = 0.603351, current_vel = 0.049267, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.049267, acc = -7.500000,T = 0.014707, P = 0.014545 on final decel tc id = 71, canon_type = 3, mot type = 2 tc state : vr = 0.105000, vf = 0.105000, maxvel = 9.255634, current_vel = 0.105000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.105000, acc = 7.500000,T = 0.006999, P = 0.000735 initial results: dx= 0.006264,dt = 0.021308, a_f = 17.735110, v_f = 0.482904 recalculating with a_f = 17.735110, a = 16.660207 revised dt = 0.021834 dt = 0.021834, not at end yet tc id = 72, canon_type = 2, mot type = 1 secondary movement = 0.000101 time: 4.578000 primary movement = 5.297719730167e-05 time: 4.578000000000e+00 total movement = 1.542271973017e-04 vel = 1.542674854963e-01 ------------------- tc state : vr = 0.603351, vf = 0.000000, maxvel = 0.603351, current_vel = 0.041767, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.041767, acc = -7.500000,T = 0.014707, P = 0.014591 on final decel tc id = 71, canon_type = 3, mot type = 2 tc state : vr = 0.112500, vf = 0.112500, maxvel = 9.255634, current_vel = 0.112500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.112500, acc = 7.500000,T = 0.006999, P = 0.000844 initial results: dx= 0.006155,dt = 0.020675, a_f = 17.915955, v_f = 0.482904 recalculating with a_f = 17.915955, a = 16.660207 revised dt = 0.021256 dt = 0.021256, not at end yet tc id = 72, canon_type = 2, mot type = 1 secondary movement = 0.000109 time: 4.579000 primary movement = 4.548278084605e-05 time: 4.579000000000e+00 total movement = 1.542327808460e-04 vel = 1.542674854963e-01 ------------------- tc state : vr = 0.603351, vf = 0.000000, maxvel = 0.603351, current_vel = 0.034267, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.034267, acc = -7.500000,T = 0.014707, P = 0.014629 on final decel tc id = 71, canon_type = 3, mot type = 2 tc state : vr = 0.120000, vf = 0.120000, maxvel = 9.255634, current_vel = 0.120000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.120000, acc = 7.500000,T = 0.006999, P = 0.000960 initial results: dx= 0.006039,dt = 0.020032, a_f = 18.116474, v_f = 0.482904 recalculating with a_f = 18.116474, a = 16.660207 revised dt = 0.020668 dt = 0.020668, not at end yet tc id = 72, canon_type = 2, mot type = 1 secondary movement = 0.000116 time: 4.580000 primary movement = 3.798841724554e-05 time: 4.580000000000e+00 total movement = 1.542384172455e-04 vel = 1.542674854963e-01 ------------------- tc state : vr = 0.603351, vf = 0.000000, maxvel = 0.603351, current_vel = 0.026767, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.026767, acc = -7.500000,T = 0.014707, P = 0.014659 on final decel tc id = 71, canon_type = 3, mot type = 2 tc state : vr = 0.127500, vf = 0.127500, maxvel = 9.255634, current_vel = 0.127500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.127500, acc = 7.500000,T = 0.006999, P = 0.001084 initial results: dx= 0.005915,dt = 0.019380, a_f = 18.338592, v_f = 0.482904 recalculating with a_f = 18.338592, a = 16.660207 revised dt = 0.020071 dt = 0.020071, not at end yet tc id = 72, canon_type = 2, mot type = 1 secondary movement = 0.000124 time: 4.581000 primary movement = 3.049409779105e-05 time: 4.581000000000e+00 total movement = 1.542440977911e-04 vel = 1.542674854963e-01 ------------------- tc state : vr = 0.603351, vf = 0.000000, maxvel = 0.603351, current_vel = 0.019267, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.019267, acc = -7.500000,T = 0.014707, P = 0.014682 on final decel tc id = 71, canon_type = 3, mot type = 2 tc state : vr = 0.135000, vf = 0.135000, maxvel = 9.255634, current_vel = 0.135000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.135000, acc = 7.500000,T = 0.006999, P = 0.001215 initial results: dx= 0.005784,dt = 0.018720, a_f = 18.584557, v_f = 0.482904 recalculating with a_f = 18.584557, a = 16.660207 revised dt = 0.019464 dt = 0.019464, not at end yet tc id = 72, canon_type = 2, mot type = 1 secondary movement = 0.000131 time: 4.582000 primary movement = 2.299981377353e-05 time: 4.582000000000e+00 total movement = 1.542498137735e-04 vel = 1.542674854963e-01 ------------------- tc state : vr = 0.603351, vf = 0.000000, maxvel = 0.603351, current_vel = 0.011767, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.011767, acc = -7.500000,T = 0.014707, P = 0.014698 on final decel tc id = 71, canon_type = 3, mot type = 2 tc state : vr = 0.142500, vf = 0.142500, maxvel = 9.255634, current_vel = 0.142500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.142500, acc = 7.500000,T = 0.006999, P = 0.001354 initial results: dx= 0.005645,dt = 0.018052, a_f = 18.857016, v_f = 0.482904 recalculating with a_f = 18.857016, a = 16.660207 revised dt = 0.018847 dt = 0.018847, not at end yet tc id = 72, canon_type = 2, mot type = 1 secondary movement = 0.000139 time: 4.583000 primary movement = 1.550555648408e-05 time: 4.583000000000e+00 total movement = 1.542555564841e-04 vel = 1.542674854963e-01 ------------------- tc state : vr = 0.603351, vf = 0.000000, maxvel = 0.603351, current_vel = 0.004267, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.004267, acc = -7.500000,T = 0.014707, P = 0.014706 on final decel tc id = 71, canon_type = 3, mot type = 2 tc state : vr = 0.150000, vf = 0.150000, maxvel = 9.255634, current_vel = 0.150000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.150000, acc = 7.500000,T = 0.006999, P = 0.001500 initial results: dx= 0.005499,dt = 0.017376, a_f = 19.159086, v_f = 0.482904 recalculating with a_f = 19.159086, a = 16.660207 revised dt = 0.018221 dt = 0.018221, not at end yet tc id = 72, canon_type = 2, mot type = 1 secondary movement = 0.000146 time: 4.584000 primary movement = 8.011317213454e-06 time: 4.584000000000e+00 total movement = 1.542613172134e-04 vel = 1.542674854963e-01 ------------------- Found newvel = -0.003233, assuming segment is done segment 71 at target in runcycle tc state : vr = 0.603351, vf = 0.000000, maxvel = 0.603351, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.014707, P = 0.014707 tc id = 71, canon_type = 3, mot type = 2 tc state : vr = 0.154267, vf = 0.154267, maxvel = 9.255634, current_vel = 0.154267, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.154267, acc = 4.267485,T = 0.006999, P = 0.001652 initial results: dx= 0.005346,dt = 0.016782, a_f = 19.582828, v_f = 0.482904 recalculating with a_f = 19.582828, a = 16.660207 revised dt = 0.017714 dt = 0.017714, not at end yet tc id = 72, canon_type = 2, mot type = 1 secondary movement = 0.000152 time: 4.585000 primary movement = 1.213161138825e-06 time: 4.585000000000e+00 total movement = 1.533469038870e-04 vel = 1.542674854963e-01 Finished tc id 71 ------------------- tc state : vr = 3.332661, vf = 0.482904, maxvel = 9.255634, current_vel = 0.170928, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.170928, acc = 16.660207,T = 0.006999, P = 0.001815 initial results: dx= 0.005184,dt = 0.015857, a_f = 19.674499, v_f = 0.482904 recalculating with a_f = 19.674499, a = 16.660207 revised dt = 0.016714 dt = 0.016714, not at end yet tc id = 72, canon_type = 2, mot type = 1 time: 4.586000 primary movement = 1.625975890370e-04 time: 4.586000000000e+00 total movement = 1.625975890370e-04 vel = 1.709276925778e-01 ------------------- tc state : vr = 3.332661, vf = 0.482904, maxvel = 9.255634, current_vel = 0.187588, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.187588, acc = 16.660207,T = 0.006999, P = 0.001994 initial results: dx= 0.005005,dt = 0.014928, a_f = 19.782467, v_f = 0.482904 recalculating with a_f = 19.782467, a = 16.660207 revised dt = 0.015714 dt = 0.015714, not at end yet tc id = 72, canon_type = 2, mot type = 1 time: 4.587000 primary movement = 1.792577961186e-04 time: 4.587000000000e+00 total movement = 1.792577961186e-04 vel = 1.875878996594e-01 ------------------- tc state : vr = 3.332661, vf = 0.482904, maxvel = 9.255634, current_vel = 0.204248, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.204248, acc = 16.660207,T = 0.006999, P = 0.002190 initial results: dx= 0.004809,dt = 0.013996, a_f = 19.909676, v_f = 0.482904 recalculating with a_f = 19.909676, a = 16.660207 revised dt = 0.014714 dt = 0.014714, not at end yet tc id = 72, canon_type = 2, mot type = 1 time: 4.588000 primary movement = 1.959180032001e-04 time: 4.588000000000e+00 total movement = 1.959180032001e-04 vel = 2.042481067409e-01 ------------------- tc state : vr = 3.332661, vf = 0.482904, maxvel = 9.255634, current_vel = 0.220908, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.220908, acc = 16.660207,T = 0.006999, P = 0.002402 initial results: dx= 0.004596,dt = 0.013061, a_f = 20.059970, v_f = 0.482904 recalculating with a_f = 20.059970, a = 16.660207 revised dt = 0.013714 dt = 0.013714, not at end yet tc id = 72, canon_type = 2, mot type = 1 time: 4.589000 primary movement = 2.125782102817e-04 time: 4.589000000000e+00 total movement = 2.125782102817e-04 vel = 2.209083138225e-01 ------------------- tc state : vr = 3.332661, vf = 0.482904, maxvel = 9.255634, current_vel = 0.237569, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.237569, acc = 16.660207,T = 0.006999, P = 0.002632 initial results: dx= 0.004367,dt = 0.012122, a_f = 20.238440, v_f = 0.482904 recalculating with a_f = 20.238440, a = 16.660207 revised dt = 0.012714 dt = 0.012714, not at end yet tc id = 72, canon_type = 2, mot type = 1 time: 4.590000 primary movement = 2.292384173632e-04 time: 4.590000000000e+00 total movement = 2.292384173632e-04 vel = 2.375685209040e-01 ------------------- tc state : vr = 3.332661, vf = 0.482904, maxvel = 9.255634, current_vel = 0.254229, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.254229, acc = 16.660207,T = 0.006999, P = 0.002878 initial results: dx= 0.004121,dt = 0.011181, a_f = 20.451954, v_f = 0.482904 recalculating with a_f = 20.451954, a = 16.660207 revised dt = 0.011714 dt = 0.011714, not at end yet tc id = 72, canon_type = 2, mot type = 1 time: 4.591000 primary movement = 2.458986244448e-04 time: 4.591000000000e+00 total movement = 2.458986244448e-04 vel = 2.542287279856e-01 ------------------- tc state : vr = 3.332661, vf = 0.482904, maxvel = 9.255634, current_vel = 0.270889, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.270889, acc = 16.660207,T = 0.006999, P = 0.003140 initial results: dx= 0.003858,dt = 0.010237, a_f = 20.709976, v_f = 0.482904 recalculating with a_f = 20.709976, a = 16.660207 revised dt = 0.010714 dt = 0.010714, not at end yet tc id = 72, canon_type = 2, mot type = 1 time: 4.592000 primary movement = 2.625588315263e-04 time: 4.592000000000e+00 total movement = 2.625588315263e-04 vel = 2.708889350671e-01 ------------------- tc state : vr = 3.332661, vf = 0.482904, maxvel = 9.255634, current_vel = 0.287549, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.287549, acc = 16.660207,T = 0.006999, P = 0.003419 initial results: dx= 0.003579,dt = 0.009291, a_f = 21.025906, v_f = 0.482904 recalculating with a_f = 21.025906, a = 16.660207 revised dt = 0.009714 dt = 0.009714, not at end yet tc id = 72, canon_type = 2, mot type = 1 time: 4.593000 primary movement = 2.792190386079e-04 time: 4.593000000000e+00 total movement = 2.792190386079e-04 vel = 2.875491421486e-01 ------------------- tc state : vr = 3.332661, vf = 0.482904, maxvel = 9.255634, current_vel = 0.304209, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.304209, acc = 16.660207,T = 0.006999, P = 0.003715 initial results: dx= 0.003283,dt = 0.008343, a_f = 21.419326, v_f = 0.482904 recalculating with a_f = 21.419326, a = 16.660207 revised dt = 0.008714 dt = 0.008714, not at end yet tc id = 72, canon_type = 2, mot type = 1 time: 4.594000 primary movement = 2.958792456894e-04 time: 4.594000000000e+00 total movement = 2.958792456894e-04 vel = 3.042093492302e-01 ------------------- tc state : vr = 3.332661, vf = 0.482904, maxvel = 9.255634, current_vel = 0.320870, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.320870, acc = 16.660207,T = 0.006999, P = 0.004028 initial results: dx= 0.002971,dt = 0.007392, a_f = 21.920009, v_f = 0.482904 recalculating with a_f = 21.920009, a = 16.660207 revised dt = 0.007714 dt = 0.007714, not at end yet tc id = 72, canon_type = 2, mot type = 1 time: 4.595000 primary movement = 3.125394527709e-04 time: 4.595000000000e+00 total movement = 3.125394527709e-04 vel = 3.208695563117e-01 ------------------- tc state : vr = 3.332661, vf = 0.482904, maxvel = 9.255634, current_vel = 0.337530, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.337530, acc = 16.660207,T = 0.006999, P = 0.004357 initial results: dx= 0.002642,dt = 0.006439, a_f = 22.575499, v_f = 0.482904 recalculating with a_f = 22.575499, a = 16.660207 revised dt = 0.006714 dt = 0.006714, not at end yet tc id = 72, canon_type = 2, mot type = 1 time: 4.596000 primary movement = 3.291996598525e-04 time: 4.596000000000e+00 total movement = 3.291996598525e-04 vel = 3.375297633933e-01 ------------------- tc state : vr = 3.332661, vf = 0.482904, maxvel = 9.255634, current_vel = 0.354190, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.354190, acc = 16.660207,T = 0.006999, P = 0.004703 initial results: dx= 0.002296,dt = 0.005485, a_f = 23.466667, v_f = 0.482904 recalculating with a_f = 23.466667, a = 16.660207 revised dt = 0.005714 dt = 0.005714, not at end yet tc id = 72, canon_type = 2, mot type = 1 time: 4.597000 primary movement = 3.458598669341e-04 time: 4.597000000000e+00 total movement = 3.458598669341e-04 vel = 3.541899704748e-01 ------------------- tc state : vr = 3.332661, vf = 0.482904, maxvel = 9.255634, current_vel = 0.370850, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.370850, acc = 16.660207,T = 0.006999, P = 0.005065 initial results: dx= 0.001933,dt = 0.004529, a_f = 24.743043, v_f = 0.482904 recalculating with a_f = 24.743043, a = 16.660207 revised dt = 0.004714 dt = 0.004714, not at end yet tc id = 72, canon_type = 2, mot type = 1 time: 4.598000 primary movement = 3.625200740156e-04 time: 4.598000000000e+00 total movement = 3.625200740156e-04 vel = 3.708501775564e-01 ------------------- tc state : vr = 3.332661, vf = 0.482904, maxvel = 9.255634, current_vel = 0.387510, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.387510, acc = 16.660207,T = 0.006999, P = 0.005445 initial results: dx= 0.001554,dt = 0.003571, a_f = 26.715264, v_f = 0.482904 recalculating with a_f = 26.715264, a = 16.660207 revised dt = 0.003714 dt = 0.003714, not at end yet tc id = 72, canon_type = 2, mot type = 1 time: 4.599000 primary movement = 3.791802810971e-04 time: 4.599000000000e+00 total movement = 3.791802810971e-04 vel = 3.875103846379e-01 ------------------- tc state : vr = 3.332661, vf = 0.482904, maxvel = 9.255634, current_vel = 0.404171, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.404171, acc = 16.660207,T = 0.006999, P = 0.005840 initial results: dx= 0.001158,dt = 0.002611, a_f = 30.151892, v_f = 0.482904 recalculating with a_f = 30.151892, a = 16.660207 revised dt = 0.002714 dt = 0.002714, not at end yet tc id = 72, canon_type = 2, mot type = 1 time: 4.600000 primary movement = 3.958404881787e-04 time: 4.600000000000e+00 total movement = 3.958404881787e-04 vel = 4.041705917195e-01 ------------------- tc state : vr = 3.332661, vf = 0.482904, maxvel = 9.255634, current_vel = 0.420831, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.420831, acc = 16.660207,T = 0.006999, P = 0.006253 initial results: dx= 0.000746,dt = 0.001650, a_f = 37.615430, v_f = 0.482904 recalculating with a_f = 37.615430, a = 16.660207 revised dt = 0.001714 dt = 0.001714, not at end yet tc id = 72, canon_type = 2, mot type = 1 time: 4.601000 primary movement = 4.125006952602e-04 time: 4.601000000000e+00 total movement = 4.125006952602e-04 vel = 4.208307988010e-01 ------------------- tc state : vr = 3.332661, vf = 0.482904, maxvel = 9.255634, current_vel = 0.437491, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.437491, acc = 16.660207,T = 0.006999, P = 0.006682 initial results: dx= 0.000317,dt = 0.000688, a_f = 66.029110, v_f = 0.482904 recalculating with a_f = 66.029110, a = 16.660207 revised dt = 0.000714 actual v_f = 0.449382, a = 16.660207 split time is 0.000713762 tc id = 72, canon_type = 2, mot type = 1 time: 4.602000 primary movement = 4.291609023418e-04 time: 4.602000000000e+00 total movement = 4.291609023418e-04 vel = 4.374910058826e-01 ------------------- tc id 72 done Finishing split-cycle on id 73 tc state : vr = 0.603162, vf = 0.603162, maxvel = 0.603162, current_vel = 0.453676, fs = 1.000000, tc = 0.000286, term = 3 tc result: v = 0.453676, acc = 15.000000,T = 0.011889, P = 0.000129 initial results: dx= 0.011760,dt = 0.022255, a_f = 6.716873, v_f = 0.603162 dt = 0.022255, not at end yet secondary movement = 0.000129 tc id = 73, canon_type = 3, mot type = 2 time: 4.603000 primary movement = 3.165081834981e-04 time: 4.603000000000e+00 total movement = 4.457526383475e-04 vel = 4.536759982597e-01 Finished tc id 72 ------------------- Activate tc id = 73 target_vel = 0.603162 final_vel = 0.603162 length = 0.011889 tc state : vr = 0.603162, vf = 0.603162, maxvel = 0.603162, current_vel = 0.468676, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.468676, acc = 15.000000,T = 0.011889, P = 0.000590 initial results: dx= 0.011299,dt = 0.021083, a_f = 6.378789, v_f = 0.603162 dt = 0.021083, not at end yet tc id = 73, canon_type = 3, mot type = 2 time: 4.604000 primary movement = 4.611551556708e-04 time: 4.604000000000e+00 total movement = 4.611551556708e-04 vel = 4.686759982597e-01 ------------------- tc state : vr = 0.603162, vf = 0.603162, maxvel = 0.603162, current_vel = 0.483676, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.483676, acc = 15.000000,T = 0.011889, P = 0.001067 initial results: dx= 0.010823,dt = 0.019916, a_f = 5.999476, v_f = 0.603162 dt = 0.019916, not at end yet tc id = 73, canon_type = 3, mot type = 2 time: 4.605000 primary movement = 4.761530550757e-04 time: 4.605000000000e+00 total movement = 4.761530550757e-04 vel = 4.836759982597e-01 ------------------- tc state : vr = 0.603162, vf = 0.603162, maxvel = 0.603162, current_vel = 0.498676, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.498676, acc = 15.000000,T = 0.011889, P = 0.001558 initial results: dx= 0.010332,dt = 0.018753, a_f = 5.571579, v_f = 0.603162 dt = 0.018753, not at end yet tc id = 73, canon_type = 3, mot type = 2 time: 4.606000 primary movement = 4.911508178848e-04 time: 4.606000000000e+00 total movement = 4.911508178848e-04 vel = 4.986759982597e-01 ------------------- tc state : vr = 0.603162, vf = 0.603162, maxvel = 0.603162, current_vel = 0.513676, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.513676, acc = 15.000000,T = 0.011889, P = 0.002064 initial results: dx= 0.009825,dt = 0.017595, a_f = 5.085854, v_f = 0.603162 dt = 0.017595, not at end yet tc id = 73, canon_type = 3, mot type = 2 time: 4.607000 primary movement = 5.061484397954e-04 time: 4.607000000000e+00 total movement = 5.061484397954e-04 vel = 5.136759982597e-01 ------------------- tc state : vr = 0.603162, vf = 0.603162, maxvel = 0.603162, current_vel = 0.528676, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.528676, acc = 15.000000,T = 0.011889, P = 0.002585 initial results: dx= 0.009304,dt = 0.016441, a_f = 4.530513, v_f = 0.603162 dt = 0.016441, not at end yet tc id = 73, canon_type = 3, mot type = 2 time: 4.608000 primary movement = 5.211459165053e-04 time: 4.608000000000e+00 total movement = 5.211459165053e-04 vel = 5.286759982597e-01 ------------------- tc state : vr = 0.603162, vf = 0.603162, maxvel = 0.603162, current_vel = 0.543676, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.543676, acc = 15.000000,T = 0.011889, P = 0.003121 initial results: dx= 0.008768,dt = 0.015291, a_f = 3.890292, v_f = 0.603162 dt = 0.015291, not at end yet tc id = 73, canon_type = 3, mot type = 2 time: 4.609000 primary movement = 5.361432437118e-04 time: 4.609000000000e+00 total movement = 5.361432437118e-04 vel = 5.436759982597e-01 ------------------- tc state : vr = 0.603162, vf = 0.603162, maxvel = 0.603162, current_vel = 0.558676, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.558676, acc = 15.000000,T = 0.011889, P = 0.003672 initial results: dx= 0.008217,dt = 0.014145, a_f = 3.145067, v_f = 0.603162 dt = 0.014145, not at end yet tc id = 73, canon_type = 3, mot type = 2 time: 4.610000 primary movement = 5.511404171128e-04 time: 4.610000000000e+00 total movement = 5.511404171128e-04 vel = 5.586759982597e-01 ------------------- tc state : vr = 0.603162, vf = 0.603162, maxvel = 0.603162, current_vel = 0.573676, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.573676, acc = 15.000000,T = 0.011889, P = 0.004239 initial results: dx= 0.007651,dt = 0.013002, a_f = 2.267764, v_f = 0.603162 dt = 0.013002, not at end yet tc id = 73, canon_type = 3, mot type = 2 time: 4.611000 primary movement = 5.661374324059e-04 time: 4.611000000000e+00 total movement = 5.661374324059e-04 vel = 5.736759982597e-01 ------------------- tc state : vr = 0.603162, vf = 0.603162, maxvel = 0.603162, current_vel = 0.588676, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.588676, acc = 15.000000,T = 0.011889, P = 0.004820 initial results: dx= 0.007070,dt = 0.011863, a_f = 1.221062, v_f = 0.603162 dt = 0.011863, not at end yet tc id = 73, canon_type = 3, mot type = 2 time: 4.612000 primary movement = 5.811342852889e-04 time: 4.612000000000e+00 total movement = 5.811342852889e-04 vel = 5.886759982597e-01 ------------------- tc state : vr = 0.603162, vf = 0.603162, maxvel = 0.603162, current_vel = 0.603162, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.603162, acc = 14.485717,T = 0.011889, P = 0.005416 initial results: dx= 0.006474,dt = 0.010733, a_f = 0.000000, v_f = 0.603162 dt = 0.010733, not at end yet tc id = 73, canon_type = 3, mot type = 2 time: 4.613000 primary movement = 5.958738879610e-04 time: 4.613000000000e+00 total movement = 5.958738879610e-04 vel = 6.031617147891e-01 ------------------- tc state : vr = 0.603162, vf = 0.603162, maxvel = 0.603162, current_vel = 0.603162, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.603162, acc = 0.000000,T = 0.011889, P = 0.006019 initial results: dx= 0.005870,dt = 0.009733, a_f = 0.000000, v_f = 0.603162 dt = 0.009733, not at end yet tc id = 73, canon_type = 3, mot type = 2 time: 4.614000 primary movement = 6.031150865847e-04 time: 4.614000000000e+00 total movement = 6.031150865847e-04 vel = 6.031617147891e-01 ------------------- tc state : vr = 0.603162, vf = 0.603162, maxvel = 0.603162, current_vel = 0.603162, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.603162, acc = 0.000000,T = 0.011889, P = 0.006622 initial results: dx= 0.005267,dt = 0.008733, a_f = 0.000000, v_f = 0.603162 dt = 0.008733, not at end yet tc id = 73, canon_type = 3, mot type = 2 time: 4.615000 primary movement = 6.031150865847e-04 time: 4.615000000000e+00 total movement = 6.031150865847e-04 vel = 6.031617147891e-01 ------------------- tc state : vr = 0.603162, vf = 0.603162, maxvel = 0.603162, current_vel = 0.603162, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.603162, acc = 0.000000,T = 0.011889, P = 0.007225 initial results: dx= 0.004664,dt = 0.007733, a_f = 0.000000, v_f = 0.603162 dt = 0.007733, not at end yet tc id = 73, canon_type = 3, mot type = 2 time: 4.616000 primary movement = 6.031150865846e-04 time: 4.616000000000e+00 total movement = 6.031150865846e-04 vel = 6.031617147891e-01 ------------------- tc state : vr = 0.603162, vf = 0.603162, maxvel = 0.603162, current_vel = 0.603162, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.603162, acc = 0.000000,T = 0.011889, P = 0.007828 initial results: dx= 0.004061,dt = 0.006733, a_f = 0.000000, v_f = 0.603162 dt = 0.006733, not at end yet tc id = 73, canon_type = 3, mot type = 2 time: 4.617000 primary movement = 6.031150865847e-04 time: 4.617000000000e+00 total movement = 6.031150865847e-04 vel = 6.031617147891e-01 ------------------- tc state : vr = 0.603162, vf = 0.603162, maxvel = 0.603162, current_vel = 0.603162, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.603162, acc = 0.000000,T = 0.011889, P = 0.008432 initial results: dx= 0.003458,dt = 0.005733, a_f = 0.000000, v_f = 0.603162 dt = 0.005733, not at end yet tc id = 73, canon_type = 3, mot type = 2 time: 4.618000 primary movement = 6.031150865847e-04 time: 4.618000000000e+00 total movement = 6.031150865847e-04 vel = 6.031617147891e-01 ------------------- tc state : vr = 0.603162, vf = 0.603162, maxvel = 0.603162, current_vel = 0.603162, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.603162, acc = 0.000000,T = 0.011889, P = 0.009035 initial results: dx= 0.002855,dt = 0.004733, a_f = 0.000000, v_f = 0.603162 dt = 0.004733, not at end yet tc id = 73, canon_type = 3, mot type = 2 time: 4.619000 primary movement = 6.031150865847e-04 time: 4.619000000000e+00 total movement = 6.031150865847e-04 vel = 6.031617147891e-01 ------------------- tc state : vr = 0.603162, vf = 0.603162, maxvel = 0.603162, current_vel = 0.603162, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.603162, acc = 0.000000,T = 0.011889, P = 0.009638 initial results: dx= 0.002251,dt = 0.003733, a_f = 0.000000, v_f = 0.603162 dt = 0.003733, not at end yet tc id = 73, canon_type = 3, mot type = 2 time: 4.620000 primary movement = 6.031150865847e-04 time: 4.620000000000e+00 total movement = 6.031150865847e-04 vel = 6.031617147891e-01 ------------------- tc state : vr = 0.603162, vf = 0.603162, maxvel = 0.603162, current_vel = 0.603162, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.603162, acc = 0.000000,T = 0.011889, P = 0.010241 initial results: dx= 0.001648,dt = 0.002733, a_f = 0.000000, v_f = 0.603162 dt = 0.002733, not at end yet tc id = 73, canon_type = 3, mot type = 2 time: 4.621000 primary movement = 6.031150865847e-04 time: 4.621000000000e+00 total movement = 6.031150865847e-04 vel = 6.031617147891e-01 ------------------- tc state : vr = 0.603162, vf = 0.603162, maxvel = 0.603162, current_vel = 0.603162, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.603162, acc = 0.000000,T = 0.011889, P = 0.010844 initial results: dx= 0.001045,dt = 0.001733, a_f = 0.000000, v_f = 0.603162 dt = 0.001733, not at end yet tc id = 73, canon_type = 3, mot type = 2 time: 4.622000 primary movement = 6.031150865847e-04 time: 4.622000000000e+00 total movement = 6.031150865847e-04 vel = 6.031617147891e-01 ------------------- tc state : vr = 0.603162, vf = 0.603162, maxvel = 0.603162, current_vel = 0.603162, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.603162, acc = 0.000000,T = 0.011889, P = 0.011447 initial results: dx= 0.000442,dt = 0.000733, a_f = 0.000000, v_f = 0.603162 actual v_f = 0.603162, a = 0.000000 split time is 0.000732765 tc id = 73, canon_type = 3, mot type = 2 time: 4.623000 primary movement = 6.031150865847e-04 time: 4.623000000000e+00 total movement = 6.031150865847e-04 vel = 6.031617147891e-01 ------------------- tc id 73 done Finishing split-cycle on id 73 tc state : vr = 3.382018, vf = 0.323115, maxvel = 9.043078, current_vel = 0.611862, fs = 1.000000, tc = 0.000267, term = 3 tc result: v = 0.611862, acc = 32.555212,T = 0.007102, P = 0.000162 initial results: dx= 0.006940,dt = 0.014845, a_f = -19.450677, v_f = 0.323115 dt = 0.014845, not at end yet secondary movement = 0.000162 tc id = 73, canon_type = 2, mot type = 1 time: 4.624000 primary movement = 4.419575793158e-04 time: 4.624000000000e+00 total movement = 6.043058244497e-04 vel = 6.118615997963e-01 Finished tc id 73 ------------------- Activate tc id = 73 target_vel = 3.382018 final_vel = 0.323115 length = 0.007102 tc state : vr = 3.382018, vf = 0.323115, maxvel = 9.043078, current_vel = 0.644417, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.644417, acc = 32.555212,T = 0.007102, P = 0.000790 initial results: dx= 0.006312,dt = 0.013047, a_f = -24.626252, v_f = 0.323115 dt = 0.013047, not at end yet tc id = 73, canon_type = 2, mot type = 1 time: 4.625000 primary movement = 6.281392058606e-04 time: 4.625000000000e+00 total movement = 6.281392058606e-04 vel = 6.444168119249e-01 ------------------- tc state : vr = 3.382018, vf = 0.323115, maxvel = 9.043078, current_vel = 0.676972, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.676972, acc = 32.555212,T = 0.007102, P = 0.001451 initial results: dx= 0.005651,dt = 0.011301, a_f = -31.311634, v_f = 0.323115 dt = 0.011301, not at end yet tc id = 73, canon_type = 2, mot type = 1 time: 4.626000 primary movement = 6.606944179892e-04 time: 4.626000000000e+00 total movement = 6.606944179892e-04 vel = 6.769720240534e-01 ------------------- tc state : vr = 3.382018, vf = 0.323115, maxvel = 9.043078, current_vel = 0.654969, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.654969, acc = -22.002901,T = 0.007102, P = 0.002117 on final decel initial results: dx= 0.004985,dt = 0.010194, a_f = -32.555212, v_f = 0.323115 dt = 0.010194, not at end yet tc id = 73, canon_type = 2, mot type = 1 time: 4.627000 primary movement = 6.659705734985e-04 time: 4.627000000000e+00 total movement = 6.659705734985e-04 vel = 6.549691229436e-01 ------------------- tc state : vr = 3.382018, vf = 0.323115, maxvel = 9.043078, current_vel = 0.622414, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.622414, acc = -32.555212,T = 0.007102, P = 0.002756 on final decel initial results: dx= 0.004346,dt = 0.009194, a_f = -32.555212, v_f = 0.323115 recalculating with a_f = -32.555212, a = -32.555212 revised dt = 0.009194 dt = 0.009194, not at end yet tc id = 73, canon_type = 2, mot type = 1 time: 4.628000 primary movement = 6.386915168793e-04 time: 4.628000000000e+00 total movement = 6.386915168793e-04 vel = 6.224139108151e-01 ------------------- tc state : vr = 3.382018, vf = 0.323115, maxvel = 9.043078, current_vel = 0.589859, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.589859, acc = -32.555212,T = 0.007102, P = 0.003362 on final decel initial results: dx= 0.003740,dt = 0.008194, a_f = -32.555212, v_f = 0.323115 recalculating with a_f = -32.555212, a = -32.555212 revised dt = 0.008194 dt = 0.008194, not at end yet tc id = 73, canon_type = 2, mot type = 1 time: 4.629000 primary movement = 6.061363047508e-04 time: 4.629000000000e+00 total movement = 6.061363047508e-04 vel = 5.898586986865e-01 ------------------- tc state : vr = 3.382018, vf = 0.323115, maxvel = 9.043078, current_vel = 0.557303, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.557303, acc = -32.555212,T = 0.007102, P = 0.003936 on final decel initial results: dx= 0.003167,dt = 0.007194, a_f = -32.555212, v_f = 0.323115 recalculating with a_f = -32.555212, a = -32.555212 revised dt = 0.007194 dt = 0.007194, not at end yet tc id = 73, canon_type = 2, mot type = 1 time: 4.630000 primary movement = 5.735810926223e-04 time: 4.630000000000e+00 total movement = 5.735810926223e-04 vel = 5.573034865580e-01 ------------------- tc state : vr = 3.382018, vf = 0.323115, maxvel = 9.043078, current_vel = 0.524748, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.524748, acc = -32.555212,T = 0.007102, P = 0.004477 on final decel initial results: dx= 0.002626,dt = 0.006194, a_f = -32.555212, v_f = 0.323115 recalculating with a_f = -32.555212, a = -32.555212 revised dt = 0.006194 dt = 0.006194, not at end yet tc id = 73, canon_type = 2, mot type = 1 time: 4.631000 primary movement = 5.410258804937e-04 time: 4.631000000000e+00 total movement = 5.410258804937e-04 vel = 5.247482744294e-01 ------------------- tc state : vr = 3.382018, vf = 0.323115, maxvel = 9.043078, current_vel = 0.492193, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.492193, acc = -32.555212,T = 0.007102, P = 0.004985 on final decel initial results: dx= 0.002117,dt = 0.005194, a_f = -32.555212, v_f = 0.323115 recalculating with a_f = -32.555212, a = -32.555212 revised dt = 0.005194 dt = 0.005194, not at end yet tc id = 73, canon_type = 2, mot type = 1 time: 4.632000 primary movement = 5.084706683651e-04 time: 4.632000000000e+00 total movement = 5.084706683651e-04 vel = 4.921930623009e-01 ------------------- tc state : vr = 3.382018, vf = 0.323115, maxvel = 9.043078, current_vel = 0.459638, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.459638, acc = -32.555212,T = 0.007102, P = 0.005461 on final decel initial results: dx= 0.001641,dt = 0.004194, a_f = -32.555212, v_f = 0.323115 recalculating with a_f = -32.555212, a = -32.555212 revised dt = 0.004194 dt = 0.004194, not at end yet tc id = 73, canon_type = 2, mot type = 1 time: 4.633000 primary movement = 4.759154562366e-04 time: 4.633000000000e+00 total movement = 4.759154562366e-04 vel = 4.596378501723e-01 ------------------- tc state : vr = 3.382018, vf = 0.323115, maxvel = 9.043078, current_vel = 0.427083, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.427083, acc = -32.555212,T = 0.007102, P = 0.005904 on final decel initial results: dx= 0.001198,dt = 0.003194, a_f = -32.555212, v_f = 0.323115 recalculating with a_f = -32.555212, a = -32.555212 revised dt = 0.003194 dt = 0.003194, not at end yet tc id = 73, canon_type = 2, mot type = 1 time: 4.634000 primary movement = 4.433602441080e-04 time: 4.634000000000e+00 total movement = 4.433602441080e-04 vel = 4.270826380438e-01 ------------------- tc state : vr = 3.382018, vf = 0.323115, maxvel = 9.043078, current_vel = 0.394527, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.394527, acc = -32.555212,T = 0.007102, P = 0.006315 on final decel initial results: dx= 0.000787,dt = 0.002194, a_f = -32.555212, v_f = 0.323115 recalculating with a_f = -32.555212, a = -32.555212 revised dt = 0.002194 dt = 0.002194, not at end yet tc id = 73, canon_type = 2, mot type = 1 time: 4.635000 primary movement = 4.108050319795e-04 time: 4.635000000000e+00 total movement = 4.108050319795e-04 vel = 3.945274259152e-01 ------------------- tc state : vr = 3.382018, vf = 0.323115, maxvel = 9.043078, current_vel = 0.361972, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.361972, acc = -32.555212,T = 0.007102, P = 0.006693 on final decel initial results: dx= 0.000409,dt = 0.001194, a_f = -32.555212, v_f = 0.323115 recalculating with a_f = -32.555212, a = -32.555212 revised dt = 0.001194 dt = 0.001194, not at end yet tc id = 73, canon_type = 2, mot type = 1 time: 4.636000 primary movement = 3.782498198510e-04 time: 4.636000000000e+00 total movement = 3.782498198510e-04 vel = 3.619722137867e-01 ------------------- tc state : vr = 3.382018, vf = 0.323115, maxvel = 9.043078, current_vel = 0.329417, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.329417, acc = -32.555212,T = 0.007102, P = 0.007039 on final decel initial results: dx= 0.000063,dt = 0.000194, a_f = -32.555212, v_f = 0.323115 recalculating with a_f = -32.555212, a = -32.555212 revised dt = 0.000194 actual v_f = 0.323115, a = -32.555212 split time is 0.00019357 tc id = 73, canon_type = 2, mot type = 1 time: 4.637000 primary movement = 3.456946077224e-04 time: 4.637000000000e+00 total movement = 3.456946077224e-04 vel = 3.294170016581e-01 ------------------- tc id 73 done Finishing split-cycle on id 74 tc state : vr = 0.491752, vf = 0.000000, maxvel = 0.491752, current_vel = 0.311019, fs = 1.000000, tc = 0.000806, term = 3 tc result: v = 0.311019, acc = -15.000000,T = 0.003480, P = 0.000256 on final decel initial results: dx= 0.003224,dt = 0.020735, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.020735 dt = 0.020735, not at end yet secondary movement = 0.000256 tc id = 74, canon_type = 3, mot type = 2 time: 4.638000 primary movement = 6.315539926583e-05 time: 4.638000000000e+00 total movement = 3.188396876541e-04 vel = 3.110188359056e-01 Finished tc id 73 ------------------- Activate tc id = 74 target_vel = 0.491752 final_vel = 0.000000 length = 0.003480 tc state : vr = 0.491752, vf = 0.000000, maxvel = 0.491752, current_vel = 0.296019, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.296019, acc = -15.000000,T = 0.003480, P = 0.000559 on final decel initial results: dx= 0.002921,dt = 0.019735, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.019735 dt = 0.019735, not at end yet tc id = 74, canon_type = 3, mot type = 2 time: 4.639000 primary movement = 3.035053878106e-04 time: 4.639000000000e+00 total movement = 3.035053878106e-04 vel = 2.960188359056e-01 ------------------- tc state : vr = 0.491752, vf = 0.000000, maxvel = 0.491752, current_vel = 0.281019, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.281019, acc = -15.000000,T = 0.003480, P = 0.000848 on final decel initial results: dx= 0.002632,dt = 0.018735, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.018735 dt = 0.018735, not at end yet tc id = 74, canon_type = 3, mot type = 2 time: 4.640000 primary movement = 2.885072847111e-04 time: 4.640000000000e+00 total movement = 2.885072847111e-04 vel = 2.810188359056e-01 ------------------- tc state : vr = 0.491752, vf = 0.000000, maxvel = 0.491752, current_vel = 0.266019, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.266019, acc = -15.000000,T = 0.003480, P = 0.001121 on final decel initial results: dx= 0.002359,dt = 0.017735, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.017735 dt = 0.017735, not at end yet tc id = 74, canon_type = 3, mot type = 2 time: 4.641000 primary movement = 2.735089942847e-04 time: 4.641000000000e+00 total movement = 2.735089942847e-04 vel = 2.660188359056e-01 ------------------- tc state : vr = 0.491752, vf = 0.000000, maxvel = 0.491752, current_vel = 0.251019, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.251019, acc = -15.000000,T = 0.003480, P = 0.001380 on final decel initial results: dx= 0.002100,dt = 0.016735, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.016735 dt = 0.016735, not at end yet tc id = 74, canon_type = 3, mot type = 2 time: 4.642000 primary movement = 2.585105262698e-04 time: 4.642000000000e+00 total movement = 2.585105262698e-04 vel = 2.510188359056e-01 ------------------- tc state : vr = 0.491752, vf = 0.000000, maxvel = 0.491752, current_vel = 0.236019, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.236019, acc = -15.000000,T = 0.003480, P = 0.001623 on final decel initial results: dx= 0.001857,dt = 0.015735, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.015735 dt = 0.015735, not at end yet tc id = 74, canon_type = 3, mot type = 2 time: 4.643000 primary movement = 2.435118904049e-04 time: 4.643000000000e+00 total movement = 2.435118904049e-04 vel = 2.360188359056e-01 ------------------- tc state : vr = 0.491752, vf = 0.000000, maxvel = 0.491752, current_vel = 0.221019, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.221019, acc = -15.000000,T = 0.003480, P = 0.001852 on final decel initial results: dx= 0.001628,dt = 0.014735, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.014735 dt = 0.014735, not at end yet tc id = 74, canon_type = 3, mot type = 2 time: 4.644000 primary movement = 2.285130964283e-04 time: 4.644000000000e+00 total movement = 2.285130964283e-04 vel = 2.210188359056e-01 ------------------- tc state : vr = 0.491752, vf = 0.000000, maxvel = 0.491752, current_vel = 0.206019, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.206019, acc = -15.000000,T = 0.003480, P = 0.002065 on final decel initial results: dx= 0.001415,dt = 0.013735, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.013735 dt = 0.013735, not at end yet tc id = 74, canon_type = 3, mot type = 2 time: 4.645000 primary movement = 2.135141540790e-04 time: 4.645000000000e+00 total movement = 2.135141540790e-04 vel = 2.060188359056e-01 ------------------- tc state : vr = 0.491752, vf = 0.000000, maxvel = 0.491752, current_vel = 0.191019, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.191019, acc = -15.000000,T = 0.003480, P = 0.002264 on final decel initial results: dx= 0.001216,dt = 0.012735, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.012735 dt = 0.012735, not at end yet tc id = 74, canon_type = 3, mot type = 2 time: 4.646000 primary movement = 1.985150730956e-04 time: 4.646000000000e+00 total movement = 1.985150730956e-04 vel = 1.910188359056e-01 ------------------- tc state : vr = 0.491752, vf = 0.000000, maxvel = 0.491752, current_vel = 0.176019, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.176019, acc = -15.000000,T = 0.003480, P = 0.002447 on final decel initial results: dx= 0.001033,dt = 0.011735, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.011735 dt = 0.011735, not at end yet tc id = 74, canon_type = 3, mot type = 2 time: 4.647000 primary movement = 1.835158632169e-04 time: 4.647000000000e+00 total movement = 1.835158632169e-04 vel = 1.760188359056e-01 ------------------- tc state : vr = 0.491752, vf = 0.000000, maxvel = 0.491752, current_vel = 0.161019, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.161019, acc = -15.000000,T = 0.003480, P = 0.002616 on final decel initial results: dx= 0.000864,dt = 0.010735, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.010735 dt = 0.010735, not at end yet tc id = 74, canon_type = 3, mot type = 2 time: 4.648000 primary movement = 1.685165341820e-04 time: 4.648000000000e+00 total movement = 1.685165341820e-04 vel = 1.610188359056e-01 ------------------- tc state : vr = 0.491752, vf = 0.000000, maxvel = 0.491752, current_vel = 0.146019, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.146019, acc = -15.000000,T = 0.003480, P = 0.002769 on final decel initial results: dx= 0.000711,dt = 0.009735, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.009735 dt = 0.009735, not at end yet tc id = 74, canon_type = 3, mot type = 2 time: 4.649000 primary movement = 1.535170957297e-04 time: 4.649000000000e+00 total movement = 1.535170957297e-04 vel = 1.460188359056e-01 ------------------- tc state : vr = 0.491752, vf = 0.000000, maxvel = 0.491752, current_vel = 0.131019, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.131019, acc = -15.000000,T = 0.003480, P = 0.002908 on final decel initial results: dx= 0.000572,dt = 0.008735, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.008735 dt = 0.008735, not at end yet tc id = 74, canon_type = 3, mot type = 2 time: 4.650000 primary movement = 1.385175575994e-04 time: 4.650000000000e+00 total movement = 1.385175575994e-04 vel = 1.310188359056e-01 ------------------- tc state : vr = 0.491752, vf = 0.000000, maxvel = 0.491752, current_vel = 0.116019, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.116019, acc = -15.000000,T = 0.003480, P = 0.003031 on final decel initial results: dx= 0.000449,dt = 0.007735, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.007735 dt = 0.007735, not at end yet tc id = 74, canon_type = 3, mot type = 2 time: 4.651000 primary movement = 1.235179295299e-04 time: 4.651000000000e+00 total movement = 1.235179295299e-04 vel = 1.160188359056e-01 ------------------- tc state : vr = 0.491752, vf = 0.000000, maxvel = 0.491752, current_vel = 0.101019, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.101019, acc = -15.000000,T = 0.003480, P = 0.003140 on final decel initial results: dx= 0.000340,dt = 0.006735, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.006735 dt = 0.006735, not at end yet tc id = 74, canon_type = 3, mot type = 2 time: 4.652000 primary movement = 1.085182212607e-04 time: 4.652000000000e+00 total movement = 1.085182212607e-04 vel = 1.010188359056e-01 ------------------- tc state : vr = 0.491752, vf = 0.000000, maxvel = 0.491752, current_vel = 0.086019, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.086019, acc = -15.000000,T = 0.003480, P = 0.003233 on final decel initial results: dx= 0.000247,dt = 0.005735, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.005735 dt = 0.005735, not at end yet tc id = 74, canon_type = 3, mot type = 2 time: 4.653000 primary movement = 9.351844253094e-05 time: 4.653000000000e+00 total movement = 9.351844253094e-05 vel = 8.601883590556e-02 ------------------- tc state : vr = 0.491752, vf = 0.000000, maxvel = 0.491752, current_vel = 0.071019, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.071019, acc = -15.000000,T = 0.003480, P = 0.003312 on final decel initial results: dx= 0.000168,dt = 0.004735, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.004735 dt = 0.004735, not at end yet tc id = 74, canon_type = 3, mot type = 2 time: 4.654000 primary movement = 7.851860307993e-05 time: 4.654000000000e+00 total movement = 7.851860307993e-05 vel = 7.101883590556e-02 ------------------- tc state : vr = 0.491752, vf = 0.000000, maxvel = 0.491752, current_vel = 0.056019, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.056019, acc = -15.000000,T = 0.003480, P = 0.003376 on final decel initial results: dx= 0.000105,dt = 0.003735, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.003735 dt = 0.003735, not at end yet tc id = 74, canon_type = 3, mot type = 2 time: 4.655000 primary movement = 6.351871264703e-05 time: 4.655000000000e+00 total movement = 6.351871264703e-05 vel = 5.601883590556e-02 ------------------- tc state : vr = 0.491752, vf = 0.000000, maxvel = 0.491752, current_vel = 0.041019, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.041019, acc = -15.000000,T = 0.003480, P = 0.003424 on final decel initial results: dx= 0.000056,dt = 0.002735, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.002735 dt = 0.002735, not at end yet tc id = 74, canon_type = 3, mot type = 2 time: 4.656000 primary movement = 4.851878097165e-05 time: 4.656000000000e+00 total movement = 4.851878097165e-05 vel = 4.101883590556e-02 ------------------- tc state : vr = 0.491752, vf = 0.000000, maxvel = 0.491752, current_vel = 0.026019, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.026019, acc = -15.000000,T = 0.003480, P = 0.003458 on final decel initial results: dx= 0.000023,dt = 0.001735, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.001735 dt = 0.001735, not at end yet tc id = 74, canon_type = 3, mot type = 2 time: 4.657000 primary movement = 3.351881779312e-05 time: 4.657000000000e+00 total movement = 3.351881779312e-05 vel = 2.601883590556e-02 ------------------- tc state : vr = 0.491752, vf = 0.000000, maxvel = 0.491752, current_vel = 0.011019, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.011019, acc = -15.000000,T = 0.003480, P = 0.003476 on final decel initial results: dx= 0.000004,dt = 0.000735, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.000735 actual v_f = 0.000000, a = -15.000000 split time is 0.000734588 tc id = 74, canon_type = 3, mot type = 2 time: 4.658000 primary movement = 1.851883285097e-05 time: 4.658000000000e+00 total movement = 1.851883285097e-05 vel = 1.101883590556e-02 ------------------- tc id 74 done Finishing split-cycle on id 74 tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.005560, fs = 1.000000, tc = 0.000265, term = 2 tc result: v = 0.005560, acc = 20.949717,T = 0.003826, P = 0.000001 secondary movement = 0.000001 tc id = 74, canon_type = 2, mot type = 1 time: 4.659000 primary movement = 4.047158125251e-06 time: 4.659000000000e+00 total movement = 4.785046130455e-06 vel = 5.560313764598e-03 Finished tc id 74 ------------------- Activate tc id = 74 target_vel = 11.638685 final_vel = 0.000000 length = 0.003826 Activate nexttc id 75 tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.026510, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.026510, acc = 20.949717,T = 0.003826, P = 0.000017 tc id = 74, canon_type = 2, mot type = 1 time: 4.660000 primary movement = 1.603517205717e-05 time: 4.660000000000e+00 total movement = 1.603517205717e-05 vel = 2.651003034979e-02 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.047460, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.047460, acc = 20.949717,T = 0.003826, P = 0.000054 tc id = 74, canon_type = 2, mot type = 1 time: 4.661000 primary movement = 3.698488864241e-05 time: 4.661000000000e+00 total movement = 3.698488864241e-05 vel = 4.745974693499e-02 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.068409, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.068409, acc = 20.949717,T = 0.003826, P = 0.000112 tc id = 74, canon_type = 2, mot type = 1 time: 4.662000 primary movement = 5.793460522759e-05 time: 4.662000000000e+00 total movement = 5.793460522759e-05 vel = 6.840946352018e-02 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.089359, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.089359, acc = 20.949717,T = 0.003826, P = 0.000191 tc id = 74, canon_type = 2, mot type = 1 time: 4.663000 primary movement = 7.888432181277e-05 time: 4.663000000000e+00 total movement = 7.888432181277e-05 vel = 8.935918010538e-02 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.110309, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.110309, acc = 20.949717,T = 0.003826, P = 0.000290 tc id = 74, canon_type = 2, mot type = 1 time: 4.664000 primary movement = 9.983403839797e-05 time: 4.664000000000e+00 total movement = 9.983403839797e-05 vel = 1.103088966906e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.131259, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.131259, acc = 20.949717,T = 0.003826, P = 0.000411 tc id = 74, canon_type = 2, mot type = 1 time: 4.665000 primary movement = 1.207837549832e-04 time: 4.665000000000e+00 total movement = 1.207837549832e-04 vel = 1.312586132758e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.152208, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.152208, acc = 20.949717,T = 0.003826, P = 0.000553 tc id = 74, canon_type = 2, mot type = 1 time: 4.666000 primary movement = 1.417334715683e-04 time: 4.666000000000e+00 total movement = 1.417334715683e-04 vel = 1.522083298610e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.173158, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.173158, acc = 20.949717,T = 0.003826, P = 0.000716 tc id = 74, canon_type = 2, mot type = 1 time: 4.667000 primary movement = 1.626831881536e-04 time: 4.667000000000e+00 total movement = 1.626831881536e-04 vel = 1.731580464462e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.194108, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.194108, acc = 20.949717,T = 0.003826, P = 0.000899 tc id = 74, canon_type = 2, mot type = 1 time: 4.668000 primary movement = 1.836329047388e-04 time: 4.668000000000e+00 total movement = 1.836329047388e-04 vel = 1.941077630314e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.215057, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.215057, acc = 20.949717,T = 0.003826, P = 0.001104 tc id = 74, canon_type = 2, mot type = 1 time: 4.669000 primary movement = 2.045826213239e-04 time: 4.669000000000e+00 total movement = 2.045826213239e-04 vel = 2.150574796165e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.236007, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.236007, acc = 20.949717,T = 0.003826, P = 0.001329 tc id = 74, canon_type = 2, mot type = 1 time: 4.670000 primary movement = 2.255323379091e-04 time: 4.670000000000e+00 total movement = 2.255323379091e-04 vel = 2.360071962017e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.256957, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.256957, acc = 20.949717,T = 0.003826, P = 0.001576 tc id = 74, canon_type = 2, mot type = 1 time: 4.671000 primary movement = 2.464820544944e-04 time: 4.671000000000e+00 total movement = 2.464820544944e-04 vel = 2.569569127869e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.277907, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.277907, acc = 20.949717,T = 0.003826, P = 0.001843 tc id = 74, canon_type = 2, mot type = 1 time: 4.672000 primary movement = 2.674317710795e-04 time: 4.672000000000e+00 total movement = 2.674317710795e-04 vel = 2.779066293721e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.267665, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.267665, acc = -10.241782,T = 0.003826, P = 0.002116 on final decel tc id = 74, canon_type = 2, mot type = 1 tc state : vr = 0.010242, vf = 0.010242, maxvel = 9.279944, current_vel = 0.010242, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.010242, acc = 10.241782,T = 0.009737, P = 0.000005 initial results: dx= 0.009732,dt = 0.059765, a_f = 5.106407, v_f = 0.315425 dt = 0.059765, not at end yet tc id = 74, canon_type = 2, mot type = 1 secondary movement = 0.000005 time: 4.673000 primary movement = 2.727857384918e-04 time: 4.673000000000e+00 total movement = 2.779066293721e-04 vel = 2.779066293721e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.246715, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.246715, acc = -20.949717,T = 0.003826, P = 0.002373 on final decel tc id = 74, canon_type = 2, mot type = 1 tc state : vr = 0.031191, vf = 0.031191, maxvel = 9.279944, current_vel = 0.026946, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.026946, acc = 16.703967,T = 0.009737, P = 0.000024 initial results: dx= 0.009713,dt = 0.056740, a_f = 5.084206, v_f = 0.315425 dt = 0.056740, not at end yet tc id = 74, canon_type = 2, mot type = 1 secondary movement = 0.000019 time: 4.674000 primary movement = 2.571899893189e-04 time: 4.674000000000e+00 total movement = 2.757837543769e-04 vel = 2.736608793817e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.225765, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.225765, acc = -20.949717,T = 0.003826, P = 0.002609 on final decel tc id = 74, canon_type = 2, mot type = 1 tc state : vr = 0.052141, vf = 0.052141, maxvel = 9.279944, current_vel = 0.043650, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.043650, acc = 16.703967,T = 0.009737, P = 0.000059 initial results: dx= 0.009678,dt = 0.053904, a_f = 5.041825, v_f = 0.315425 dt = 0.053904, not at end yet tc id = 74, canon_type = 2, mot type = 1 secondary movement = 0.000035 time: 4.675000 primary movement = 2.362402727337e-04 time: 4.675000000000e+00 total movement = 2.715380043866e-04 vel = 2.694151293913e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.204816, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.204816, acc = -20.949717,T = 0.003826, P = 0.002825 on final decel tc id = 74, canon_type = 2, mot type = 1 tc state : vr = 0.073091, vf = 0.073091, maxvel = 9.279944, current_vel = 0.060354, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.060354, acc = 16.703967,T = 0.009737, P = 0.000111 initial results: dx= 0.009626,dt = 0.051231, a_f = 4.978823, v_f = 0.315425 dt = 0.051231, not at end yet tc id = 74, canon_type = 2, mot type = 1 secondary movement = 0.000052 time: 4.676000 primary movement = 2.152905561484e-04 time: 4.676000000000e+00 total movement = 2.672922543961e-04 vel = 2.651693794009e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.183866, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.183866, acc = -20.949717,T = 0.003826, P = 0.003019 on final decel tc id = 74, canon_type = 2, mot type = 1 tc state : vr = 0.094041, vf = 0.094041, maxvel = 9.279944, current_vel = 0.077058, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.077058, acc = 16.703967,T = 0.009737, P = 0.000180 initial results: dx= 0.009557,dt = 0.048701, a_f = 4.894531, v_f = 0.315425 dt = 0.048701, not at end yet tc id = 74, canon_type = 2, mot type = 1 secondary movement = 0.000069 time: 4.677000 primary movement = 1.943408395633e-04 time: 4.677000000000e+00 total movement = 2.630465044058e-04 vel = 2.609236294105e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.162916, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.162916, acc = -20.949717,T = 0.003826, P = 0.003193 on final decel tc id = 74, canon_type = 2, mot type = 1 tc state : vr = 0.114990, vf = 0.114990, maxvel = 9.279944, current_vel = 0.093762, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.093762, acc = 16.703967,T = 0.009737, P = 0.000265 initial results: dx= 0.009472,dt = 0.046295, a_f = 4.788041, v_f = 0.315425 dt = 0.046295, not at end yet tc id = 74, canon_type = 2, mot type = 1 secondary movement = 0.000085 time: 4.678000 primary movement = 1.733911229781e-04 time: 4.678000000000e+00 total movement = 2.588007544154e-04 vel = 2.566778794201e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.141967, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.141967, acc = -20.949717,T = 0.003826, P = 0.003345 on final decel tc id = 74, canon_type = 2, mot type = 1 tc state : vr = 0.135940, vf = 0.135940, maxvel = 9.279944, current_vel = 0.110466, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.110466, acc = 16.703967,T = 0.009737, P = 0.000367 initial results: dx= 0.009370,dt = 0.044000, a_f = 4.658176, v_f = 0.315425 dt = 0.044000, not at end yet tc id = 74, canon_type = 2, mot type = 1 secondary movement = 0.000102 time: 4.679000 primary movement = 1.524414063929e-04 time: 4.679000000000e+00 total movement = 2.545550044249e-04 vel = 2.524321294297e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.121017, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.121017, acc = -20.949717,T = 0.003826, P = 0.003476 on final decel tc id = 74, canon_type = 2, mot type = 1 tc state : vr = 0.156890, vf = 0.156890, maxvel = 9.279944, current_vel = 0.127170, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.127170, acc = 16.703967,T = 0.009737, P = 0.000486 initial results: dx= 0.009251,dt = 0.041802, a_f = 4.503459, v_f = 0.315425 dt = 0.041802, not at end yet tc id = 75, canon_type = 2, mot type = 1 secondary movement = 0.000119 time: 4.680000 primary movement = 1.314916898077e-04 time: 4.680000000000e+00 total movement = 2.503092544345e-04 vel = 2.481863794393e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.100067, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.100067, acc = -20.949717,T = 0.003826, P = 0.003587 on final decel tc id = 74, canon_type = 2, mot type = 1 tc state : vr = 0.177840, vf = 0.177840, maxvel = 9.279944, current_vel = 0.143874, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.143874, acc = 16.703967,T = 0.009737, P = 0.000622 initial results: dx= 0.009115,dt = 0.039692, a_f = 4.322067, v_f = 0.315425 dt = 0.039692, not at end yet tc id = 75, canon_type = 2, mot type = 1 secondary movement = 0.000136 time: 4.681000 primary movement = 1.105419732225e-04 time: 4.681000000000e+00 total movement = 2.460635044442e-04 vel = 2.439406294489e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.079117, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.079117, acc = -20.949717,T = 0.003826, P = 0.003677 on final decel tc id = 74, canon_type = 2, mot type = 1 tc state : vr = 0.198789, vf = 0.198789, maxvel = 9.279944, current_vel = 0.160577, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.160577, acc = 16.703967,T = 0.009737, P = 0.000774 initial results: dx= 0.008963,dt = 0.037660, a_f = 4.111776, v_f = 0.315425 dt = 0.037660, not at end yet tc id = 75, canon_type = 2, mot type = 1 secondary movement = 0.000152 time: 4.682000 primary movement = 8.959225663726e-05 time: 4.682000000000e+00 total movement = 2.418177544537e-04 vel = 2.396948794585e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.058168, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.058168, acc = -20.949717,T = 0.003826, P = 0.003745 on final decel tc id = 74, canon_type = 2, mot type = 1 tc state : vr = 0.219739, vf = 0.219739, maxvel = 9.279944, current_vel = 0.177281, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.177281, acc = 16.703967,T = 0.009737, P = 0.000943 initial results: dx= 0.008794,dt = 0.035697, a_f = 3.869887, v_f = 0.315425 dt = 0.035697, not at end yet tc id = 75, canon_type = 2, mot type = 1 secondary movement = 0.000169 time: 4.683000 primary movement = 6.864254005210e-05 time: 4.683000000000e+00 total movement = 2.375720044633e-04 vel = 2.354491294681e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.037218, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.037218, acc = -20.949717,T = 0.003826, P = 0.003793 on final decel tc id = 74, canon_type = 2, mot type = 1 tc state : vr = 0.240689, vf = 0.240689, maxvel = 9.279944, current_vel = 0.193985, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.193985, acc = 16.703967,T = 0.009737, P = 0.001128 initial results: dx= 0.008608,dt = 0.033798, a_f = 3.593132, v_f = 0.315425 dt = 0.033798, not at end yet tc id = 75, canon_type = 2, mot type = 1 secondary movement = 0.000186 time: 4.684000 primary movement = 4.769282346686e-05 time: 4.684000000000e+00 total movement = 2.333262544729e-04 vel = 2.312033794777e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.016268, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.016268, acc = -20.949717,T = 0.003826, P = 0.003820 on final decel tc id = 74, canon_type = 2, mot type = 1 tc state : vr = 0.261638, vf = 0.261638, maxvel = 9.279944, current_vel = 0.210689, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.210689, acc = 16.703967,T = 0.009737, P = 0.001331 initial results: dx= 0.008406,dt = 0.031955, a_f = 3.277550, v_f = 0.315425 dt = 0.031955, not at end yet tc id = 75, canon_type = 2, mot type = 1 secondary movement = 0.000202 time: 4.685000 primary movement = 2.674310688172e-05 time: 4.685000000000e+00 total movement = 2.290805044826e-04 vel = 2.269576294873e-01 ------------------- Found newvel = -0.004681, assuming segment is done segment 74 at target in runcycle tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.003826, P = 0.003826 tc id = 74, canon_type = 2, mot type = 1 tc state : vr = 0.277907, vf = 0.277907, maxvel = 9.279944, current_vel = 0.227393, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.227393, acc = 16.703967,T = 0.009737, P = 0.001550 initial results: dx= 0.008187,dt = 0.030165, a_f = 2.918332, v_f = 0.315425 dt = 0.030165, not at end yet tc id = 75, canon_type = 2, mot type = 1 secondary movement = 0.000219 time: 4.686000 primary movement = 6.316455668496e-06 time: 4.686000000000e+00 total movement = 2.253578198641e-04 vel = 2.273933474930e-01 Finished tc id 74 ------------------- tc state : vr = 4.636580, vf = 0.315425, maxvel = 9.279944, current_vel = 0.244097, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.244097, acc = 16.703967,T = 0.009737, P = 0.001785 initial results: dx= 0.007951,dt = 0.028422, a_f = 2.509608, v_f = 0.315425 dt = 0.028422, not at end yet tc id = 75, canon_type = 2, mot type = 1 time: 4.687000 primary movement = 2.357453307904e-04 time: 4.687000000000e+00 total movement = 2.357453307904e-04 vel = 2.440973140878e-01 ------------------- tc state : vr = 4.636580, vf = 0.315425, maxvel = 9.279944, current_vel = 0.260801, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.260801, acc = 16.703967,T = 0.009737, P = 0.002038 initial results: dx= 0.007699,dt = 0.026722, a_f = 2.044169, v_f = 0.315425 dt = 0.026722, not at end yet tc id = 75, canon_type = 2, mot type = 1 time: 4.688000 primary movement = 2.524492973852e-04 time: 4.688000000000e+00 total movement = 2.524492973852e-04 vel = 2.608012806826e-01 ------------------- tc state : vr = 4.636580, vf = 0.315425, maxvel = 9.279944, current_vel = 0.277505, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.277505, acc = 16.703967,T = 0.009737, P = 0.002307 initial results: dx= 0.007430,dt = 0.025061, a_f = 1.513095, v_f = 0.315425 dt = 0.025061, not at end yet tc id = 75, canon_type = 2, mot type = 1 time: 4.689000 primary movement = 2.691532639800e-04 time: 4.689000000000e+00 total movement = 2.691532639800e-04 vel = 2.775052472774e-01 ------------------- tc state : vr = 4.636580, vf = 0.315425, maxvel = 9.279944, current_vel = 0.294209, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.294209, acc = 16.703967,T = 0.009737, P = 0.002593 initial results: dx= 0.007144,dt = 0.023437, a_f = 0.905242, v_f = 0.315425 dt = 0.023437, not at end yet tc id = 75, canon_type = 2, mot type = 1 time: 4.690000 primary movement = 2.858572305748e-04 time: 4.690000000000e+00 total movement = 2.858572305748e-04 vel = 2.942092138722e-01 ------------------- tc state : vr = 4.636580, vf = 0.315425, maxvel = 9.279944, current_vel = 0.310913, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.310913, acc = 16.703967,T = 0.009737, P = 0.002896 initial results: dx= 0.006841,dt = 0.021845, a_f = 0.206532, v_f = 0.315425 dt = 0.021845, not at end yet tc id = 75, canon_type = 2, mot type = 1 time: 4.691000 primary movement = 3.025611971696e-04 time: 4.691000000000e+00 total movement = 3.025611971696e-04 vel = 3.109131804670e-01 ------------------- tc state : vr = 4.636580, vf = 0.315425, maxvel = 9.279944, current_vel = 0.327617, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.327617, acc = 16.703967,T = 0.009737, P = 0.003215 initial results: dx= 0.006522,dt = 0.020285, a_f = -0.601046, v_f = 0.315425 dt = 0.020285, not at end yet tc id = 75, canon_type = 2, mot type = 1 time: 4.692000 primary movement = 3.192651637644e-04 time: 4.692000000000e+00 total movement = 3.192651637644e-04 vel = 3.276171470618e-01 ------------------- tc state : vr = 4.636580, vf = 0.315425, maxvel = 9.279944, current_vel = 0.344321, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.344321, acc = 16.703967,T = 0.009737, P = 0.003551 initial results: dx= 0.006186,dt = 0.018753, a_f = -1.540892, v_f = 0.315425 dt = 0.018753, not at end yet tc id = 75, canon_type = 2, mot type = 1 time: 4.693000 primary movement = 3.359691303592e-04 time: 4.693000000000e+00 total movement = 3.359691303592e-04 vel = 3.443211136566e-01 ------------------- tc state : vr = 4.636580, vf = 0.315425, maxvel = 9.279944, current_vel = 0.361025, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.361025, acc = 16.703967,T = 0.009737, P = 0.003903 initial results: dx= 0.005833,dt = 0.017247, a_f = -2.643933, v_f = 0.315425 dt = 0.017247, not at end yet tc id = 75, canon_type = 2, mot type = 1 time: 4.694000 primary movement = 3.526730969540e-04 time: 4.694000000000e+00 total movement = 3.526730969540e-04 vel = 3.610250802514e-01 ------------------- tc state : vr = 4.636580, vf = 0.315425, maxvel = 9.279944, current_vel = 0.377729, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.377729, acc = 16.703967,T = 0.009737, P = 0.004273 initial results: dx= 0.005464,dt = 0.015766, a_f = -3.951884, v_f = 0.315425 dt = 0.015766, not at end yet tc id = 75, canon_type = 2, mot type = 1 time: 4.695000 primary movement = 3.693770635488e-04 time: 4.695000000000e+00 total movement = 3.693770635488e-04 vel = 3.777290468462e-01 ------------------- tc state : vr = 4.636580, vf = 0.315425, maxvel = 9.279944, current_vel = 0.394433, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.394433, acc = 16.703967,T = 0.009737, P = 0.004659 initial results: dx= 0.005078,dt = 0.014307, a_f = -5.522371, v_f = 0.315425 dt = 0.014307, not at end yet tc id = 75, canon_type = 2, mot type = 1 time: 4.696000 primary movement = 3.860810301436e-04 time: 4.696000000000e+00 total movement = 3.860810301436e-04 vel = 3.944330134410e-01 ------------------- tc state : vr = 4.636580, vf = 0.315425, maxvel = 9.279944, current_vel = 0.411137, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.411137, acc = 16.703967,T = 0.009737, P = 0.005062 initial results: dx= 0.004675,dt = 0.012869, a_f = -7.437269, v_f = 0.315425 dt = 0.012869, not at end yet tc id = 75, canon_type = 2, mot type = 1 time: 4.697000 primary movement = 4.027849967383e-04 time: 4.697000000000e+00 total movement = 4.027849967383e-04 vel = 4.111369800358e-01 ------------------- tc state : vr = 4.636580, vf = 0.315425, maxvel = 9.279944, current_vel = 0.427841, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.427841, acc = 16.703967,T = 0.009737, P = 0.005481 initial results: dx= 0.004256,dt = 0.011451, a_f = -9.816917, v_f = 0.315425 dt = 0.011451, not at end yet tc id = 75, canon_type = 2, mot type = 1 time: 4.698000 primary movement = 4.194889633332e-04 time: 4.698000000000e+00 total movement = 4.194889633332e-04 vel = 4.278409466305e-01 ------------------- tc state : vr = 4.636580, vf = 0.315425, maxvel = 9.279944, current_vel = 0.444545, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.444545, acc = 16.703967,T = 0.009737, P = 0.005917 initial results: dx= 0.003819,dt = 0.010052, a_f = -12.845668, v_f = 0.315425 dt = 0.010052, not at end yet tc id = 75, canon_type = 2, mot type = 1 time: 4.699000 primary movement = 4.361929299279e-04 time: 4.699000000000e+00 total movement = 4.361929299279e-04 vel = 4.445449132253e-01 ------------------- tc state : vr = 4.636580, vf = 0.315425, maxvel = 9.279944, current_vel = 0.460410, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.460410, acc = 15.864851,T = 0.009737, P = 0.006370 initial results: dx= 0.003367,dt = 0.008680, a_f = -16.703967, v_f = 0.315425 dt = 0.008680, not at end yet tc id = 75, canon_type = 2, mot type = 1 time: 4.700000 primary movement = 4.524773386279e-04 time: 4.700000000000e+00 total movement = 4.524773386279e-04 vel = 4.604097640305e-01 ------------------- tc state : vr = 4.636580, vf = 0.315425, maxvel = 9.279944, current_vel = 0.443706, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.443706, acc = -16.703967,T = 0.009737, P = 0.006822 on final decel initial results: dx= 0.002915,dt = 0.007680, a_f = -16.703967, v_f = 0.315425 dt = 0.007680, not at end yet tc id = 75, canon_type = 2, mot type = 1 time: 4.701000 primary movement = 4.520577807331e-04 time: 4.701000000000e+00 total movement = 4.520577807331e-04 vel = 4.437057974357e-01 ------------------- tc state : vr = 4.636580, vf = 0.315425, maxvel = 9.279944, current_vel = 0.427002, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.427002, acc = -16.703967,T = 0.009737, P = 0.007257 on final decel initial results: dx= 0.002480,dt = 0.006680, a_f = -16.703967, v_f = 0.315425 recalculating with a_f = -16.703967, a = -16.703967 revised dt = 0.006680 dt = 0.006680, not at end yet tc id = 75, canon_type = 2, mot type = 1 time: 4.702000 primary movement = 4.353538141383e-04 time: 4.702000000000e+00 total movement = 4.353538141383e-04 vel = 4.270018308409e-01 ------------------- tc state : vr = 4.636580, vf = 0.315425, maxvel = 9.279944, current_vel = 0.410298, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.410298, acc = -16.703967,T = 0.009737, P = 0.007676 on final decel initial results: dx= 0.002061,dt = 0.005680, a_f = -16.703967, v_f = 0.315425 recalculating with a_f = -16.703967, a = -16.703967 revised dt = 0.005680 dt = 0.005680, not at end yet tc id = 75, canon_type = 2, mot type = 1 time: 4.703000 primary movement = 4.186498475435e-04 time: 4.703000000000e+00 total movement = 4.186498475435e-04 vel = 4.102978642461e-01 ------------------- tc state : vr = 4.636580, vf = 0.315425, maxvel = 9.279944, current_vel = 0.393594, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.393594, acc = -16.703967,T = 0.009737, P = 0.008078 on final decel initial results: dx= 0.001659,dt = 0.004680, a_f = -16.703967, v_f = 0.315425 recalculating with a_f = -16.703967, a = -16.703967 revised dt = 0.004680 dt = 0.004680, not at end yet tc id = 75, canon_type = 2, mot type = 1 time: 4.704000 primary movement = 4.019458809487e-04 time: 4.704000000000e+00 total movement = 4.019458809487e-04 vel = 3.935938976513e-01 ------------------- tc state : vr = 4.636580, vf = 0.315425, maxvel = 9.279944, current_vel = 0.376890, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.376890, acc = -16.703967,T = 0.009737, P = 0.008463 on final decel initial results: dx= 0.001274,dt = 0.003680, a_f = -16.703967, v_f = 0.315425 recalculating with a_f = -16.703967, a = -16.703967 revised dt = 0.003680 dt = 0.003680, not at end yet tc id = 75, canon_type = 2, mot type = 1 time: 4.705000 primary movement = 3.852419143539e-04 time: 4.705000000000e+00 total movement = 3.852419143539e-04 vel = 3.768899310565e-01 ------------------- tc state : vr = 4.636580, vf = 0.315425, maxvel = 9.279944, current_vel = 0.360186, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.360186, acc = -16.703967,T = 0.009737, P = 0.008832 on final decel initial results: dx= 0.000905,dt = 0.002680, a_f = -16.703967, v_f = 0.315425 recalculating with a_f = -16.703967, a = -16.703967 revised dt = 0.002680 dt = 0.002680, not at end yet tc id = 75, canon_type = 2, mot type = 1 time: 4.706000 primary movement = 3.685379477592e-04 time: 4.706000000000e+00 total movement = 3.685379477592e-04 vel = 3.601859644617e-01 ------------------- tc state : vr = 4.636580, vf = 0.315425, maxvel = 9.279944, current_vel = 0.343482, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.343482, acc = -16.703967,T = 0.009737, P = 0.009183 on final decel initial results: dx= 0.000553,dt = 0.001680, a_f = -16.703967, v_f = 0.315425 recalculating with a_f = -16.703967, a = -16.703967 revised dt = 0.001680 dt = 0.001680, not at end yet tc id = 75, canon_type = 2, mot type = 1 time: 4.707000 primary movement = 3.518339811643e-04 time: 4.707000000000e+00 total movement = 3.518339811643e-04 vel = 3.434819978669e-01 ------------------- tc state : vr = 4.636580, vf = 0.315425, maxvel = 9.279944, current_vel = 0.326778, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.326778, acc = -16.703967,T = 0.009737, P = 0.009519 on final decel initial results: dx= 0.000218,dt = 0.000680, a_f = -16.703967, v_f = 0.315425 recalculating with a_f = -16.703967, a = -16.703967 revised dt = 0.000680 actual v_f = 0.315425, a = -16.703967 split time is 0.000679663 tc id = 75, canon_type = 2, mot type = 1 time: 4.708000 primary movement = 3.351300145695e-04 time: 4.708000000000e+00 total movement = 3.351300145695e-04 vel = 3.267780312721e-01 ------------------- tc id 75 done Finishing split-cycle on id 76 tc state : vr = 0.315425, vf = 0.315425, maxvel = 0.315425, current_vel = 0.315425, fs = 1.000000, tc = 0.000320, term = 3 tc result: v = 0.315425, acc = -0.000000,T = 0.002683, P = 0.000101 initial results: dx= 0.002582,dt = 0.008185, a_f = 0.000000, v_f = 0.315425 dt = 0.008185, not at end yet secondary movement = 0.000101 tc id = 76, canon_type = 3, mot type = 2 time: 4.709000 primary movement = 2.182408855445e-04 time: 4.709000000000e+00 total movement = 3.192801610540e-04 vel = 3.154249590609e-01 Finished tc id 75 ------------------- Activate tc id = 76 target_vel = 0.315425 final_vel = 0.315425 length = 0.002683 tc state : vr = 0.315425, vf = 0.315425, maxvel = 0.315425, current_vel = 0.315425, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.315425, acc = 0.000000,T = 0.002683, P = 0.000416 initial results: dx= 0.002266,dt = 0.007185, a_f = 0.000000, v_f = 0.315425 dt = 0.007185, not at end yet tc id = 76, canon_type = 3, mot type = 2 time: 4.710000 primary movement = 3.153358011990e-04 time: 4.710000000000e+00 total movement = 3.153358011990e-04 vel = 3.154249590609e-01 ------------------- tc state : vr = 0.315425, vf = 0.315425, maxvel = 0.315425, current_vel = 0.315425, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.315425, acc = 0.000000,T = 0.002683, P = 0.000732 initial results: dx= 0.001951,dt = 0.006185, a_f = 0.000000, v_f = 0.315425 dt = 0.006185, not at end yet tc id = 76, canon_type = 3, mot type = 2 time: 4.711000 primary movement = 3.153358011990e-04 time: 4.711000000000e+00 total movement = 3.153358011990e-04 vel = 3.154249590609e-01 ------------------- tc state : vr = 0.315425, vf = 0.315425, maxvel = 0.315425, current_vel = 0.315425, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.315425, acc = 0.000000,T = 0.002683, P = 0.001047 initial results: dx= 0.001636,dt = 0.005185, a_f = 0.000000, v_f = 0.315425 dt = 0.005185, not at end yet tc id = 76, canon_type = 3, mot type = 2 time: 4.712000 primary movement = 3.153358011990e-04 time: 4.712000000000e+00 total movement = 3.153358011990e-04 vel = 3.154249590609e-01 ------------------- tc state : vr = 0.315425, vf = 0.315425, maxvel = 0.315425, current_vel = 0.315425, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.315425, acc = 0.000000,T = 0.002683, P = 0.001363 initial results: dx= 0.001320,dt = 0.004185, a_f = 0.000000, v_f = 0.315425 dt = 0.004185, not at end yet tc id = 76, canon_type = 3, mot type = 2 time: 4.713000 primary movement = 3.153358011990e-04 time: 4.713000000000e+00 total movement = 3.153358011990e-04 vel = 3.154249590609e-01 ------------------- tc state : vr = 0.315425, vf = 0.315425, maxvel = 0.315425, current_vel = 0.315425, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.315425, acc = 0.000000,T = 0.002683, P = 0.001678 initial results: dx= 0.001005,dt = 0.003185, a_f = 0.000000, v_f = 0.315425 dt = 0.003185, not at end yet tc id = 76, canon_type = 3, mot type = 2 time: 4.714000 primary movement = 3.153358011990e-04 time: 4.714000000000e+00 total movement = 3.153358011990e-04 vel = 3.154249590609e-01 ------------------- tc state : vr = 0.315425, vf = 0.315425, maxvel = 0.315425, current_vel = 0.315425, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.315425, acc = 0.000000,T = 0.002683, P = 0.001994 initial results: dx= 0.000689,dt = 0.002185, a_f = 0.000000, v_f = 0.315425 dt = 0.002185, not at end yet tc id = 76, canon_type = 3, mot type = 2 time: 4.715000 primary movement = 3.153358011989e-04 time: 4.715000000000e+00 total movement = 3.153358011989e-04 vel = 3.154249590609e-01 ------------------- tc state : vr = 0.315425, vf = 0.315425, maxvel = 0.315425, current_vel = 0.315425, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.315425, acc = 0.000000,T = 0.002683, P = 0.002309 initial results: dx= 0.000374,dt = 0.001185, a_f = 0.000000, v_f = 0.315425 dt = 0.001185, not at end yet tc id = 76, canon_type = 3, mot type = 2 time: 4.716000 primary movement = 3.153358011990e-04 time: 4.716000000000e+00 total movement = 3.153358011990e-04 vel = 3.154249590609e-01 ------------------- tc state : vr = 0.315425, vf = 0.315425, maxvel = 0.315425, current_vel = 0.315425, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.315425, acc = 0.000000,T = 0.002683, P = 0.002624 initial results: dx= 0.000058,dt = 0.000185, a_f = 0.000000, v_f = 0.315425 actual v_f = 0.315425, a = 0.000000 split time is 0.000185377 tc id = 76, canon_type = 3, mot type = 2 time: 4.717000 primary movement = 3.153358011990e-04 time: 4.717000000000e+00 total movement = 3.153358011990e-04 vel = 3.154249590609e-01 ------------------- tc id 76 done Finishing split-cycle on id 76 tc state : vr = 0.403345, vf = 0.403345, maxvel = 8.589769, current_vel = 0.340616, fs = 1.000000, tc = 0.000815, term = 3 tc result: v = 0.340616, acc = 30.923292,T = 0.001022, P = 0.000267 initial results: dx= 0.000755,dt = 0.002029, a_f = 30.923292, v_f = 0.403345 recalculating with a_f = 30.923292, a = 30.923292 revised dt = 0.002029 dt = 0.002029, not at end yet secondary movement = 0.000267 tc id = 76, canon_type = 2, mot type = 1 time: 4.718000 primary movement = 5.847206156099e-05 time: 4.718000000000e+00 total movement = 3.256848960363e-04 vel = 3.406157746120e-01 Finished tc id 76 ------------------- Activate tc id = 76 target_vel = 0.403345 final_vel = 0.403345 length = 0.001022 tc state : vr = 0.403345, vf = 0.403345, maxvel = 8.589769, current_vel = 0.371539, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.371539, acc = 30.923292,T = 0.001022, P = 0.000623 initial results: dx= 0.000399,dt = 0.001029, a_f = 30.923292, v_f = 0.403345 dt = 0.001029, not at end yet tc id = 76, canon_type = 2, mot type = 1 time: 4.719000 primary movement = 3.560774207081e-04 time: 4.719000000000e+00 total movement = 3.560774207081e-04 vel = 3.715390668041e-01 ------------------- tc state : vr = 0.403345, vf = 0.403345, maxvel = 8.589769, current_vel = 0.402462, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.402462, acc = 30.923292,T = 0.001022, P = 0.001010 initial results: dx= 0.000011,dt = 0.000029, a_f = 30.923292, v_f = 0.403345 actual v_f = 0.403345, a = 30.923292 split time is 2.85427e-05 tc id = 76, canon_type = 2, mot type = 1 time: 4.720000 primary movement = 3.870007129002e-04 time: 4.720000000000e+00 total movement = 3.870007129002e-04 vel = 4.024623589963e-01 ------------------- tc id 76 done Finishing split-cycle on id 77 tc state : vr = 0.405167, vf = 0.405167, maxvel = 0.486567, current_vel = 0.405167, fs = 1.000000, tc = 0.000971, term = 3 tc result: v = 0.405167, acc = 1.875106,T = 0.003366, P = 0.000393 initial results: dx= 0.002973,dt = 0.007337, a_f = 0.000000, v_f = 0.405167 dt = 0.007337, not at end yet secondary movement = 0.000393 tc id = 77, canon_type = 3, mot type = 2 time: 4.721000 primary movement = 1.149997443636e-05 time: 4.721000000000e+00 total movement = 4.041868025790e-04 vel = 4.051665794438e-01 Finished tc id 76 ------------------- Activate tc id = 77 target_vel = 0.405167 final_vel = 0.405167 length = 0.003366 tc state : vr = 0.405167, vf = 0.405167, maxvel = 0.486567, current_vel = 0.405167, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.405167, acc = 0.000000,T = 0.003366, P = 0.000798 initial results: dx= 0.002568,dt = 0.006337, a_f = 0.000000, v_f = 0.405167 dt = 0.006337, not at end yet tc id = 77, canon_type = 3, mot type = 2 time: 4.722000 primary movement = 4.051332051852e-04 time: 4.722000000000e+00 total movement = 4.051332051852e-04 vel = 4.051665794438e-01 ------------------- tc state : vr = 0.405167, vf = 0.405167, maxvel = 0.486567, current_vel = 0.405167, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.405167, acc = 0.000000,T = 0.003366, P = 0.001203 initial results: dx= 0.002162,dt = 0.005337, a_f = 0.000000, v_f = 0.405167 dt = 0.005337, not at end yet tc id = 77, canon_type = 3, mot type = 2 time: 4.723000 primary movement = 4.051332051851e-04 time: 4.723000000000e+00 total movement = 4.051332051851e-04 vel = 4.051665794438e-01 ------------------- tc state : vr = 0.405167, vf = 0.405167, maxvel = 0.486567, current_vel = 0.405167, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.405167, acc = 0.000000,T = 0.003366, P = 0.001608 initial results: dx= 0.001757,dt = 0.004337, a_f = 0.000000, v_f = 0.405167 dt = 0.004337, not at end yet tc id = 77, canon_type = 3, mot type = 2 time: 4.724000 primary movement = 4.051332051851e-04 time: 4.724000000000e+00 total movement = 4.051332051851e-04 vel = 4.051665794438e-01 ------------------- tc state : vr = 0.405167, vf = 0.405167, maxvel = 0.486567, current_vel = 0.405167, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.405167, acc = 0.000000,T = 0.003366, P = 0.002013 initial results: dx= 0.001352,dt = 0.003337, a_f = 0.000000, v_f = 0.405167 dt = 0.003337, not at end yet tc id = 77, canon_type = 3, mot type = 2 time: 4.725000 primary movement = 4.051332051852e-04 time: 4.725000000000e+00 total movement = 4.051332051852e-04 vel = 4.051665794438e-01 ------------------- tc state : vr = 0.405167, vf = 0.405167, maxvel = 0.486567, current_vel = 0.405167, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.405167, acc = 0.000000,T = 0.003366, P = 0.002419 initial results: dx= 0.000947,dt = 0.002337, a_f = 0.000000, v_f = 0.405167 dt = 0.002337, not at end yet tc id = 77, canon_type = 3, mot type = 2 time: 4.726000 primary movement = 4.051332051851e-04 time: 4.726000000000e+00 total movement = 4.051332051851e-04 vel = 4.051665794438e-01 ------------------- tc state : vr = 0.405167, vf = 0.405167, maxvel = 0.486567, current_vel = 0.405167, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.405167, acc = 0.000000,T = 0.003366, P = 0.002824 initial results: dx= 0.000542,dt = 0.001337, a_f = 0.000000, v_f = 0.405167 dt = 0.001337, not at end yet tc id = 77, canon_type = 3, mot type = 2 time: 4.727000 primary movement = 4.051332051851e-04 time: 4.727000000000e+00 total movement = 4.051332051851e-04 vel = 4.051665794438e-01 ------------------- tc state : vr = 0.405167, vf = 0.405167, maxvel = 0.486567, current_vel = 0.405167, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.405167, acc = 0.000000,T = 0.003366, P = 0.003229 initial results: dx= 0.000137,dt = 0.000337, a_f = 0.000000, v_f = 0.405167 actual v_f = 0.405167, a = 0.000000 split time is 0.000337242 tc id = 77, canon_type = 3, mot type = 2 time: 4.728000 primary movement = 4.051332051852e-04 time: 4.728000000000e+00 total movement = 4.051332051852e-04 vel = 4.051665794438e-01 ------------------- tc id 77 done Finishing split-cycle on id 77 tc state : vr = 2.320932, vf = 0.294253, maxvel = 8.398152, current_vel = 0.425204, fs = 1.000000, tc = 0.000663, term = 3 tc result: v = 0.425204, acc = 30.233467,T = 0.004874, P = 0.000275 initial results: dx= 0.004599,dt = 0.012784, a_f = -10.243321, v_f = 0.294253 dt = 0.012784, not at end yet secondary movement = 0.000275 tc id = 77, canon_type = 2, mot type = 1 time: 4.729000 primary movement = 1.366380224879e-04 time: 4.729000000000e+00 total movement = 4.118052910229e-04 vel = 4.252040426894e-01 Finished tc id 77 ------------------- Activate tc id = 77 target_vel = 2.320932 final_vel = 0.294253 length = 0.004874 tc state : vr = 2.320932, vf = 0.294253, maxvel = 8.398152, current_vel = 0.455438, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.455438, acc = 30.233467,T = 0.004874, P = 0.000715 initial results: dx= 0.004158,dt = 0.011094, a_f = -14.529219, v_f = 0.294253 dt = 0.011094, not at end yet tc id = 77, canon_type = 2, mot type = 1 time: 4.730000 primary movement = 4.403207759675e-04 time: 4.730000000000e+00 total movement = 4.403207759675e-04 vel = 4.554375092455e-01 ------------------- tc state : vr = 2.320932, vf = 0.294253, maxvel = 8.398152, current_vel = 0.485671, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.485671, acc = 30.233467,T = 0.004874, P = 0.001186 initial results: dx= 0.003688,dt = 0.009457, a_f = -20.240650, v_f = 0.294253 dt = 0.009457, not at end yet tc id = 77, canon_type = 2, mot type = 1 time: 4.731000 primary movement = 4.705542425236e-04 time: 4.731000000000e+00 total movement = 4.705542425236e-04 vel = 4.856709758016e-01 ------------------- tc state : vr = 2.320932, vf = 0.294253, maxvel = 8.398152, current_vel = 0.515904, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.515904, acc = 30.233467,T = 0.004874, P = 0.001687 initial results: dx= 0.003187,dt = 0.007868, a_f = -28.171561, v_f = 0.294253 dt = 0.007868, not at end yet tc id = 77, canon_type = 2, mot type = 1 time: 4.732000 primary movement = 5.007877090797e-04 time: 4.732000000000e+00 total movement = 5.007877090797e-04 vel = 5.159044423578e-01 ------------------- tc state : vr = 2.320932, vf = 0.294253, maxvel = 8.398152, current_vel = 0.498626, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.498626, acc = -17.278597,T = 0.004874, P = 0.002194 on final decel initial results: dx= 0.002680,dt = 0.006760, a_f = -30.233467, v_f = 0.294253 dt = 0.006760, not at end yet tc id = 77, canon_type = 2, mot type = 1 time: 4.733000 primary movement = 5.072651438039e-04 time: 4.733000000000e+00 total movement = 5.072651438039e-04 vel = 4.986258452501e-01 ------------------- tc state : vr = 2.320932, vf = 0.294253, maxvel = 8.398152, current_vel = 0.468392, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.468392, acc = -30.233467,T = 0.004874, P = 0.002678 on final decel initial results: dx= 0.002196,dt = 0.005760, a_f = -30.233467, v_f = 0.294253 recalculating with a_f = -30.233467, a = -30.233467 revised dt = 0.005760 dt = 0.005760, not at end yet tc id = 77, canon_type = 2, mot type = 1 time: 4.734000 primary movement = 4.835091119720e-04 time: 4.734000000000e+00 total movement = 4.835091119720e-04 vel = 4.683923786939e-01 ------------------- tc state : vr = 2.320932, vf = 0.294253, maxvel = 8.398152, current_vel = 0.438159, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.438159, acc = -30.233467,T = 0.004874, P = 0.003131 on final decel initial results: dx= 0.001743,dt = 0.004760, a_f = -30.233467, v_f = 0.294253 recalculating with a_f = -30.233467, a = -30.233467 revised dt = 0.004760 dt = 0.004760, not at end yet tc id = 77, canon_type = 2, mot type = 1 time: 4.735000 primary movement = 4.532756454159e-04 time: 4.735000000000e+00 total movement = 4.532756454159e-04 vel = 4.381589121378e-01 ------------------- tc state : vr = 2.320932, vf = 0.294253, maxvel = 8.398152, current_vel = 0.407925, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.407925, acc = -30.233467,T = 0.004874, P = 0.003554 on final decel initial results: dx= 0.001320,dt = 0.003760, a_f = -30.233467, v_f = 0.294253 recalculating with a_f = -30.233467, a = -30.233467 revised dt = 0.003760 dt = 0.003760, not at end yet tc id = 77, canon_type = 2, mot type = 1 time: 4.736000 primary movement = 4.230421788597e-04 time: 4.736000000000e+00 total movement = 4.230421788597e-04 vel = 4.079254455817e-01 ------------------- tc state : vr = 2.320932, vf = 0.294253, maxvel = 8.398152, current_vel = 0.377692, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.377692, acc = -30.233467,T = 0.004874, P = 0.003947 on final decel initial results: dx= 0.000927,dt = 0.002760, a_f = -30.233467, v_f = 0.294253 recalculating with a_f = -30.233467, a = -30.233467 revised dt = 0.002760 dt = 0.002760, not at end yet tc id = 77, canon_type = 2, mot type = 1 time: 4.737000 primary movement = 3.928087123036e-04 time: 4.737000000000e+00 total movement = 3.928087123036e-04 vel = 3.776919790256e-01 ------------------- tc state : vr = 2.320932, vf = 0.294253, maxvel = 8.398152, current_vel = 0.347459, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.347459, acc = -30.233467,T = 0.004874, P = 0.004309 on final decel initial results: dx= 0.000565,dt = 0.001760, a_f = -30.233467, v_f = 0.294253 recalculating with a_f = -30.233467, a = -30.233467 revised dt = 0.001760 dt = 0.001760, not at end yet tc id = 77, canon_type = 2, mot type = 1 time: 4.738000 primary movement = 3.625752457476e-04 time: 4.738000000000e+00 total movement = 3.625752457476e-04 vel = 3.474585124695e-01 ------------------- tc state : vr = 2.320932, vf = 0.294253, maxvel = 8.398152, current_vel = 0.317225, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.317225, acc = -30.233467,T = 0.004874, P = 0.004642 on final decel initial results: dx= 0.000232,dt = 0.000760, a_f = -30.233467, v_f = 0.294253 recalculating with a_f = -30.233467, a = -30.233467 revised dt = 0.000760 actual v_f = 0.294253, a = -30.233467 split time is 0.000759828 tc id = 77, canon_type = 2, mot type = 1 time: 4.739000 primary movement = 3.323417791913e-04 time: 4.739000000000e+00 total movement = 3.323417791913e-04 vel = 3.172250459133e-01 ------------------- tc id 77 done Finishing split-cycle on id 78 tc state : vr = 0.357105, vf = 0.000000, maxvel = 0.357105, current_vel = 0.290650, fs = 1.000000, tc = 0.000240, term = 3 tc result: v = 0.290650, acc = -15.000000,T = 0.002886, P = 0.000070 on final decel initial results: dx= 0.002816,dt = 0.019377, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.019377 dt = 0.019377, not at end yet secondary movement = 0.000070 tc id = 78, canon_type = 3, mot type = 2 time: 4.740000 primary movement = 2.323088663294e-04 time: 4.740000000000e+00 total movement = 3.025470678906e-04 vel = 2.906502383406e-01 Finished tc id 77 ------------------- Activate tc id = 78 target_vel = 0.357105 final_vel = 0.000000 length = 0.002886 tc state : vr = 0.357105, vf = 0.000000, maxvel = 0.357105, current_vel = 0.275650, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.275650, acc = -15.000000,T = 0.002886, P = 0.000353 on final decel initial results: dx= 0.002533,dt = 0.018377, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.018377 dt = 0.018377, not at end yet tc id = 78, canon_type = 3, mot type = 2 time: 4.741000 primary movement = 2.831109792776e-04 time: 4.741000000000e+00 total movement = 2.831109792776e-04 vel = 2.756502383406e-01 ------------------- tc state : vr = 0.357105, vf = 0.000000, maxvel = 0.357105, current_vel = 0.260650, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.260650, acc = -15.000000,T = 0.002886, P = 0.000622 on final decel initial results: dx= 0.002265,dt = 0.017377, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.017377 dt = 0.017377, not at end yet tc id = 78, canon_type = 3, mot type = 2 time: 4.742000 primary movement = 2.681168937368e-04 time: 4.742000000000e+00 total movement = 2.681168937368e-04 vel = 2.606502383406e-01 ------------------- tc state : vr = 0.357105, vf = 0.000000, maxvel = 0.357105, current_vel = 0.245650, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.245650, acc = -15.000000,T = 0.002886, P = 0.000875 on final decel initial results: dx= 0.002011,dt = 0.016377, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.016377 dt = 0.016377, not at end yet tc id = 78, canon_type = 3, mot type = 2 time: 4.743000 primary movement = 2.531221822095e-04 time: 4.743000000000e+00 total movement = 2.531221822095e-04 vel = 2.456502383406e-01 ------------------- tc state : vr = 0.357105, vf = 0.000000, maxvel = 0.357105, current_vel = 0.230650, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.230650, acc = -15.000000,T = 0.002886, P = 0.001113 on final decel initial results: dx= 0.001773,dt = 0.015377, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.015377 dt = 0.015377, not at end yet tc id = 78, canon_type = 3, mot type = 2 time: 4.744000 primary movement = 2.381268797043e-04 time: 4.744000000000e+00 total movement = 2.381268797043e-04 vel = 2.306502383406e-01 ------------------- tc state : vr = 0.357105, vf = 0.000000, maxvel = 0.357105, current_vel = 0.215650, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.215650, acc = -15.000000,T = 0.002886, P = 0.001336 on final decel initial results: dx= 0.001550,dt = 0.014377, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.014377 dt = 0.014377, not at end yet tc id = 78, canon_type = 3, mot type = 2 time: 4.745000 primary movement = 2.231310212320e-04 time: 4.745000000000e+00 total movement = 2.231310212320e-04 vel = 2.156502383406e-01 ------------------- tc state : vr = 0.357105, vf = 0.000000, maxvel = 0.357105, current_vel = 0.200650, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.200650, acc = -15.000000,T = 0.002886, P = 0.001544 on final decel initial results: dx= 0.001342,dt = 0.013377, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.013377 dt = 0.013377, not at end yet tc id = 78, canon_type = 3, mot type = 2 time: 4.746000 primary movement = 2.081346418038e-04 time: 4.746000000000e+00 total movement = 2.081346418038e-04 vel = 2.006502383406e-01 ------------------- tc state : vr = 0.357105, vf = 0.000000, maxvel = 0.357105, current_vel = 0.185650, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.185650, acc = -15.000000,T = 0.002886, P = 0.001737 on final decel initial results: dx= 0.001149,dt = 0.012377, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.012377 dt = 0.012377, not at end yet tc id = 78, canon_type = 3, mot type = 2 time: 4.747000 primary movement = 1.931377764326e-04 time: 4.747000000000e+00 total movement = 1.931377764326e-04 vel = 1.856502383406e-01 ------------------- tc state : vr = 0.357105, vf = 0.000000, maxvel = 0.357105, current_vel = 0.170650, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.170650, acc = -15.000000,T = 0.002886, P = 0.001915 on final decel initial results: dx= 0.000971,dt = 0.011377, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.011377 dt = 0.011377, not at end yet tc id = 78, canon_type = 3, mot type = 2 time: 4.748000 primary movement = 1.781404601326e-04 time: 4.748000000000e+00 total movement = 1.781404601326e-04 vel = 1.706502383406e-01 ------------------- tc state : vr = 0.357105, vf = 0.000000, maxvel = 0.357105, current_vel = 0.155650, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.155650, acc = -15.000000,T = 0.002886, P = 0.002079 on final decel initial results: dx= 0.000808,dt = 0.010377, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.010377 dt = 0.010377, not at end yet tc id = 78, canon_type = 3, mot type = 2 time: 4.749000 primary movement = 1.631427279186e-04 time: 4.749000000000e+00 total movement = 1.631427279186e-04 vel = 1.556502383406e-01 ------------------- tc state : vr = 0.357105, vf = 0.000000, maxvel = 0.357105, current_vel = 0.140650, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.140650, acc = -15.000000,T = 0.002886, P = 0.002227 on final decel initial results: dx= 0.000659,dt = 0.009377, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.009377 dt = 0.009377, not at end yet tc id = 78, canon_type = 3, mot type = 2 time: 4.750000 primary movement = 1.481446148067e-04 time: 4.750000000000e+00 total movement = 1.481446148067e-04 vel = 1.406502383406e-01 ------------------- tc state : vr = 0.357105, vf = 0.000000, maxvel = 0.357105, current_vel = 0.125650, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.125650, acc = -15.000000,T = 0.002886, P = 0.002360 on final decel initial results: dx= 0.000526,dt = 0.008377, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.008377 dt = 0.008377, not at end yet tc id = 78, canon_type = 3, mot type = 2 time: 4.751000 primary movement = 1.331461558137e-04 time: 4.751000000000e+00 total movement = 1.331461558137e-04 vel = 1.256502383406e-01 ------------------- tc state : vr = 0.357105, vf = 0.000000, maxvel = 0.357105, current_vel = 0.110650, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.110650, acc = -15.000000,T = 0.002886, P = 0.002478 on final decel initial results: dx= 0.000408,dt = 0.007377, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.007377 dt = 0.007377, not at end yet tc id = 78, canon_type = 3, mot type = 2 time: 4.752000 primary movement = 1.181473859575e-04 time: 4.752000000000e+00 total movement = 1.181473859575e-04 vel = 1.106502383406e-01 ------------------- tc state : vr = 0.357105, vf = 0.000000, maxvel = 0.357105, current_vel = 0.095650, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.095650, acc = -15.000000,T = 0.002886, P = 0.002581 on final decel initial results: dx= 0.000305,dt = 0.006377, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.006377 dt = 0.006377, not at end yet tc id = 78, canon_type = 3, mot type = 2 time: 4.753000 primary movement = 1.031483402563e-04 time: 4.753000000000e+00 total movement = 1.031483402563e-04 vel = 9.565023834061e-02 ------------------- tc state : vr = 0.357105, vf = 0.000000, maxvel = 0.357105, current_vel = 0.080650, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.080650, acc = -15.000000,T = 0.002886, P = 0.002669 on final decel initial results: dx= 0.000217,dt = 0.005377, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.005377 dt = 0.005377, not at end yet tc id = 78, canon_type = 3, mot type = 2 time: 4.754000 primary movement = 8.814905372913e-05 time: 4.754000000000e+00 total movement = 8.814905372913e-05 vel = 8.065023834061e-02 ------------------- tc state : vr = 0.357105, vf = 0.000000, maxvel = 0.357105, current_vel = 0.065650, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.065650, acc = -15.000000,T = 0.002886, P = 0.002742 on final decel initial results: dx= 0.000144,dt = 0.004377, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.004377 dt = 0.004377, not at end yet tc id = 78, canon_type = 3, mot type = 2 time: 4.755000 primary movement = 7.314956139587e-05 time: 4.755000000000e+00 total movement = 7.314956139587e-05 vel = 6.565023834061e-02 ------------------- tc state : vr = 0.357105, vf = 0.000000, maxvel = 0.357105, current_vel = 0.050650, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.050650, acc = -15.000000,T = 0.002886, P = 0.002801 on final decel initial results: dx= 0.000086,dt = 0.003377, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.003377 dt = 0.003377, not at end yet tc id = 78, canon_type = 3, mot type = 2 time: 4.756000 primary movement = 5.814989827641e-05 time: 4.756000000000e+00 total movement = 5.814989827641e-05 vel = 5.065023834061e-02 ------------------- tc state : vr = 0.357105, vf = 0.000000, maxvel = 0.357105, current_vel = 0.035650, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.035650, acc = -15.000000,T = 0.002886, P = 0.002844 on final decel initial results: dx= 0.000042,dt = 0.002377, a_f = -15.000000, v_f = 0.000000 dt = 0.002377, not at end yet tc id = 78, canon_type = 3, mot type = 2 time: 4.757000 primary movement = 4.315009939129e-05 time: 4.757000000000e+00 total movement = 4.315009939129e-05 vel = 3.565023834061e-02 ------------------- tc state : vr = 0.357105, vf = 0.000000, maxvel = 0.357105, current_vel = 0.020650, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.020650, acc = -15.000000,T = 0.002886, P = 0.002872 on final decel initial results: dx= 0.000014,dt = 0.001377, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.001377 dt = 0.001377, not at end yet tc id = 78, canon_type = 3, mot type = 2 time: 4.758000 primary movement = 2.815019976138e-05 time: 4.758000000000e+00 total movement = 2.815019976138e-05 vel = 2.065023834061e-02 ------------------- tc state : vr = 0.357105, vf = 0.000000, maxvel = 0.357105, current_vel = 0.005650, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.005650, acc = -15.000000,T = 0.002886, P = 0.002885 on final decel initial results: dx= 0.000001,dt = 0.000377, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.000377 actual v_f = 0.000000, a = -15.000000 split time is 0.000376682 tc id = 78, canon_type = 3, mot type = 2 time: 4.759000 primary movement = 1.315023440779e-05 time: 4.759000000000e+00 total movement = 1.315023440779e-05 vel = 5.650238340610e-03 ------------------- tc id 78 done Finishing split-cycle on id 78 tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.010453, fs = 1.000000, tc = 0.000623, term = 2 tc result: v = 0.010453, acc = 16.770510,T = 0.002986, P = 0.000003 secondary movement = 0.000003 tc id = 78, canon_type = 2, mot type = 1 time: 4.760000 primary movement = 1.064173108084e-06 time: 4.760000000000e+00 total movement = 4.322052333907e-06 vel = 1.045335310656e-02 Finished tc id 78 ------------------- Activate tc id = 78 target_vel = 9.316913 final_vel = 0.000000 length = 0.002986 Activate nexttc id 79 tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.027224, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.027224, acc = 16.770510,T = 0.002986, P = 0.000022 tc id = 78, canon_type = 2, mot type = 1 time: 4.761000 primary movement = 1.883860802216e-05 time: 4.761000000000e+00 total movement = 1.883860802216e-05 vel = 2.722386293781e-02 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.043994, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.043994, acc = 16.770510,T = 0.002986, P = 0.000058 tc id = 78, canon_type = 2, mot type = 1 time: 4.762000 primary movement = 3.560911785346e-05 time: 4.762000000000e+00 total movement = 3.560911785346e-05 vel = 4.399437276906e-02 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.060765, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.060765, acc = 16.770510,T = 0.002986, P = 0.000110 tc id = 78, canon_type = 2, mot type = 1 time: 4.763000 primary movement = 5.237962768463e-05 time: 4.763000000000e+00 total movement = 5.237962768463e-05 vel = 6.076488260031e-02 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.077535, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.077535, acc = 16.770510,T = 0.002986, P = 0.000179 tc id = 78, canon_type = 2, mot type = 1 time: 4.764000 primary movement = 6.915013751593e-05 time: 4.764000000000e+00 total movement = 6.915013751593e-05 vel = 7.753539243155e-02 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.094306, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.094306, acc = 16.770510,T = 0.002986, P = 0.000265 tc id = 78, canon_type = 2, mot type = 1 time: 4.765000 primary movement = 8.592064734722e-05 time: 4.765000000000e+00 total movement = 8.592064734722e-05 vel = 9.430590226280e-02 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.111076, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.111076, acc = 16.770510,T = 0.002986, P = 0.000368 tc id = 78, canon_type = 2, mot type = 1 time: 4.766000 primary movement = 1.026911571784e-04 time: 4.766000000000e+00 total movement = 1.026911571784e-04 vel = 1.110764120941e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.127847, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.127847, acc = 16.770510,T = 0.002986, P = 0.000487 tc id = 78, canon_type = 2, mot type = 1 time: 4.767000 primary movement = 1.194616670097e-04 time: 4.767000000000e+00 total movement = 1.194616670097e-04 vel = 1.278469219253e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.144617, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.144617, acc = 16.770510,T = 0.002986, P = 0.000624 tc id = 78, canon_type = 2, mot type = 1 time: 4.768000 primary movement = 1.362321768409e-04 time: 4.768000000000e+00 total movement = 1.362321768409e-04 vel = 1.446174317565e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.161388, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.161388, acc = 16.770510,T = 0.002986, P = 0.000777 tc id = 78, canon_type = 2, mot type = 1 time: 4.769000 primary movement = 1.530026866722e-04 time: 4.769000000000e+00 total movement = 1.530026866722e-04 vel = 1.613879415878e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.178158, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.178158, acc = 16.770510,T = 0.002986, P = 0.000946 tc id = 78, canon_type = 2, mot type = 1 time: 4.770000 primary movement = 1.697731965034e-04 time: 4.770000000000e+00 total movement = 1.697731965034e-04 vel = 1.781584514190e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.194929, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.194929, acc = 16.770510,T = 0.002986, P = 0.001133 tc id = 78, canon_type = 2, mot type = 1 time: 4.771000 primary movement = 1.865437063346e-04 time: 4.771000000000e+00 total movement = 1.865437063346e-04 vel = 1.949289612503e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.211699, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.211699, acc = 16.770510,T = 0.002986, P = 0.001336 tc id = 78, canon_type = 2, mot type = 1 time: 4.772000 primary movement = 2.033142161659e-04 time: 4.772000000000e+00 total movement = 2.033142161659e-04 vel = 2.116994710815e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.219335, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.219335, acc = 7.635409,T = 0.002986, P = 0.001552 tc id = 78, canon_type = 2, mot type = 1 time: 4.773000 primary movement = 2.155171755680e-04 time: 4.773000000000e+00 total movement = 2.155171755680e-04 vel = 2.193348800544e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.202564, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.202564, acc = -16.770510,T = 0.002986, P = 0.001763 on final decel tc id = 78, canon_type = 2, mot type = 1 tc state : vr = 0.016771, vf = 0.016771, maxvel = 8.589769, current_vel = 0.015462, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.015462, acc = 15.461646,T = 0.009204, P = 0.000008 initial results: dx= 0.009197,dt = 0.041354, a_f = 10.007291, v_f = 0.429308 dt = 0.041354, not at end yet tc id = 78, canon_type = 2, mot type = 1 secondary movement = 0.000008 time: 4.774000 primary movement = 2.109496251388e-04 time: 4.774000000000e+00 total movement = 2.186804481869e-04 vel = 2.180260163193e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.185794, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.185794, acc = -16.770510,T = 0.002986, P = 0.001957 on final decel tc id = 78, canon_type = 2, mot type = 1 tc state : vr = 0.033541, vf = 0.033541, maxvel = 8.589769, current_vel = 0.030923, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.030923, acc = 15.461646,T = 0.009204, P = 0.000031 initial results: dx= 0.009173,dt = 0.039864, a_f = 9.993501, v_f = 0.429308 dt = 0.039864, not at end yet tc id = 78, canon_type = 2, mot type = 1 secondary movement = 0.000023 time: 4.775000 primary movement = 1.941791153076e-04 time: 4.775000000000e+00 total movement = 2.173715844516e-04 vel = 2.167171525841e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.169023, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.169023, acc = -16.770510,T = 0.002986, P = 0.002134 on final decel tc id = 78, canon_type = 2, mot type = 1 tc state : vr = 0.050312, vf = 0.050312, maxvel = 8.589769, current_vel = 0.046385, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.046385, acc = 15.461646,T = 0.009204, P = 0.000070 initial results: dx= 0.009135,dt = 0.038406, a_f = 9.970362, v_f = 0.429308 dt = 0.038406, not at end yet tc id = 78, canon_type = 2, mot type = 1 secondary movement = 0.000039 time: 4.776000 primary movement = 1.774086054763e-04 time: 4.776000000000e+00 total movement = 2.160627207165e-04 vel = 2.154082888489e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.152253, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.152253, acc = -16.770510,T = 0.002986, P = 0.002295 on final decel tc id = 78, canon_type = 2, mot type = 1 tc state : vr = 0.067082, vf = 0.067082, maxvel = 8.589769, current_vel = 0.061847, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.061847, acc = 15.461646,T = 0.009204, P = 0.000124 initial results: dx= 0.009081,dt = 0.036977, a_f = 9.937637, v_f = 0.429308 dt = 0.036977, not at end yet tc id = 78, canon_type = 2, mot type = 1 secondary movement = 0.000054 time: 4.777000 primary movement = 1.606380956451e-04 time: 4.777000000000e+00 total movement = 2.147538569813e-04 vel = 2.140994251137e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.135482, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.135482, acc = -16.770510,T = 0.002986, P = 0.002439 on final decel tc id = 78, canon_type = 2, mot type = 1 tc state : vr = 0.083853, vf = 0.083853, maxvel = 8.589769, current_vel = 0.077308, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.077308, acc = 15.461646,T = 0.009204, P = 0.000193 initial results: dx= 0.009011,dt = 0.035574, a_f = 9.894985, v_f = 0.429308 dt = 0.035574, not at end yet tc id = 78, canon_type = 2, mot type = 1 secondary movement = 0.000070 time: 4.778000 primary movement = 1.438675858138e-04 time: 4.778000000000e+00 total movement = 2.134449932461e-04 vel = 2.127905613785e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.118712, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.118712, acc = -16.770510,T = 0.002986, P = 0.002566 on final decel tc id = 78, canon_type = 2, mot type = 1 tc state : vr = 0.100623, vf = 0.100623, maxvel = 8.589769, current_vel = 0.092770, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.092770, acc = 15.461646,T = 0.009204, P = 0.000278 initial results: dx= 0.008926,dt = 0.034194, a_f = 9.841951, v_f = 0.429308 dt = 0.034194, not at end yet tc id = 78, canon_type = 2, mot type = 1 secondary movement = 0.000085 time: 4.779000 primary movement = 1.270970759826e-04 time: 4.779000000000e+00 total movement = 2.121361295109e-04 vel = 2.114816976434e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.101941, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.101941, acc = -16.770510,T = 0.002986, P = 0.002676 on final decel tc id = 78, canon_type = 2, mot type = 1 tc state : vr = 0.117394, vf = 0.117394, maxvel = 8.589769, current_vel = 0.108232, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.108232, acc = 15.461646,T = 0.009204, P = 0.000379 initial results: dx= 0.008826,dt = 0.032837, a_f = 9.777956, v_f = 0.429308 dt = 0.032837, not at end yet tc id = 79, canon_type = 2, mot type = 1 secondary movement = 0.000101 time: 4.780000 primary movement = 1.103265661513e-04 time: 4.780000000000e+00 total movement = 2.108272657758e-04 vel = 2.101728339082e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.085171, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.085171, acc = -16.770510,T = 0.002986, P = 0.002770 on final decel tc id = 78, canon_type = 2, mot type = 1 tc state : vr = 0.134164, vf = 0.134164, maxvel = 8.589769, current_vel = 0.123693, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.123693, acc = 15.461646,T = 0.009204, P = 0.000495 initial results: dx= 0.008710,dt = 0.031499, a_f = 9.702282, v_f = 0.429308 dt = 0.031499, not at end yet tc id = 79, canon_type = 2, mot type = 1 secondary movement = 0.000116 time: 4.781000 primary movement = 9.355605632011e-05 time: 4.781000000000e+00 total movement = 2.095184020406e-04 vel = 2.088639701730e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.068400, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.068400, acc = -16.770510,T = 0.002986, P = 0.002847 on final decel tc id = 78, canon_type = 2, mot type = 1 tc state : vr = 0.150935, vf = 0.150935, maxvel = 8.589769, current_vel = 0.139155, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.139155, acc = 15.461646,T = 0.009204, P = 0.000626 initial results: dx= 0.008578,dt = 0.030180, a_f = 9.614044, v_f = 0.429308 dt = 0.030180, not at end yet tc id = 79, canon_type = 2, mot type = 1 secondary movement = 0.000131 time: 4.782000 primary movement = 7.678554648882e-05 time: 4.782000000000e+00 total movement = 2.082095383054e-04 vel = 2.075551064378e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.051630, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.051630, acc = -16.770510,T = 0.002986, P = 0.002907 on final decel tc id = 78, canon_type = 2, mot type = 1 tc state : vr = 0.167705, vf = 0.167705, maxvel = 8.589769, current_vel = 0.154616, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.154616, acc = 15.461646,T = 0.009204, P = 0.000773 initial results: dx= 0.008431,dt = 0.028878, a_f = 9.512169, v_f = 0.429308 dt = 0.028878, not at end yet tc id = 79, canon_type = 2, mot type = 1 secondary movement = 0.000147 time: 4.783000 primary movement = 6.001503665758e-05 time: 4.783000000000e+00 total movement = 2.069006745702e-04 vel = 2.062462427026e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.034859, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.034859, acc = -16.770510,T = 0.002986, P = 0.002950 on final decel tc id = 78, canon_type = 2, mot type = 1 tc state : vr = 0.184476, vf = 0.184476, maxvel = 8.589769, current_vel = 0.170078, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.170078, acc = 15.461646,T = 0.009204, P = 0.000935 initial results: dx= 0.008269,dt = 0.027591, a_f = 9.395361, v_f = 0.429308 dt = 0.027591, not at end yet tc id = 79, canon_type = 2, mot type = 1 secondary movement = 0.000162 time: 4.784000 primary movement = 4.324452682635e-05 time: 4.784000000000e+00 total movement = 2.055918108351e-04 vel = 2.049373789674e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.018089, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.018089, acc = -16.770510,T = 0.002986, P = 0.002976 on final decel tc id = 78, canon_type = 2, mot type = 1 tc state : vr = 0.201246, vf = 0.201246, maxvel = 8.589769, current_vel = 0.185540, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.185540, acc = 15.461646,T = 0.009204, P = 0.001113 initial results: dx= 0.008091,dt = 0.026319, a_f = 9.262049, v_f = 0.429308 dt = 0.026319, not at end yet tc id = 79, canon_type = 2, mot type = 1 secondary movement = 0.000178 time: 4.785000 primary movement = 2.647401699512e-05 time: 4.785000000000e+00 total movement = 2.042829470999e-04 vel = 2.036285152323e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.001318, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.001318, acc = -16.770510,T = 0.002986, P = 0.002986 on final decel tc id = 78, canon_type = 2, mot type = 1 tc state : vr = 0.218017, vf = 0.218017, maxvel = 8.589769, current_vel = 0.201001, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.201001, acc = 15.461646,T = 0.009204, P = 0.001307 initial results: dx= 0.007898,dt = 0.025060, a_f = 9.110336, v_f = 0.429308 dt = 0.025060, not at end yet tc id = 79, canon_type = 2, mot type = 1 secondary movement = 0.000193 time: 4.786000 primary movement = 9.703507163820e-06 time: 4.786000000000e+00 total movement = 2.029740833646e-04 vel = 2.023196514971e-01 ------------------- Found newvel = -0.001318, assuming segment is done segment 78 at target in runcycle tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.002986, P = 0.002986 tc id = 78, canon_type = 2, mot type = 1 tc state : vr = 0.219335, vf = 0.219335, maxvel = 8.589769, current_vel = 0.216463, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.216463, acc = 15.461646,T = 0.009204, P = 0.001515 initial results: dx= 0.007689,dt = 0.023814, a_f = 8.937921, v_f = 0.429308 dt = 0.023814, not at end yet tc id = 79, canon_type = 2, mot type = 1 secondary movement = 0.000209 time: 4.787000 primary movement = 5.181085748967e-08 time: 4.787000000000e+00 total movement = 2.087840331544e-04 vel = 2.164630453449e-01 Finished tc id 78 ------------------- tc state : vr = 4.383021, vf = 0.429308, maxvel = 8.589769, current_vel = 0.231925, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.231925, acc = 15.461646,T = 0.009204, P = 0.001739 initial results: dx= 0.007465,dt = 0.022579, a_f = 8.741993, v_f = 0.429308 dt = 0.022579, not at end yet tc id = 79, canon_type = 2, mot type = 1 time: 4.788000 primary movement = 2.241938683929e-04 time: 4.788000000000e+00 total movement = 2.241938683929e-04 vel = 2.319246914410e-01 ------------------- tc state : vr = 4.383021, vf = 0.429308, maxvel = 8.589769, current_vel = 0.247386, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.247386, acc = 15.461646,T = 0.009204, P = 0.001979 initial results: dx= 0.007225,dt = 0.021355, a_f = 8.519108, v_f = 0.429308 dt = 0.021355, not at end yet tc id = 79, canon_type = 2, mot type = 1 time: 4.789000 primary movement = 2.396555144890e-04 time: 4.789000000000e+00 total movement = 2.396555144890e-04 vel = 2.473863375371e-01 ------------------- tc state : vr = 4.383021, vf = 0.429308, maxvel = 8.589769, current_vel = 0.262848, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.262848, acc = 15.461646,T = 0.009204, P = 0.002234 initial results: dx= 0.006970,dt = 0.020140, a_f = 8.265001, v_f = 0.429308 dt = 0.020140, not at end yet tc id = 79, canon_type = 2, mot type = 1 time: 4.790000 primary movement = 2.551171605851e-04 time: 4.790000000000e+00 total movement = 2.551171605851e-04 vel = 2.628479836331e-01 ------------------- tc state : vr = 4.383021, vf = 0.429308, maxvel = 8.589769, current_vel = 0.278310, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.278310, acc = 15.461646,T = 0.009204, P = 0.002505 initial results: dx= 0.006700,dt = 0.018936, a_f = 7.974346, v_f = 0.429308 dt = 0.018936, not at end yet tc id = 79, canon_type = 2, mot type = 1 time: 4.791000 primary movement = 2.705788066812e-04 time: 4.791000000000e+00 total movement = 2.705788066812e-04 vel = 2.783096297292e-01 ------------------- tc state : vr = 4.383021, vf = 0.429308, maxvel = 8.589769, current_vel = 0.293771, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.293771, acc = 15.461646,T = 0.009204, P = 0.002791 initial results: dx= 0.006414,dt = 0.017739, a_f = 7.640416, v_f = 0.429308 dt = 0.017739, not at end yet tc id = 79, canon_type = 2, mot type = 1 time: 4.792000 primary movement = 2.860404527772e-04 time: 4.792000000000e+00 total movement = 2.860404527772e-04 vel = 2.937712758253e-01 ------------------- tc state : vr = 4.383021, vf = 0.429308, maxvel = 8.589769, current_vel = 0.309233, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.309233, acc = 15.461646,T = 0.009204, P = 0.003092 initial results: dx= 0.006112,dt = 0.016552, a_f = 7.254599, v_f = 0.429308 dt = 0.016552, not at end yet tc id = 79, canon_type = 2, mot type = 1 time: 4.793000 primary movement = 3.015020988733e-04 time: 4.793000000000e+00 total movement = 3.015020988733e-04 vel = 3.092329219213e-01 ------------------- tc state : vr = 4.383021, vf = 0.429308, maxvel = 8.589769, current_vel = 0.324695, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.324695, acc = 15.461646,T = 0.009204, P = 0.003409 initial results: dx= 0.005795,dt = 0.015371, a_f = 6.805710, v_f = 0.429308 dt = 0.015371, not at end yet tc id = 79, canon_type = 2, mot type = 1 time: 4.794000 primary movement = 3.169637449694e-04 time: 4.794000000000e+00 total movement = 3.169637449694e-04 vel = 3.246945680174e-01 ------------------- tc state : vr = 4.383021, vf = 0.429308, maxvel = 8.589769, current_vel = 0.340156, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.340156, acc = 15.461646,T = 0.009204, P = 0.003742 initial results: dx= 0.005463,dt = 0.014199, a_f = 6.278957, v_f = 0.429308 dt = 0.014199, not at end yet tc id = 79, canon_type = 2, mot type = 1 time: 4.795000 primary movement = 3.324253910654e-04 time: 4.795000000000e+00 total movement = 3.324253910654e-04 vel = 3.401562141135e-01 ------------------- tc state : vr = 4.383021, vf = 0.429308, maxvel = 8.589769, current_vel = 0.355618, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.355618, acc = 15.461646,T = 0.009204, P = 0.004090 initial results: dx= 0.005115,dt = 0.013032, a_f = 5.654382, v_f = 0.429308 dt = 0.013032, not at end yet tc id = 79, canon_type = 2, mot type = 1 time: 4.796000 primary movement = 3.478870371615e-04 time: 4.796000000000e+00 total movement = 3.478870371615e-04 vel = 3.556178602095e-01 ------------------- tc state : vr = 4.383021, vf = 0.429308, maxvel = 8.589769, current_vel = 0.371080, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.371080, acc = 15.461646,T = 0.009204, P = 0.004453 initial results: dx= 0.004751,dt = 0.011873, a_f = 4.904401, v_f = 0.429308 dt = 0.011873, not at end yet tc id = 79, canon_type = 2, mot type = 1 time: 4.797000 primary movement = 3.633486832575e-04 time: 4.797000000000e+00 total movement = 3.633486832575e-04 vel = 3.710795063056e-01 ------------------- tc state : vr = 4.383021, vf = 0.429308, maxvel = 8.589769, current_vel = 0.386541, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.386541, acc = 15.461646,T = 0.009204, P = 0.004832 initial results: dx= 0.004373,dt = 0.010719, a_f = 3.989793, v_f = 0.429308 dt = 0.010719, not at end yet tc id = 79, canon_type = 2, mot type = 1 time: 4.798000 primary movement = 3.788103293536e-04 time: 4.798000000000e+00 total movement = 3.788103293536e-04 vel = 3.865411524017e-01 ------------------- tc state : vr = 4.383021, vf = 0.429308, maxvel = 8.589769, current_vel = 0.402003, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.402003, acc = 15.461646,T = 0.009204, P = 0.005226 initial results: dx= 0.003978,dt = 0.009571, a_f = 2.852871, v_f = 0.429308 dt = 0.009571, not at end yet tc id = 79, canon_type = 2, mot type = 1 time: 4.799000 primary movement = 3.942719754497e-04 time: 4.799000000000e+00 total movement = 3.942719754497e-04 vel = 4.020027984977e-01 ------------------- tc state : vr = 4.383021, vf = 0.429308, maxvel = 8.589769, current_vel = 0.417464, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.417464, acc = 15.461646,T = 0.009204, P = 0.005636 initial results: dx= 0.003569,dt = 0.008429, a_f = 1.405167, v_f = 0.429308 dt = 0.008429, not at end yet tc id = 79, canon_type = 2, mot type = 1 time: 4.800000 primary movement = 4.097336215457e-04 time: 4.800000000000e+00 total movement = 4.097336215457e-04 vel = 4.174644445938e-01 ------------------- tc state : vr = 4.383021, vf = 0.429308, maxvel = 8.589769, current_vel = 0.432926, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.432926, acc = 15.461646,T = 0.009204, P = 0.006061 initial results: dx= 0.003143,dt = 0.007291, a_f = -0.496210, v_f = 0.429308 dt = 0.007291, not at end yet tc id = 79, canon_type = 2, mot type = 1 time: 4.801000 primary movement = 4.251952676418e-04 time: 4.801000000000e+00 total movement = 4.251952676418e-04 vel = 4.329260906899e-01 ------------------- tc state : vr = 4.383021, vf = 0.429308, maxvel = 8.589769, current_vel = 0.448388, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.448388, acc = 15.461646,T = 0.009204, P = 0.006502 initial results: dx= 0.002703,dt = 0.006159, a_f = -3.098008, v_f = 0.429308 dt = 0.006159, not at end yet tc id = 79, canon_type = 2, mot type = 1 time: 4.802000 primary movement = 4.406569137379e-04 time: 4.802000000000e+00 total movement = 4.406569137379e-04 vel = 4.483877367859e-01 ------------------- tc state : vr = 4.383021, vf = 0.429308, maxvel = 8.589769, current_vel = 0.463849, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.463849, acc = 15.461646,T = 0.009204, P = 0.006958 initial results: dx= 0.002247,dt = 0.005031, a_f = -6.866096, v_f = 0.429308 dt = 0.005031, not at end yet tc id = 79, canon_type = 2, mot type = 1 time: 4.803000 primary movement = 4.561185598339e-04 time: 4.803000000000e+00 total movement = 4.561185598339e-04 vel = 4.638493828820e-01 ------------------- tc state : vr = 4.383021, vf = 0.429308, maxvel = 8.589769, current_vel = 0.479311, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.479311, acc = 15.461646,T = 0.009204, P = 0.007429 initial results: dx= 0.001775,dt = 0.003907, a_f = -12.798027, v_f = 0.429308 dt = 0.003907, not at end yet tc id = 79, canon_type = 2, mot type = 1 time: 4.804000 primary movement = 4.715802059300e-04 time: 4.804000000000e+00 total movement = 4.715802059300e-04 vel = 4.793110289781e-01 ------------------- tc state : vr = 4.383021, vf = 0.429308, maxvel = 8.589769, current_vel = 0.473771, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.473771, acc = -5.540171,T = 0.009204, P = 0.007906 on final decel initial results: dx= 0.001298,dt = 0.002876, a_f = -15.461646, v_f = 0.429308 recalculating with a_f = -15.461646, a = -15.461646 revised dt = 0.002876 dt = 0.002876, not at end yet tc id = 79, canon_type = 2, mot type = 1 time: 4.805000 primary movement = 4.765409433746e-04 time: 4.805000000000e+00 total movement = 4.765409433746e-04 vel = 4.737708577712e-01 ------------------- tc state : vr = 4.383021, vf = 0.429308, maxvel = 8.589769, current_vel = 0.458309, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.458309, acc = -15.461646,T = 0.009204, P = 0.008372 on final decel initial results: dx= 0.000832,dt = 0.001876, a_f = -15.461646, v_f = 0.429308 recalculating with a_f = -15.461646, a = -15.461646 revised dt = 0.001876 dt = 0.001876, not at end yet tc id = 79, canon_type = 2, mot type = 1 time: 4.806000 primary movement = 4.660400347232e-04 time: 4.806000000000e+00 total movement = 4.660400347232e-04 vel = 4.583092116751e-01 ------------------- tc state : vr = 4.383021, vf = 0.429308, maxvel = 8.589769, current_vel = 0.442848, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.442848, acc = -15.461646,T = 0.009204, P = 0.008822 on final decel initial results: dx= 0.000382,dt = 0.000876, a_f = -15.461646, v_f = 0.429308 recalculating with a_f = -15.461646, a = -15.461646 revised dt = 0.000876 actual v_f = 0.429308, a = -15.461646 split time is 0.00087568 tc id = 79, canon_type = 2, mot type = 1 time: 4.807000 primary movement = 4.505783886271e-04 time: 4.807000000000e+00 total movement = 4.505783886271e-04 vel = 4.428475655791e-01 ------------------- tc id 79 done Finishing split-cycle on id 80 tc state : vr = 0.518920, vf = 0.000000, maxvel = 0.518920, current_vel = 0.427443, fs = 1.000000, tc = 0.000124, term = 3 tc result: v = 0.427443, acc = -15.000000,T = 0.006144, P = 0.000053 on final decel initial results: dx= 0.006090,dt = 0.028496, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.028496 dt = 0.028496, not at end yet secondary movement = 0.000053 tc id = 80, canon_type = 3, mot type = 2 time: 4.808000 primary movement = 3.818647962524e-04 time: 4.808000000000e+00 total movement = 4.351202514025e-04 vel = 4.274433111593e-01 Finished tc id 79 ------------------- Activate tc id = 80 target_vel = 0.518920 final_vel = 0.000000 length = 0.006144 tc state : vr = 0.518920, vf = 0.000000, maxvel = 0.518920, current_vel = 0.412443, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.412443, acc = -15.000000,T = 0.006144, P = 0.000473 on final decel initial results: dx= 0.005670,dt = 0.027496, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.027496 dt = 0.027496, not at end yet tc id = 80, canon_type = 3, mot type = 2 time: 4.809000 primary movement = 4.199145865084e-04 time: 4.809000000000e+00 total movement = 4.199145865084e-04 vel = 4.124433111593e-01 ------------------- tc state : vr = 0.518920, vf = 0.000000, maxvel = 0.518920, current_vel = 0.397443, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.397443, acc = -15.000000,T = 0.006144, P = 0.000878 on final decel initial results: dx= 0.005265,dt = 0.026496, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.026496 dt = 0.026496, not at end yet tc id = 80, canon_type = 3, mot type = 2 time: 4.810000 primary movement = 4.049175558916e-04 time: 4.810000000000e+00 total movement = 4.049175558916e-04 vel = 3.974433111593e-01 ------------------- tc state : vr = 0.518920, vf = 0.000000, maxvel = 0.518920, current_vel = 0.382443, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.382443, acc = -15.000000,T = 0.006144, P = 0.001268 on final decel initial results: dx= 0.004875,dt = 0.025496, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.025496 dt = 0.025496, not at end yet tc id = 80, canon_type = 3, mot type = 2 time: 4.811000 primary movement = 3.899203132474e-04 time: 4.811000000000e+00 total movement = 3.899203132474e-04 vel = 3.824433111593e-01 ------------------- tc state : vr = 0.518920, vf = 0.000000, maxvel = 0.518920, current_vel = 0.367443, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.367443, acc = -15.000000,T = 0.006144, P = 0.001643 on final decel initial results: dx= 0.004500,dt = 0.024496, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.024496 dt = 0.024496, not at end yet tc id = 80, canon_type = 3, mot type = 2 time: 4.812000 primary movement = 3.749228664287e-04 time: 4.812000000000e+00 total movement = 3.749228664287e-04 vel = 3.674433111593e-01 ------------------- tc state : vr = 0.518920, vf = 0.000000, maxvel = 0.518920, current_vel = 0.352443, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.352443, acc = -15.000000,T = 0.006144, P = 0.002003 on final decel initial results: dx= 0.004141,dt = 0.023496, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.023496 dt = 0.023496, not at end yet tc id = 80, canon_type = 3, mot type = 2 time: 4.813000 primary movement = 3.599252232888e-04 time: 4.813000000000e+00 total movement = 3.599252232888e-04 vel = 3.524433111593e-01 ------------------- tc state : vr = 0.518920, vf = 0.000000, maxvel = 0.518920, current_vel = 0.337443, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.337443, acc = -15.000000,T = 0.006144, P = 0.002348 on final decel initial results: dx= 0.003796,dt = 0.022496, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.022496 dt = 0.022496, not at end yet tc id = 80, canon_type = 3, mot type = 2 time: 4.814000 primary movement = 3.449273916808e-04 time: 4.814000000000e+00 total movement = 3.449273916808e-04 vel = 3.374433111593e-01 ------------------- tc state : vr = 0.518920, vf = 0.000000, maxvel = 0.518920, current_vel = 0.322443, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.322443, acc = -15.000000,T = 0.006144, P = 0.002678 on final decel initial results: dx= 0.003466,dt = 0.021496, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.021496 dt = 0.021496, not at end yet tc id = 80, canon_type = 3, mot type = 2 time: 4.815000 primary movement = 3.299293794582e-04 time: 4.815000000000e+00 total movement = 3.299293794582e-04 vel = 3.224433111593e-01 ------------------- tc state : vr = 0.518920, vf = 0.000000, maxvel = 0.518920, current_vel = 0.307443, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.307443, acc = -15.000000,T = 0.006144, P = 0.002993 on final decel initial results: dx= 0.003151,dt = 0.020496, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.020496 dt = 0.020496, not at end yet tc id = 80, canon_type = 3, mot type = 2 time: 4.816000 primary movement = 3.149311944743e-04 time: 4.816000000000e+00 total movement = 3.149311944743e-04 vel = 3.074433111593e-01 ------------------- tc state : vr = 0.518920, vf = 0.000000, maxvel = 0.518920, current_vel = 0.292443, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.292443, acc = -15.000000,T = 0.006144, P = 0.003293 on final decel initial results: dx= 0.002851,dt = 0.019496, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.019496 dt = 0.019496, not at end yet tc id = 80, canon_type = 3, mot type = 2 time: 4.817000 primary movement = 2.999328445825e-04 time: 4.817000000000e+00 total movement = 2.999328445825e-04 vel = 2.924433111593e-01 ------------------- tc state : vr = 0.518920, vf = 0.000000, maxvel = 0.518920, current_vel = 0.277443, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.277443, acc = -15.000000,T = 0.006144, P = 0.003578 on final decel initial results: dx= 0.002566,dt = 0.018496, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.018496 dt = 0.018496, not at end yet tc id = 80, canon_type = 3, mot type = 2 time: 4.818000 primary movement = 2.849343376367e-04 time: 4.818000000000e+00 total movement = 2.849343376367e-04 vel = 2.774433111593e-01 ------------------- tc state : vr = 0.518920, vf = 0.000000, maxvel = 0.518920, current_vel = 0.262443, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.262443, acc = -15.000000,T = 0.006144, P = 0.003848 on final decel initial results: dx= 0.002296,dt = 0.017496, a_f = -15.000000, v_f = 0.000000 dt = 0.017496, not at end yet tc id = 80, canon_type = 3, mot type = 2 time: 4.819000 primary movement = 2.699356814904e-04 time: 4.819000000000e+00 total movement = 2.699356814904e-04 vel = 2.624433111593e-01 ------------------- tc state : vr = 0.518920, vf = 0.000000, maxvel = 0.518920, current_vel = 0.247443, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.247443, acc = -15.000000,T = 0.006144, P = 0.004103 on final decel initial results: dx= 0.002041,dt = 0.016496, a_f = -15.000000, v_f = 0.000000 dt = 0.016496, not at end yet tc id = 80, canon_type = 3, mot type = 2 time: 4.820000 primary movement = 2.549368839973e-04 time: 4.820000000000e+00 total movement = 2.549368839973e-04 vel = 2.474433111593e-01 ------------------- tc state : vr = 0.518920, vf = 0.000000, maxvel = 0.518920, current_vel = 0.232443, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.232443, acc = -15.000000,T = 0.006144, P = 0.004343 on final decel initial results: dx= 0.001801,dt = 0.015496, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.015496 dt = 0.015496, not at end yet tc id = 80, canon_type = 3, mot type = 2 time: 4.821000 primary movement = 2.399379530114e-04 time: 4.821000000000e+00 total movement = 2.399379530114e-04 vel = 2.324433111593e-01 ------------------- tc state : vr = 0.518920, vf = 0.000000, maxvel = 0.518920, current_vel = 0.217443, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.217443, acc = -15.000000,T = 0.006144, P = 0.004567 on final decel initial results: dx= 0.001576,dt = 0.014496, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.014496 dt = 0.014496, not at end yet tc id = 80, canon_type = 3, mot type = 2 time: 4.822000 primary movement = 2.249388963865e-04 time: 4.822000000000e+00 total movement = 2.249388963865e-04 vel = 2.174433111593e-01 ------------------- tc state : vr = 0.518920, vf = 0.000000, maxvel = 0.518920, current_vel = 0.202443, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.202443, acc = -15.000000,T = 0.006144, P = 0.004777 on final decel initial results: dx= 0.001366,dt = 0.013496, a_f = -15.000000, v_f = 0.000000 dt = 0.013496, not at end yet tc id = 80, canon_type = 3, mot type = 2 time: 4.823000 primary movement = 2.099397219766e-04 time: 4.823000000000e+00 total movement = 2.099397219766e-04 vel = 2.024433111593e-01 ------------------- tc state : vr = 0.518920, vf = 0.000000, maxvel = 0.518920, current_vel = 0.187443, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.187443, acc = -15.000000,T = 0.006144, P = 0.004972 on final decel initial results: dx= 0.001171,dt = 0.012496, a_f = -15.000000, v_f = 0.000000 dt = 0.012496, not at end yet tc id = 80, canon_type = 3, mot type = 2 time: 4.824000 primary movement = 1.949404376358e-04 time: 4.824000000000e+00 total movement = 1.949404376358e-04 vel = 1.874433111593e-01 ------------------- tc state : vr = 0.518920, vf = 0.000000, maxvel = 0.518920, current_vel = 0.172443, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.172443, acc = -15.000000,T = 0.006144, P = 0.005152 on final decel initial results: dx= 0.000991,dt = 0.011496, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.011496 dt = 0.011496, not at end yet tc id = 80, canon_type = 3, mot type = 2 time: 4.825000 primary movement = 1.799410512180e-04 time: 4.825000000000e+00 total movement = 1.799410512180e-04 vel = 1.724433111593e-01 ------------------- tc state : vr = 0.518920, vf = 0.000000, maxvel = 0.518920, current_vel = 0.157443, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.157443, acc = -15.000000,T = 0.006144, P = 0.005317 on final decel initial results: dx= 0.000826,dt = 0.010496, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.010496 dt = 0.010496, not at end yet tc id = 80, canon_type = 3, mot type = 2 time: 4.826000 primary movement = 1.649415705777e-04 time: 4.826000000000e+00 total movement = 1.649415705777e-04 vel = 1.574433111593e-01 ------------------- tc state : vr = 0.518920, vf = 0.000000, maxvel = 0.518920, current_vel = 0.142443, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.142443, acc = -15.000000,T = 0.006144, P = 0.005467 on final decel initial results: dx= 0.000676,dt = 0.009496, a_f = -15.000000, v_f = 0.000000 dt = 0.009496, not at end yet tc id = 80, canon_type = 3, mot type = 2 time: 4.827000 primary movement = 1.499420035686e-04 time: 4.827000000000e+00 total movement = 1.499420035686e-04 vel = 1.424433111593e-01 ------------------- tc state : vr = 0.518920, vf = 0.000000, maxvel = 0.518920, current_vel = 0.127443, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.127443, acc = -15.000000,T = 0.006144, P = 0.005602 on final decel initial results: dx= 0.000541,dt = 0.008496, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.008496 dt = 0.008496, not at end yet tc id = 80, canon_type = 3, mot type = 2 time: 4.828000 primary movement = 1.349423580453e-04 time: 4.828000000000e+00 total movement = 1.349423580453e-04 vel = 1.274433111593e-01 ------------------- tc state : vr = 0.518920, vf = 0.000000, maxvel = 0.518920, current_vel = 0.112443, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.112443, acc = -15.000000,T = 0.006144, P = 0.005722 on final decel initial results: dx= 0.000421,dt = 0.007496, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.007496 dt = 0.007496, not at end yet tc id = 80, canon_type = 3, mot type = 2 time: 4.829000 primary movement = 1.199426418621e-04 time: 4.829000000000e+00 total movement = 1.199426418621e-04 vel = 1.124433111593e-01 ------------------- tc state : vr = 0.518920, vf = 0.000000, maxvel = 0.518920, current_vel = 0.097443, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.097443, acc = -15.000000,T = 0.006144, P = 0.005827 on final decel initial results: dx= 0.000317,dt = 0.006496, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.006496 dt = 0.006496, not at end yet tc id = 80, canon_type = 3, mot type = 2 time: 4.830000 primary movement = 1.049428628731e-04 time: 4.830000000000e+00 total movement = 1.049428628731e-04 vel = 9.744331115933e-02 ------------------- tc state : vr = 0.518920, vf = 0.000000, maxvel = 0.518920, current_vel = 0.082443, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.082443, acc = -15.000000,T = 0.006144, P = 0.005917 on final decel initial results: dx= 0.000227,dt = 0.005496, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.005496 dt = 0.005496, not at end yet tc id = 80, canon_type = 3, mot type = 2 time: 4.831000 primary movement = 8.994302893275e-05 time: 4.831000000000e+00 total movement = 8.994302893275e-05 vel = 8.244331115933e-02 ------------------- tc state : vr = 0.518920, vf = 0.000000, maxvel = 0.518920, current_vel = 0.067443, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.067443, acc = -15.000000,T = 0.006144, P = 0.005992 on final decel initial results: dx= 0.000152,dt = 0.004496, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.004496 dt = 0.004496, not at end yet tc id = 80, canon_type = 3, mot type = 2 time: 4.832000 primary movement = 7.494314789551e-05 time: 4.832000000000e+00 total movement = 7.494314789551e-05 vel = 6.744331115933e-02 ------------------- tc state : vr = 0.518920, vf = 0.000000, maxvel = 0.518920, current_vel = 0.052443, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.052443, acc = -15.000000,T = 0.006144, P = 0.006052 on final decel initial results: dx= 0.000092,dt = 0.003496, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.003496 dt = 0.003496, not at end yet tc id = 80, canon_type = 3, mot type = 2 time: 4.833000 primary movement = 5.994322761561e-05 time: 4.833000000000e+00 total movement = 5.994322761561e-05 vel = 5.244331115933e-02 ------------------- tc state : vr = 0.518920, vf = 0.000000, maxvel = 0.518920, current_vel = 0.037443, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.037443, acc = -15.000000,T = 0.006144, P = 0.006097 on final decel initial results: dx= 0.000047,dt = 0.002496, a_f = -15.000000, v_f = 0.000000 dt = 0.002496, not at end yet tc id = 80, canon_type = 3, mot type = 2 time: 4.834000 primary movement = 4.494327594767e-05 time: 4.834000000000e+00 total movement = 4.494327594767e-05 vel = 3.744331115933e-02 ------------------- tc state : vr = 0.518920, vf = 0.000000, maxvel = 0.518920, current_vel = 0.022443, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.022443, acc = -15.000000,T = 0.006144, P = 0.006127 on final decel initial results: dx= 0.000017,dt = 0.001496, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.001496 dt = 0.001496, not at end yet tc id = 80, canon_type = 3, mot type = 2 time: 4.835000 primary movement = 2.994330074595e-05 time: 4.835000000000e+00 total movement = 2.994330074595e-05 vel = 2.244331115933e-02 ------------------- tc state : vr = 0.518920, vf = 0.000000, maxvel = 0.518920, current_vel = 0.007443, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.007443, acc = -15.000000,T = 0.006144, P = 0.006142 on final decel initial results: dx= 0.000002,dt = 0.000496, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.000496 actual v_f = 0.000000, a = -15.000000 split time is 0.000496221 tc id = 80, canon_type = 3, mot type = 2 time: 4.836000 primary movement = 1.494330986507e-05 time: 4.836000000000e+00 total movement = 1.494330986507e-05 vel = 7.443311159334e-03 ------------------- tc id 80 done Finishing split-cycle on id 80 tc state : vr = 8.863930, vf = 0.000000, maxvel = 8.863930, current_vel = 0.008038, fs = 1.000000, tc = 0.000504, term = 2 tc result: v = 0.008038, acc = 15.955137,T = 0.005344, P = 0.000002 secondary movement = 0.000002 tc id = 80, canon_type = 2, mot type = 1 time: 4.837000 primary movement = 1.846762698036e-06 time: 4.837000000000e+00 total movement = 3.871420123397e-06 vel = 8.037871261257e-03 Finished tc id 80 ------------------- Activate tc id = 80 target_vel = 8.863930 final_vel = 0.000000 length = 0.005344 Activate nexttc id 81 tc state : vr = 8.863930, vf = 0.000000, maxvel = 8.863930, current_vel = 0.023993, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.023993, acc = 15.955137,T = 0.005344, P = 0.000018 tc id = 80, canon_type = 2, mot type = 1 time: 4.838000 primary movement = 1.601543991106e-05 time: 4.838000000000e+00 total movement = 1.601543991106e-05 vel = 2.399300856089e-02 ------------------- tc state : vr = 8.863930, vf = 0.000000, maxvel = 8.863930, current_vel = 0.039948, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.039948, acc = 15.955137,T = 0.005344, P = 0.000050 tc id = 80, canon_type = 2, mot type = 1 time: 4.839000 primary movement = 3.197057721074e-05 time: 4.839000000000e+00 total movement = 3.197057721074e-05 vel = 3.994814586051e-02 ------------------- tc state : vr = 8.863930, vf = 0.000000, maxvel = 8.863930, current_vel = 0.055903, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.055903, acc = 15.955137,T = 0.005344, P = 0.000098 tc id = 80, canon_type = 2, mot type = 1 time: 4.840000 primary movement = 4.792571451030e-05 time: 4.840000000000e+00 total movement = 4.792571451030e-05 vel = 5.590328316014e-02 ------------------- tc state : vr = 8.863930, vf = 0.000000, maxvel = 8.863930, current_vel = 0.071858, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.071858, acc = 15.955137,T = 0.005344, P = 0.000162 tc id = 80, canon_type = 2, mot type = 1 time: 4.841000 primary movement = 6.388085180996e-05 time: 4.841000000000e+00 total movement = 6.388085180996e-05 vel = 7.185842045977e-02 ------------------- tc state : vr = 8.863930, vf = 0.000000, maxvel = 8.863930, current_vel = 0.087814, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.087814, acc = 15.955137,T = 0.005344, P = 0.000242 tc id = 80, canon_type = 2, mot type = 1 time: 4.842000 primary movement = 7.983598910958e-05 time: 4.842000000000e+00 total movement = 7.983598910958e-05 vel = 8.781355775940e-02 ------------------- tc state : vr = 8.863930, vf = 0.000000, maxvel = 8.863930, current_vel = 0.103769, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.103769, acc = 15.955137,T = 0.005344, P = 0.000337 tc id = 80, canon_type = 2, mot type = 1 time: 4.843000 primary movement = 9.579112640920e-05 time: 4.843000000000e+00 total movement = 9.579112640920e-05 vel = 1.037686950590e-01 ------------------- tc state : vr = 8.863930, vf = 0.000000, maxvel = 8.863930, current_vel = 0.119724, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.119724, acc = 15.955137,T = 0.005344, P = 0.000449 tc id = 80, canon_type = 2, mot type = 1 time: 4.844000 primary movement = 1.117462637089e-04 time: 4.844000000000e+00 total movement = 1.117462637089e-04 vel = 1.197238323587e-01 ------------------- tc state : vr = 8.863930, vf = 0.000000, maxvel = 8.863930, current_vel = 0.135679, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.135679, acc = 15.955137,T = 0.005344, P = 0.000577 tc id = 80, canon_type = 2, mot type = 1 time: 4.845000 primary movement = 1.277014010085e-04 time: 4.845000000000e+00 total movement = 1.277014010085e-04 vel = 1.356789696583e-01 ------------------- tc state : vr = 8.863930, vf = 0.000000, maxvel = 8.863930, current_vel = 0.151634, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.151634, acc = 15.955137,T = 0.005344, P = 0.000721 tc id = 80, canon_type = 2, mot type = 1 time: 4.846000 primary movement = 1.436565383081e-04 time: 4.846000000000e+00 total movement = 1.436565383081e-04 vel = 1.516341069579e-01 ------------------- tc state : vr = 8.863930, vf = 0.000000, maxvel = 8.863930, current_vel = 0.167589, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.167589, acc = 15.955137,T = 0.005344, P = 0.000880 tc id = 80, canon_type = 2, mot type = 1 time: 4.847000 primary movement = 1.596116756077e-04 time: 4.847000000000e+00 total movement = 1.596116756077e-04 vel = 1.675892442575e-01 ------------------- tc state : vr = 8.863930, vf = 0.000000, maxvel = 8.863930, current_vel = 0.183544, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.183544, acc = 15.955137,T = 0.005344, P = 0.001056 tc id = 80, canon_type = 2, mot type = 1 time: 4.848000 primary movement = 1.755668129073e-04 time: 4.848000000000e+00 total movement = 1.755668129073e-04 vel = 1.835443815572e-01 ------------------- tc state : vr = 8.863930, vf = 0.000000, maxvel = 8.863930, current_vel = 0.199500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.199500, acc = 15.955137,T = 0.005344, P = 0.001247 tc id = 80, canon_type = 2, mot type = 1 time: 4.849000 primary movement = 1.915219502070e-04 time: 4.849000000000e+00 total movement = 1.915219502070e-04 vel = 1.994995188568e-01 ------------------- tc state : vr = 8.863930, vf = 0.000000, maxvel = 8.863930, current_vel = 0.215455, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.215455, acc = 15.955137,T = 0.005344, P = 0.001455 tc id = 80, canon_type = 2, mot type = 1 time: 4.850000 primary movement = 2.074770875066e-04 time: 4.850000000000e+00 total movement = 2.074770875066e-04 vel = 2.154546561564e-01 ------------------- tc state : vr = 8.863930, vf = 0.000000, maxvel = 8.863930, current_vel = 0.231410, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.231410, acc = 15.955137,T = 0.005344, P = 0.001678 tc id = 80, canon_type = 2, mot type = 1 time: 4.851000 primary movement = 2.234322248062e-04 time: 4.851000000000e+00 total movement = 2.234322248062e-04 vel = 2.314097934561e-01 ------------------- tc state : vr = 8.863930, vf = 0.000000, maxvel = 8.863930, current_vel = 0.247365, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.247365, acc = 15.955137,T = 0.005344, P = 0.001918 tc id = 80, canon_type = 2, mot type = 1 time: 4.852000 primary movement = 2.393873621059e-04 time: 4.852000000000e+00 total movement = 2.393873621059e-04 vel = 2.473649307557e-01 ------------------- tc state : vr = 8.863930, vf = 0.000000, maxvel = 8.863930, current_vel = 0.263320, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.263320, acc = 15.955137,T = 0.005344, P = 0.002173 tc id = 80, canon_type = 2, mot type = 1 time: 4.853000 primary movement = 2.553424994055e-04 time: 4.853000000000e+00 total movement = 2.553424994055e-04 vel = 2.633200680553e-01 ------------------- tc state : vr = 8.863930, vf = 0.000000, maxvel = 8.863930, current_vel = 0.279275, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.279275, acc = 15.955137,T = 0.005344, P = 0.002444 tc id = 80, canon_type = 2, mot type = 1 time: 4.854000 primary movement = 2.712976367051e-04 time: 4.854000000000e+00 total movement = 2.712976367051e-04 vel = 2.792752053549e-01 ------------------- tc state : vr = 8.863930, vf = 0.000000, maxvel = 8.863930, current_vel = 0.288932, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.288932, acc = 9.657160,T = 0.005344, P = 0.002728 tc id = 80, canon_type = 2, mot type = 1 time: 4.855000 primary movement = 2.841037853617e-04 time: 4.855000000000e+00 total movement = 2.841037853617e-04 vel = 2.889323653684e-01 ------------------- tc state : vr = 8.863930, vf = 0.000000, maxvel = 8.863930, current_vel = 0.272977, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.272977, acc = -15.955137,T = 0.005344, P = 0.003009 on final decel tc id = 80, canon_type = 2, mot type = 1 time: 4.856000 primary movement = 2.809547967186e-04 time: 4.856000000000e+00 total movement = 2.809547967186e-04 vel = 2.729772280688e-01 ------------------- tc state : vr = 8.863930, vf = 0.000000, maxvel = 8.863930, current_vel = 0.257022, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.257022, acc = -15.955137,T = 0.005344, P = 0.003274 on final decel tc id = 80, canon_type = 2, mot type = 1 time: 4.857000 primary movement = 2.649996594190e-04 time: 4.857000000000e+00 total movement = 2.649996594190e-04 vel = 2.570220907692e-01 ------------------- tc state : vr = 8.863930, vf = 0.000000, maxvel = 8.863930, current_vel = 0.241067, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.241067, acc = -15.955137,T = 0.005344, P = 0.003523 on final decel tc id = 80, canon_type = 2, mot type = 1 time: 4.858000 primary movement = 2.490445221194e-04 time: 4.858000000000e+00 total movement = 2.490445221194e-04 vel = 2.410669534695e-01 ------------------- tc state : vr = 8.863930, vf = 0.000000, maxvel = 8.863930, current_vel = 0.225112, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.225112, acc = -15.955137,T = 0.005344, P = 0.003756 on final decel tc id = 80, canon_type = 2, mot type = 1 time: 4.859000 primary movement = 2.330893848197e-04 time: 4.859000000000e+00 total movement = 2.330893848197e-04 vel = 2.251118161699e-01 ------------------- tc state : vr = 8.863930, vf = 0.000000, maxvel = 8.863930, current_vel = 0.209157, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.209157, acc = -15.955137,T = 0.005344, P = 0.003974 on final decel tc id = 80, canon_type = 2, mot type = 1 time: 4.860000 primary movement = 2.171342475201e-04 time: 4.860000000000e+00 total movement = 2.171342475201e-04 vel = 2.091566788703e-01 ------------------- tc state : vr = 8.863930, vf = 0.000000, maxvel = 8.863930, current_vel = 0.193202, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.193202, acc = -15.955137,T = 0.005344, P = 0.004175 on final decel tc id = 80, canon_type = 2, mot type = 1 time: 4.861000 primary movement = 2.011791102204e-04 time: 4.861000000000e+00 total movement = 2.011791102204e-04 vel = 1.932015415706e-01 ------------------- tc state : vr = 8.863930, vf = 0.000000, maxvel = 8.863930, current_vel = 0.177246, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.177246, acc = -15.955137,T = 0.005344, P = 0.004360 on final decel tc id = 80, canon_type = 2, mot type = 1 time: 4.862000 primary movement = 1.852239729209e-04 time: 4.862000000000e+00 total movement = 1.852239729209e-04 vel = 1.772464042710e-01 ------------------- tc state : vr = 8.863930, vf = 0.000000, maxvel = 8.863930, current_vel = 0.161291, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.161291, acc = -15.955137,T = 0.005344, P = 0.004529 on final decel tc id = 80, canon_type = 2, mot type = 1 tc state : vr = 0.015955, vf = 0.015955, maxvel = 10.122939, current_vel = 0.015955, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.015955, acc = 15.955137,T = 0.002115, P = 0.000008 initial results: dx= 0.002107,dt = 0.014353, a_f = 18.229872, v_f = 0.277616 recalculating with a_f = 18.229872, a = 18.221291 revised dt = 0.014357 dt = 0.014357, not at end yet tc id = 80, canon_type = 2, mot type = 1 secondary movement = 0.000008 time: 4.863000 primary movement = 1.692688356212e-04 time: 4.863000000000e+00 total movement = 1.772464042710e-04 vel = 1.772464042710e-01 ------------------- tc state : vr = 8.863930, vf = 0.000000, maxvel = 8.863930, current_vel = 0.145336, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.145336, acc = -15.955137,T = 0.005344, P = 0.004682 on final decel tc id = 80, canon_type = 2, mot type = 1 tc state : vr = 0.031910, vf = 0.031910, maxvel = 10.122939, current_vel = 0.031910, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.031910, acc = 15.955137,T = 0.002115, P = 0.000032 initial results: dx= 0.002083,dt = 0.013459, a_f = 18.256008, v_f = 0.277616 recalculating with a_f = 18.256008, a = 18.221291 revised dt = 0.013470 dt = 0.013470, not at end yet tc id = 80, canon_type = 2, mot type = 1 secondary movement = 0.000024 time: 4.864000 primary movement = 1.533136983216e-04 time: 4.864000000000e+00 total movement = 1.772464042710e-04 vel = 1.772464042710e-01 ------------------- tc state : vr = 8.863930, vf = 0.000000, maxvel = 8.863930, current_vel = 0.129381, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.129381, acc = -15.955137,T = 0.005344, P = 0.004820 on final decel tc id = 80, canon_type = 2, mot type = 1 tc state : vr = 0.047865, vf = 0.047865, maxvel = 10.122939, current_vel = 0.047865, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.047865, acc = 15.955137,T = 0.002115, P = 0.000072 initial results: dx= 0.002043,dt = 0.012554, a_f = 18.300930, v_f = 0.277616 recalculating with a_f = 18.300930, a = 18.221291 revised dt = 0.012577 dt = 0.012577, not at end yet tc id = 80, canon_type = 2, mot type = 1 secondary movement = 0.000040 time: 4.865000 primary movement = 1.373585610220e-04 time: 4.865000000000e+00 total movement = 1.772464042711e-04 vel = 1.772464042710e-01 ------------------- tc state : vr = 8.863930, vf = 0.000000, maxvel = 8.863930, current_vel = 0.113426, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.113426, acc = -15.955137,T = 0.005344, P = 0.004941 on final decel tc id = 80, canon_type = 2, mot type = 1 tc state : vr = 0.063821, vf = 0.063821, maxvel = 10.122939, current_vel = 0.063821, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.063821, acc = 15.955137,T = 0.002115, P = 0.000128 initial results: dx= 0.001987,dt = 0.011640, a_f = 18.366849, v_f = 0.277616 recalculating with a_f = 18.366849, a = 18.221291 revised dt = 0.011676 dt = 0.011676, not at end yet tc id = 80, canon_type = 2, mot type = 1 secondary movement = 0.000056 time: 4.866000 primary movement = 1.214034237223e-04 time: 4.866000000000e+00 total movement = 1.772464042710e-04 vel = 1.772464042710e-01 ------------------- tc state : vr = 8.863930, vf = 0.000000, maxvel = 8.863930, current_vel = 0.097471, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.097471, acc = -15.955137,T = 0.005344, P = 0.005047 on final decel tc id = 80, canon_type = 2, mot type = 1 tc state : vr = 0.079776, vf = 0.079776, maxvel = 10.122939, current_vel = 0.079776, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.079776, acc = 15.955137,T = 0.002115, P = 0.000199 initial results: dx= 0.001915,dt = 0.010719, a_f = 18.457251, v_f = 0.277616 recalculating with a_f = 18.457251, a = 18.221291 revised dt = 0.010768 dt = 0.010768, not at end yet tc id = 80, canon_type = 2, mot type = 1 secondary movement = 0.000072 time: 4.867000 primary movement = 1.054482864227e-04 time: 4.867000000000e+00 total movement = 1.772464042711e-04 vel = 1.772464042710e-01 ------------------- tc state : vr = 8.863930, vf = 0.000000, maxvel = 8.863930, current_vel = 0.081516, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.081516, acc = -15.955137,T = 0.005344, P = 0.005136 on final decel tc id = 80, canon_type = 2, mot type = 1 tc state : vr = 0.095731, vf = 0.095731, maxvel = 10.122939, current_vel = 0.095731, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.095731, acc = 15.955137,T = 0.002115, P = 0.000287 initial results: dx= 0.001828,dt = 0.009791, a_f = 18.577387, v_f = 0.277616 recalculating with a_f = 18.577387, a = 18.221291 revised dt = 0.009853 dt = 0.009853, not at end yet tc id = 81, canon_type = 2, mot type = 1 secondary movement = 0.000088 time: 4.868000 primary movement = 8.949314912306e-05 time: 4.868000000000e+00 total movement = 1.772464042710e-04 vel = 1.772464042710e-01 ------------------- tc state : vr = 8.863930, vf = 0.000000, maxvel = 8.863930, current_vel = 0.065560, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.065560, acc = -15.955137,T = 0.005344, P = 0.005210 on final decel tc id = 80, canon_type = 2, mot type = 1 tc state : vr = 0.111686, vf = 0.111686, maxvel = 10.122939, current_vel = 0.111686, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.111686, acc = 15.955137,T = 0.002115, P = 0.000391 initial results: dx= 0.001724,dt = 0.008857, a_f = 18.735134, v_f = 0.277616 recalculating with a_f = 18.735134, a = 18.221291 revised dt = 0.008930 dt = 0.008930, not at end yet tc id = 81, canon_type = 2, mot type = 1 secondary movement = 0.000104 time: 4.869000 primary movement = 7.353801182344e-05 time: 4.869000000000e+00 total movement = 1.772464042710e-04 vel = 1.772464042710e-01 ------------------- tc state : vr = 8.863930, vf = 0.000000, maxvel = 8.863930, current_vel = 0.049605, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.049605, acc = -15.955137,T = 0.005344, P = 0.005267 on final decel tc id = 80, canon_type = 2, mot type = 1 tc state : vr = 0.127641, vf = 0.127641, maxvel = 10.122939, current_vel = 0.127641, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.127641, acc = 15.955137,T = 0.002115, P = 0.000511 initial results: dx= 0.001604,dt = 0.007917, a_f = 18.942493, v_f = 0.277616 recalculating with a_f = 18.942493, a = 18.221291 revised dt = 0.008000 dt = 0.008000, not at end yet tc id = 81, canon_type = 2, mot type = 1 secondary movement = 0.000120 time: 4.870000 primary movement = 5.758287452378e-05 time: 4.870000000000e+00 total movement = 1.772464042710e-04 vel = 1.772464042710e-01 ------------------- tc state : vr = 8.863930, vf = 0.000000, maxvel = 8.863930, current_vel = 0.033650, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.033650, acc = -15.955137,T = 0.005344, P = 0.005309 on final decel tc id = 80, canon_type = 2, mot type = 1 tc state : vr = 0.143596, vf = 0.143596, maxvel = 10.122939, current_vel = 0.143596, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.143596, acc = 15.955137,T = 0.002115, P = 0.000646 initial results: dx= 0.001469,dt = 0.006974, a_f = 19.218349, v_f = 0.277616 recalculating with a_f = 19.218349, a = 18.221291 revised dt = 0.007063 dt = 0.007063, not at end yet tc id = 81, canon_type = 2, mot type = 1 secondary movement = 0.000136 time: 4.871000 primary movement = 4.162773722421e-05 time: 4.871000000000e+00 total movement = 1.772464042711e-04 vel = 1.772464042710e-01 ------------------- tc state : vr = 8.863930, vf = 0.000000, maxvel = 8.863930, current_vel = 0.017695, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.017695, acc = -15.955137,T = 0.005344, P = 0.005335 on final decel tc id = 80, canon_type = 2, mot type = 1 tc state : vr = 0.159551, vf = 0.159551, maxvel = 10.122939, current_vel = 0.159551, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.159551, acc = 15.955137,T = 0.002115, P = 0.000798 initial results: dx= 0.001317,dt = 0.006026, a_f = 19.593884, v_f = 0.277616 recalculating with a_f = 19.593884, a = 18.221291 revised dt = 0.006118 dt = 0.006118, not at end yet tc id = 81, canon_type = 2, mot type = 1 secondary movement = 0.000152 time: 4.872000 primary movement = 2.567259992454e-05 time: 4.872000000000e+00 total movement = 1.772464042710e-04 vel = 1.772464042710e-01 ------------------- tc state : vr = 8.863930, vf = 0.000000, maxvel = 8.863930, current_vel = 0.001740, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.001740, acc = -15.955137,T = 0.005344, P = 0.005344 on final decel tc id = 80, canon_type = 2, mot type = 1 tc state : vr = 0.175507, vf = 0.175507, maxvel = 10.122939, current_vel = 0.175507, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.175507, acc = 15.955137,T = 0.002115, P = 0.000965 initial results: dx= 0.001150,dt = 0.005074, a_f = 20.124166, v_f = 0.277616 recalculating with a_f = 20.124166, a = 18.221291 revised dt = 0.005165 dt = 0.005165, not at end yet tc id = 81, canon_type = 2, mot type = 1 secondary movement = 0.000168 time: 4.873000 primary movement = 9.717462624927e-06 time: 4.873000000000e+00 total movement = 1.772464042710e-04 vel = 1.772464042710e-01 ------------------- Found newvel = -0.001740, assuming segment is done segment 80 at target in runcycle tc state : vr = 8.863930, vf = 0.000000, maxvel = 8.863930, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.005344, P = 0.005344 tc id = 80, canon_type = 2, mot type = 1 tc state : vr = 0.177246, vf = 0.177246, maxvel = 10.122939, current_vel = 0.177246, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.177246, acc = 1.739894,T = 0.002115, P = 0.001142 initial results: dx= 0.000973,dt = 0.004279, a_f = 23.456036, v_f = 0.277616 recalculating with a_f = 23.456036, a = 18.221291 revised dt = 0.004466 dt = 0.004466, not at end yet tc id = 81, canon_type = 2, mot type = 1 secondary movement = 0.000176 time: 4.874000 primary movement = 9.486696939415e-08 time: 4.874000000000e+00 total movement = 1.764713242529e-04 vel = 1.772464042710e-01 Finished tc id 80 ------------------- tc state : vr = 1.007074, vf = 0.277616, maxvel = 10.122939, current_vel = 0.195468, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.195468, acc = 18.221291,T = 0.002115, P = 0.001328 initial results: dx= 0.000787,dt = 0.003326, a_f = 24.695852, v_f = 0.277616 recalculating with a_f = 24.695852, a = 18.221291 revised dt = 0.003466 dt = 0.003466, not at end yet tc id = 81, canon_type = 2, mot type = 1 time: 4.875000 primary movement = 1.863570499368e-04 time: 4.875000000000e+00 total movement = 1.863570499368e-04 vel = 1.954676956025e-01 ------------------- tc state : vr = 1.007074, vf = 0.277616, maxvel = 10.122939, current_vel = 0.213689, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.213689, acc = 18.221291,T = 0.002115, P = 0.001533 initial results: dx= 0.000582,dt = 0.002370, a_f = 26.970714, v_f = 0.277616 recalculating with a_f = 26.970714, a = 18.221291 revised dt = 0.002466 dt = 0.002466, not at end yet tc id = 81, canon_type = 2, mot type = 1 time: 4.876000 primary movement = 2.045783412683e-04 time: 4.876000000000e+00 total movement = 2.045783412683e-04 vel = 2.136889869341e-01 ------------------- tc state : vr = 1.007074, vf = 0.277616, maxvel = 10.122939, current_vel = 0.231910, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.231910, acc = 18.221291,T = 0.002115, P = 0.001755 initial results: dx= 0.000359,dt = 0.001411, a_f = 32.393792, v_f = 0.277616 recalculating with a_f = 32.393792, a = 18.221291 revised dt = 0.001466 dt = 0.001466, not at end yet tc id = 81, canon_type = 2, mot type = 1 time: 4.877000 primary movement = 2.227996325998e-04 time: 4.877000000000e+00 total movement = 2.227996325998e-04 vel = 2.319102782656e-01 ------------------- tc state : vr = 1.007074, vf = 0.277616, maxvel = 10.122939, current_vel = 0.250132, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.250132, acc = 18.221291,T = 0.002115, P = 0.001996 initial results: dx= 0.000118,dt = 0.000449, a_f = 61.235036, v_f = 0.277616 recalculating with a_f = 61.235036, a = 18.221291 revised dt = 0.000466 actual v_f = 0.258615, a = 18.221291 split time is 0.000465603 tc id = 81, canon_type = 2, mot type = 1 time: 4.878000 primary movement = 2.410209239314e-04 time: 4.878000000000e+00 total movement = 2.410209239314e-04 vel = 2.501315695971e-01 ------------------- tc id 81 done Finishing split-cycle on id 82 tc state : vr = 0.311250, vf = 0.311250, maxvel = 0.311250, current_vel = 0.266631, fs = 1.000000, tc = 0.000534, term = 3 tc result: v = 0.266631, acc = 15.000000,T = 0.002692, P = 0.000140 initial results: dx= 0.002552,dt = 0.008833, a_f = 5.051597, v_f = 0.311250 dt = 0.008833, not at end yet secondary movement = 0.000140 tc id = 82, canon_type = 3, mot type = 2 time: 4.879000 primary movement = 1.184369513334e-04 time: 4.879000000000e+00 total movement = 2.587739620119e-04 vel = 2.666314110140e-01 Finished tc id 81 ------------------- Activate tc id = 82 target_vel = 0.311250 final_vel = 0.311250 length = 0.002692 tc state : vr = 0.311250, vf = 0.311250, maxvel = 0.311250, current_vel = 0.281631, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.281631, acc = 15.000000,T = 0.002692, P = 0.000414 initial results: dx= 0.002278,dt = 0.007684, a_f = 3.854397, v_f = 0.311250 dt = 0.007684, not at end yet tc id = 82, canon_type = 3, mot type = 2 time: 4.880000 primary movement = 2.740696801730e-04 time: 4.880000000000e+00 total movement = 2.740696801730e-04 vel = 2.816314110140e-01 ------------------- tc state : vr = 0.311250, vf = 0.311250, maxvel = 0.311250, current_vel = 0.296631, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.296631, acc = 15.000000,T = 0.002692, P = 0.000704 initial results: dx= 0.001989,dt = 0.006543, a_f = 2.234073, v_f = 0.311250 dt = 0.006543, not at end yet tc id = 82, canon_type = 3, mot type = 2 time: 4.881000 primary movement = 2.890589827097e-04 time: 4.881000000000e+00 total movement = 2.890589827097e-04 vel = 2.966314110140e-01 ------------------- tc state : vr = 0.311250, vf = 0.311250, maxvel = 0.311250, current_vel = 0.311250, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.311250, acc = 14.618582,T = 0.002692, P = 0.001008 initial results: dx= 0.001685,dt = 0.005413, a_f = 0.000000, v_f = 0.311250 dt = 0.005413, not at end yet tc id = 82, canon_type = 3, mot type = 2 time: 4.882000 primary movement = 3.038565652086e-04 time: 4.882000000000e+00 total movement = 3.038565652086e-04 vel = 3.112499928704e-01 ------------------- tc state : vr = 0.311250, vf = 0.311250, maxvel = 0.311250, current_vel = 0.311250, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.311250, acc = 0.000000,T = 0.002692, P = 0.001319 initial results: dx= 0.001374,dt = 0.004413, a_f = 0.000000, v_f = 0.311250 dt = 0.004413, not at end yet tc id = 82, canon_type = 3, mot type = 2 time: 4.883000 primary movement = 3.111596392923e-04 time: 4.883000000000e+00 total movement = 3.111596392923e-04 vel = 3.112499928704e-01 ------------------- tc state : vr = 0.311250, vf = 0.311250, maxvel = 0.311250, current_vel = 0.311250, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.311250, acc = 0.000000,T = 0.002692, P = 0.001630 initial results: dx= 0.001062,dt = 0.003413, a_f = 0.000000, v_f = 0.311250 dt = 0.003413, not at end yet tc id = 82, canon_type = 3, mot type = 2 time: 4.884000 primary movement = 3.111596392922e-04 time: 4.884000000000e+00 total movement = 3.111596392922e-04 vel = 3.112499928704e-01 ------------------- tc state : vr = 0.311250, vf = 0.311250, maxvel = 0.311250, current_vel = 0.311250, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.311250, acc = 0.000000,T = 0.002692, P = 0.001941 initial results: dx= 0.000751,dt = 0.002413, a_f = 0.000000, v_f = 0.311250 dt = 0.002413, not at end yet tc id = 82, canon_type = 3, mot type = 2 time: 4.885000 primary movement = 3.111596392923e-04 time: 4.885000000000e+00 total movement = 3.111596392923e-04 vel = 3.112499928704e-01 ------------------- tc state : vr = 0.311250, vf = 0.311250, maxvel = 0.311250, current_vel = 0.311250, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.311250, acc = 0.000000,T = 0.002692, P = 0.002253 initial results: dx= 0.000440,dt = 0.001413, a_f = 0.000000, v_f = 0.311250 dt = 0.001413, not at end yet tc id = 82, canon_type = 3, mot type = 2 time: 4.886000 primary movement = 3.111596392923e-04 time: 4.886000000000e+00 total movement = 3.111596392923e-04 vel = 3.112499928704e-01 ------------------- tc state : vr = 0.311250, vf = 0.311250, maxvel = 0.311250, current_vel = 0.311250, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.311250, acc = 0.000000,T = 0.002692, P = 0.002564 initial results: dx= 0.000129,dt = 0.000413, a_f = 0.000000, v_f = 0.311250 actual v_f = 0.311250, a = 0.000000 split time is 0.000413287 tc id = 82, canon_type = 3, mot type = 2 time: 4.887000 primary movement = 3.111596392923e-04 time: 4.887000000000e+00 total movement = 3.111596392923e-04 vel = 3.112499928704e-01 ------------------- tc id 82 done Finishing split-cycle on id 82 tc state : vr = 0.976560, vf = 0.195402, maxvel = 8.589769, current_vel = 0.329393, fs = 1.000000, tc = 0.000587, term = 3 tc result: v = 0.329393, acc = 30.923292,T = 0.002051, P = 0.000188 initial results: dx= 0.001863,dt = 0.007099, a_f = -18.873877, v_f = 0.195402 dt = 0.007099, not at end yet secondary movement = 0.000188 tc id = 82, canon_type = 2, mot type = 1 time: 4.888000 primary movement = 1.286291177986e-04 time: 4.888000000000e+00 total movement = 3.165660144003e-04 vel = 3.293930982829e-01 Finished tc id 82 ------------------- Activate tc id = 82 target_vel = 0.976560 final_vel = 0.195402 length = 0.002051 tc state : vr = 0.976560, vf = 0.195402, maxvel = 8.589769, current_vel = 0.360316, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.360316, acc = 30.923292,T = 0.002051, P = 0.000533 initial results: dx= 0.001518,dt = 0.005463, a_f = -30.186765, v_f = 0.195402 dt = 0.005463, not at end yet tc id = 82, canon_type = 2, mot type = 1 time: 4.889000 primary movement = 3.448547443790e-04 time: 4.889000000000e+00 total movement = 3.448547443790e-04 vel = 3.603163904750e-01 ------------------- tc state : vr = 0.976560, vf = 0.195402, maxvel = 8.589769, current_vel = 0.332620, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.332620, acc = -27.696337,T = 0.002051, P = 0.000879 on final decel initial results: dx= 0.001172,dt = 0.004437, a_f = -30.923292, v_f = 0.195402 recalculating with a_f = -30.923292, a = -30.923292 revised dt = 0.004437 dt = 0.004437, not at end yet tc id = 82, canon_type = 2, mot type = 1 time: 4.890000 primary movement = 3.464682221555e-04 time: 4.890000000000e+00 total movement = 3.464682221555e-04 vel = 3.326200538359e-01 ------------------- tc state : vr = 0.976560, vf = 0.195402, maxvel = 8.589769, current_vel = 0.301697, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.301697, acc = -30.923292,T = 0.002051, P = 0.001196 on final decel initial results: dx= 0.000854,dt = 0.003437, a_f = -30.923292, v_f = 0.195402 recalculating with a_f = -30.923292, a = -30.923292 revised dt = 0.003437 dt = 0.003437, not at end yet tc id = 82, canon_type = 2, mot type = 1 time: 4.891000 primary movement = 3.171584077398e-04 time: 4.891000000000e+00 total movement = 3.171584077398e-04 vel = 3.016967616438e-01 ------------------- tc state : vr = 0.976560, vf = 0.195402, maxvel = 8.589769, current_vel = 0.270773, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.270773, acc = -30.923292,T = 0.002051, P = 0.001483 on final decel initial results: dx= 0.000568,dt = 0.002437, a_f = -30.923292, v_f = 0.195402 dt = 0.002437, not at end yet tc id = 82, canon_type = 2, mot type = 1 time: 4.892000 primary movement = 2.862351155477e-04 time: 4.892000000000e+00 total movement = 2.862351155477e-04 vel = 2.707734694516e-01 ------------------- tc state : vr = 0.976560, vf = 0.195402, maxvel = 8.589769, current_vel = 0.239850, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.239850, acc = -30.923292,T = 0.002051, P = 0.001738 on final decel initial results: dx= 0.000313,dt = 0.001437, a_f = -30.923292, v_f = 0.195402 recalculating with a_f = -30.923292, a = -30.923292 revised dt = 0.001437 dt = 0.001437, not at end yet tc id = 82, canon_type = 2, mot type = 1 time: 4.893000 primary movement = 2.553118233556e-04 time: 4.893000000000e+00 total movement = 2.553118233556e-04 vel = 2.398501772595e-01 ------------------- tc state : vr = 0.976560, vf = 0.195402, maxvel = 8.589769, current_vel = 0.208927, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.208927, acc = -30.923292,T = 0.002051, P = 0.001962 on final decel initial results: dx= 0.000088,dt = 0.000437, a_f = -30.923292, v_f = 0.195402 recalculating with a_f = -30.923292, a = -30.923292 revised dt = 0.000437 actual v_f = 0.195402, a = -30.923292 split time is 0.00043738 tc id = 82, canon_type = 2, mot type = 1 time: 4.894000 primary movement = 2.243885311634e-04 time: 4.894000000000e+00 total movement = 2.243885311634e-04 vel = 2.089268850674e-01 ------------------- tc id 82 done Finishing split-cycle on id 83 tc state : vr = 0.216016, vf = 0.000000, maxvel = 0.216016, current_vel = 0.186962, fs = 1.000000, tc = 0.000563, term = 3 tc result: v = 0.186962, acc = -15.000000,T = 0.001273, P = 0.000108 on final decel initial results: dx= 0.001165,dt = 0.012464, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.012464 dt = 0.012464, not at end yet secondary movement = 0.000108 tc id = 83, canon_type = 3, mot type = 2 time: 4.895000 primary movement = 8.842262723125e-05 time: 4.895000000000e+00 total movement = 1.959693537954e-04 vel = 1.869623540055e-01 Finished tc id 82 ------------------- Activate tc id = 83 target_vel = 0.216016 final_vel = 0.000000 length = 0.001273 tc state : vr = 0.216016, vf = 0.000000, maxvel = 0.216016, current_vel = 0.171962, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.171962, acc = -15.000000,T = 0.001273, P = 0.000287 on final decel initial results: dx= 0.000986,dt = 0.011464, a_f = -15.000000, v_f = 0.000000 dt = 0.011464, not at end yet tc id = 83, canon_type = 3, mot type = 2 time: 4.896000 primary movement = 1.793877059126e-04 time: 4.896000000000e+00 total movement = 1.793877059126e-04 vel = 1.719623540055e-01 ------------------- tc state : vr = 0.216016, vf = 0.000000, maxvel = 0.216016, current_vel = 0.156962, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.156962, acc = -15.000000,T = 0.001273, P = 0.000451 on final decel initial results: dx= 0.000821,dt = 0.010464, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.010464 dt = 0.010464, not at end yet tc id = 83, canon_type = 3, mot type = 2 time: 4.897000 primary movement = 1.644049017841e-04 time: 4.897000000000e+00 total movement = 1.644049017841e-04 vel = 1.569623540055e-01 ------------------- tc state : vr = 0.216016, vf = 0.000000, maxvel = 0.216016, current_vel = 0.141962, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.141962, acc = -15.000000,T = 0.001273, P = 0.000601 on final decel initial results: dx= 0.000672,dt = 0.009464, a_f = -15.000000, v_f = 0.000000 dt = 0.009464, not at end yet tc id = 83, canon_type = 3, mot type = 2 time: 4.898000 primary movement = 1.494192308336e-04 time: 4.898000000000e+00 total movement = 1.494192308336e-04 vel = 1.419623540055e-01 ------------------- tc state : vr = 0.216016, vf = 0.000000, maxvel = 0.216016, current_vel = 0.126962, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.126962, acc = -15.000000,T = 0.001273, P = 0.000735 on final decel initial results: dx= 0.000537,dt = 0.008464, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.008464 dt = 0.008464, not at end yet tc id = 83, canon_type = 3, mot type = 2 time: 4.899000 primary movement = 1.344309543747e-04 time: 4.899000000000e+00 total movement = 1.344309543747e-04 vel = 1.269623540055e-01 ------------------- tc state : vr = 0.216016, vf = 0.000000, maxvel = 0.216016, current_vel = 0.111962, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.111962, acc = -15.000000,T = 0.001273, P = 0.000855 on final decel initial results: dx= 0.000418,dt = 0.007464, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.007464 dt = 0.007464, not at end yet tc id = 83, canon_type = 3, mot type = 2 time: 4.900000 primary movement = 1.194403337666e-04 time: 4.900000000000e+00 total movement = 1.194403337666e-04 vel = 1.119623540055e-01 ------------------- tc state : vr = 0.216016, vf = 0.000000, maxvel = 0.216016, current_vel = 0.096962, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.096962, acc = -15.000000,T = 0.001273, P = 0.000959 on final decel initial results: dx= 0.000313,dt = 0.006464, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.006464 dt = 0.006464, not at end yet tc id = 83, canon_type = 3, mot type = 2 time: 4.901000 primary movement = 1.044476304093e-04 time: 4.901000000000e+00 total movement = 1.044476304093e-04 vel = 9.696235400547e-02 ------------------- tc state : vr = 0.216016, vf = 0.000000, maxvel = 0.216016, current_vel = 0.081962, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.081962, acc = -15.000000,T = 0.001273, P = 0.001049 on final decel initial results: dx= 0.000224,dt = 0.005464, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.005464 dt = 0.005464, not at end yet tc id = 83, canon_type = 3, mot type = 2 time: 4.902000 primary movement = 8.945310573901e-05 time: 4.902000000000e+00 total movement = 8.945310573901e-05 vel = 8.196235400547e-02 ------------------- tc state : vr = 0.216016, vf = 0.000000, maxvel = 0.216016, current_vel = 0.066962, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.066962, acc = -15.000000,T = 0.001273, P = 0.001123 on final decel initial results: dx= 0.000149,dt = 0.004464, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.004464 dt = 0.004464, not at end yet tc id = 83, canon_type = 3, mot type = 2 time: 4.903000 primary movement = 7.445702122395e-05 time: 4.903000000000e+00 total movement = 7.445702122395e-05 vel = 6.696235400547e-02 ------------------- tc state : vr = 0.216016, vf = 0.000000, maxvel = 0.216016, current_vel = 0.051962, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.051962, acc = -15.000000,T = 0.001273, P = 0.001183 on final decel initial results: dx= 0.000090,dt = 0.003464, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.003464 dt = 0.003464, not at end yet tc id = 83, canon_type = 3, mot type = 2 time: 4.904000 primary movement = 5.945963835929e-05 time: 4.904000000000e+00 total movement = 5.945963835929e-05 vel = 5.196235400547e-02 ------------------- tc state : vr = 0.216016, vf = 0.000000, maxvel = 0.216016, current_vel = 0.036962, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.036962, acc = -15.000000,T = 0.001273, P = 0.001227 on final decel initial results: dx= 0.000046,dt = 0.002464, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.002464 dt = 0.002464, not at end yet tc id = 83, canon_type = 3, mot type = 2 time: 4.905000 primary movement = 4.446121866306e-05 time: 4.905000000000e+00 total movement = 4.446121866306e-05 vel = 3.696235400547e-02 ------------------- tc state : vr = 0.216016, vf = 0.000000, maxvel = 0.216016, current_vel = 0.021962, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.021962, acc = -15.000000,T = 0.001273, P = 0.001257 on final decel initial results: dx= 0.000016,dt = 0.001464, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.001464 dt = 0.001464, not at end yet tc id = 83, canon_type = 3, mot type = 2 time: 4.906000 primary movement = 2.946202367115e-05 time: 4.906000000000e+00 total movement = 2.946202367115e-05 vel = 2.196235400547e-02 ------------------- tc state : vr = 0.216016, vf = 0.000000, maxvel = 0.216016, current_vel = 0.006962, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.006962, acc = -15.000000,T = 0.001273, P = 0.001271 on final decel initial results: dx= 0.000002,dt = 0.000464, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.000464 actual v_f = 0.000000, a = -15.000000 split time is 0.000464157 tc id = 83, canon_type = 3, mot type = 2 time: 4.907000 primary movement = 1.446231493314e-05 time: 4.907000000000e+00 total movement = 1.446231493314e-05 vel = 6.962354005467e-03 ------------------- tc id 83 done Finishing split-cycle on id 83 tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.008986, fs = 1.000000, tc = 0.000536, term = 2 tc result: v = 0.008986, acc = 16.770510,T = 0.001572, P = 0.000002 secondary movement = 0.000002 tc id = 83, canon_type = 2, mot type = 1 time: 4.908000 primary movement = 1.615812388740e-06 time: 4.908000000000e+00 total movement = 4.023454502509e-06 vel = 8.986365866034e-03 Finished tc id 83 ------------------- Activate tc id = 83 target_vel = 9.316913 final_vel = 0.000000 length = 0.001572 Activate nexttc id 84 tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.025757, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.025757, acc = 16.770510,T = 0.001572, P = 0.000020 tc id = 83, canon_type = 2, mot type = 1 time: 4.909000 primary movement = 1.737162078166e-05 time: 4.909000000000e+00 total movement = 1.737162078166e-05 vel = 2.575687569728e-02 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.042527, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.042527, acc = 16.770510,T = 0.001572, P = 0.000054 tc id = 83, canon_type = 2, mot type = 1 time: 4.910000 primary movement = 3.414213061290e-05 time: 4.910000000000e+00 total movement = 3.414213061290e-05 vel = 4.252738552853e-02 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.059298, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.059298, acc = 16.770510,T = 0.001572, P = 0.000105 tc id = 83, canon_type = 2, mot type = 1 time: 4.911000 primary movement = 5.091264044414e-05 time: 4.911000000000e+00 total movement = 5.091264044414e-05 vel = 5.929789535978e-02 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.076068, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.076068, acc = 16.770510,T = 0.001572, P = 0.000173 tc id = 83, canon_type = 2, mot type = 1 time: 4.912000 primary movement = 6.768315027541e-05 time: 4.912000000000e+00 total movement = 6.768315027541e-05 vel = 7.606840519103e-02 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.092839, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.092839, acc = 16.770510,T = 0.001572, P = 0.000257 tc id = 83, canon_type = 2, mot type = 1 time: 4.913000 primary movement = 8.445366010666e-05 time: 4.913000000000e+00 total movement = 8.445366010666e-05 vel = 9.283891502228e-02 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.109609, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.109609, acc = 16.770510,T = 0.001572, P = 0.000358 tc id = 83, canon_type = 2, mot type = 1 time: 4.914000 primary movement = 1.012241699379e-04 time: 4.914000000000e+00 total movement = 1.012241699379e-04 vel = 1.096094248535e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.126380, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.126380, acc = 16.770510,T = 0.001572, P = 0.000476 tc id = 83, canon_type = 2, mot type = 1 time: 4.915000 primary movement = 1.179946797691e-04 time: 4.915000000000e+00 total movement = 1.179946797691e-04 vel = 1.263799346848e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.143150, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.143150, acc = 16.770510,T = 0.001572, P = 0.000611 tc id = 83, canon_type = 2, mot type = 1 time: 4.916000 primary movement = 1.347651896004e-04 time: 4.916000000000e+00 total movement = 1.347651896004e-04 vel = 1.431504445160e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.159921, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.159921, acc = 16.770510,T = 0.001572, P = 0.000762 tc id = 83, canon_type = 2, mot type = 1 time: 4.917000 primary movement = 1.515356994317e-04 time: 4.917000000000e+00 total movement = 1.515356994317e-04 vel = 1.599209543473e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.148232, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.148232, acc = -11.689021,T = 0.001572, P = 0.000917 on final decel tc id = 83, canon_type = 2, mot type = 1 tc state : vr = 0.011689, vf = 0.011689, maxvel = 9.000761, current_vel = 0.011689, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.011689, acc = 11.689021,T = 0.002927, P = 0.000006 initial results: dx= 0.002922,dt = 0.018604, a_f = 15.626030, v_f = 0.302397 dt = 0.018604, not at end yet tc id = 83, canon_type = 2, mot type = 1 secondary movement = 0.000006 time: 4.918000 primary movement = 1.540764436047e-04 time: 4.918000000000e+00 total movement = 1.599209543473e-04 vel = 1.599209543473e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.131461, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.131461, acc = -16.770510,T = 0.001572, P = 0.001056 on final decel tc id = 83, canon_type = 2, mot type = 1 tc state : vr = 0.028460, vf = 0.028460, maxvel = 9.000761, current_vel = 0.027890, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.027890, acc = 16.201370,T = 0.002927, P = 0.000026 initial results: dx= 0.002902,dt = 0.017572, a_f = 15.622107, v_f = 0.302397 dt = 0.017572, not at end yet tc id = 83, canon_type = 2, mot type = 1 secondary movement = 0.000020 time: 4.919000 primary movement = 1.398466779466e-04 time: 4.919000000000e+00 total movement = 1.596363843025e-04 vel = 1.593518142577e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.114691, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.114691, acc = -16.770510,T = 0.001572, P = 0.001179 on final decel tc id = 83, canon_type = 2, mot type = 1 tc state : vr = 0.045230, vf = 0.045230, maxvel = 9.000761, current_vel = 0.044092, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.044092, acc = 16.201370,T = 0.002927, P = 0.000062 initial results: dx= 0.002866,dt = 0.016542, a_f = 15.614832, v_f = 0.302397 dt = 0.016542, not at end yet tc id = 83, canon_type = 2, mot type = 1 secondary movement = 0.000036 time: 4.920000 primary movement = 1.230761681154e-04 time: 4.920000000000e+00 total movement = 1.590672442130e-04 vel = 1.587826741682e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.097920, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.097920, acc = -16.770510,T = 0.001572, P = 0.001286 on final decel tc id = 83, canon_type = 2, mot type = 1 tc state : vr = 0.062001, vf = 0.062001, maxvel = 9.000761, current_vel = 0.060293, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.060293, acc = 16.201370,T = 0.002927, P = 0.000114 initial results: dx= 0.002814,dt = 0.015516, a_f = 15.603952, v_f = 0.302397 dt = 0.015516, not at end yet tc id = 83, canon_type = 2, mot type = 1 secondary movement = 0.000052 time: 4.921000 primary movement = 1.063056582841e-04 time: 4.921000000000e+00 total movement = 1.584981041234e-04 vel = 1.582135340787e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.081150, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.081150, acc = -16.770510,T = 0.001572, P = 0.001375 on final decel tc id = 83, canon_type = 2, mot type = 1 tc state : vr = 0.078771, vf = 0.078771, maxvel = 9.000761, current_vel = 0.076495, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.076495, acc = 16.201370,T = 0.002927, P = 0.000182 initial results: dx= 0.002745,dt = 0.014491, a_f = 15.589068, v_f = 0.302397 dt = 0.014491, not at end yet tc id = 83, canon_type = 2, mot type = 1 secondary movement = 0.000068 time: 4.922000 primary movement = 8.953514845282e-05 time: 4.922000000000e+00 total movement = 1.579289640339e-04 vel = 1.576443939891e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.064379, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.064379, acc = -16.770510,T = 0.001572, P = 0.001448 on final decel tc id = 83, canon_type = 2, mot type = 1 tc state : vr = 0.095542, vf = 0.095542, maxvel = 9.000761, current_vel = 0.092696, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.092696, acc = 16.201370,T = 0.002927, P = 0.000267 initial results: dx= 0.002661,dt = 0.013469, a_f = 15.569600, v_f = 0.302397 dt = 0.013469, not at end yet tc id = 84, canon_type = 2, mot type = 1 secondary movement = 0.000085 time: 4.923000 primary movement = 7.276463862165e-05 time: 4.923000000000e+00 total movement = 1.573598239444e-04 vel = 1.570752538996e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.047609, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.047609, acc = -16.770510,T = 0.001572, P = 0.001504 on final decel tc id = 83, canon_type = 2, mot type = 1 tc state : vr = 0.112312, vf = 0.112312, maxvel = 9.000761, current_vel = 0.108897, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.108897, acc = 16.201370,T = 0.002927, P = 0.000368 initial results: dx= 0.002560,dt = 0.012448, a_f = 15.544724, v_f = 0.302397 dt = 0.012448, not at end yet tc id = 84, canon_type = 2, mot type = 1 secondary movement = 0.000101 time: 4.924000 primary movement = 5.599412879036e-05 time: 4.924000000000e+00 total movement = 1.567906838548e-04 vel = 1.565061138101e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.030838, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.030838, acc = -16.770510,T = 0.001572, P = 0.001543 on final decel tc id = 83, canon_type = 2, mot type = 1 tc state : vr = 0.129083, vf = 0.129083, maxvel = 9.000761, current_vel = 0.125099, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.125099, acc = 16.201370,T = 0.002927, P = 0.000485 initial results: dx= 0.002443,dt = 0.011429, a_f = 15.513275, v_f = 0.302397 dt = 0.011429, not at end yet tc id = 84, canon_type = 2, mot type = 1 secondary movement = 0.000117 time: 4.925000 primary movement = 3.922361895906e-05 time: 4.925000000000e+00 total movement = 1.562215437652e-04 vel = 1.559369737205e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.014068, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.014068, acc = -16.770510,T = 0.001572, P = 0.001566 on final decel tc id = 83, canon_type = 2, mot type = 1 tc state : vr = 0.145853, vf = 0.145853, maxvel = 9.000761, current_vel = 0.141300, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.141300, acc = 16.201370,T = 0.002927, P = 0.000618 initial results: dx= 0.002310,dt = 0.010411, a_f = 15.473593, v_f = 0.302397 dt = 0.010411, not at end yet tc id = 84, canon_type = 2, mot type = 1 secondary movement = 0.000133 time: 4.926000 primary movement = 2.245310912789e-05 time: 4.926000000000e+00 total movement = 1.556524036758e-04 vel = 1.553678336310e-01 ------------------- Found newvel = -0.002703, assuming segment is done segment 83 at target in runcycle tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.001572, P = 0.001572 tc id = 83, canon_type = 2, mot type = 1 tc state : vr = 0.159921, vf = 0.159921, maxvel = 9.000761, current_vel = 0.157501, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.157501, acc = 16.201370,T = 0.002927, P = 0.000767 initial results: dx= 0.002160,dt = 0.009395, a_f = 15.423261, v_f = 0.302397 dt = 0.009395, not at end yet tc id = 84, canon_type = 2, mot type = 1 secondary movement = 0.000149 time: 4.927000 primary movement = 5.900372860698e-06 time: 4.927000000000e+00 total movement = 1.553010371503e-04 vel = 1.575013491605e-01 Finished tc id 83 ------------------- tc state : vr = 1.394038, vf = 0.302397, maxvel = 9.000761, current_vel = 0.173703, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.173703, acc = 16.201370,T = 0.002927, P = 0.000933 initial results: dx= 0.001995,dt = 0.008379, a_f = 15.358661, v_f = 0.302397 dt = 0.008379, not at end yet tc id = 84, canon_type = 2, mot type = 1 time: 4.928000 primary movement = 1.656020340313e-04 time: 4.928000000000e+00 total movement = 1.656020340313e-04 vel = 1.737027189022e-01 ------------------- tc state : vr = 1.394038, vf = 0.302397, maxvel = 9.000761, current_vel = 0.189904, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.189904, acc = 16.201370,T = 0.002927, P = 0.001115 initial results: dx= 0.001813,dt = 0.007365, a_f = 15.274150, v_f = 0.302397 dt = 0.007365, not at end yet tc id = 84, canon_type = 2, mot type = 1 time: 4.929000 primary movement = 1.818034037730e-04 time: 4.929000000000e+00 total movement = 1.818034037730e-04 vel = 1.899040886439e-01 ------------------- tc state : vr = 1.394038, vf = 0.302397, maxvel = 9.000761, current_vel = 0.206105, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.206105, acc = 16.201370,T = 0.002927, P = 0.001313 initial results: dx= 0.001615,dt = 0.006351, a_f = 15.160461, v_f = 0.302397 dt = 0.006351, not at end yet tc id = 84, canon_type = 2, mot type = 1 time: 4.930000 primary movement = 1.980047735148e-04 time: 4.930000000000e+00 total movement = 1.980047735148e-04 vel = 2.061054583856e-01 ------------------- tc state : vr = 1.394038, vf = 0.302397, maxvel = 9.000761, current_vel = 0.222307, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.222307, acc = 16.201370,T = 0.002927, P = 0.001527 initial results: dx= 0.001401,dt = 0.005339, a_f = 15.001272, v_f = 0.302397 dt = 0.005339, not at end yet tc id = 84, canon_type = 2, mot type = 1 time: 4.931000 primary movement = 2.142061432564e-04 time: 4.931000000000e+00 total movement = 2.142061432564e-04 vel = 2.223068281273e-01 ------------------- tc state : vr = 1.394038, vf = 0.302397, maxvel = 9.000761, current_vel = 0.238508, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.238508, acc = 16.201370,T = 0.002927, P = 0.001757 initial results: dx= 0.001170,dt = 0.004327, a_f = 14.764989, v_f = 0.302397 dt = 0.004327, not at end yet tc id = 84, canon_type = 2, mot type = 1 time: 4.932000 primary movement = 2.304075129982e-04 time: 4.932000000000e+00 total movement = 2.304075129982e-04 vel = 2.385081978690e-01 ------------------- tc state : vr = 1.394038, vf = 0.302397, maxvel = 9.000761, current_vel = 0.254710, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.254710, acc = 16.201370,T = 0.002927, P = 0.002004 initial results: dx= 0.000924,dt = 0.003316, a_f = 14.381483, v_f = 0.302397 dt = 0.003316, not at end yet tc id = 84, canon_type = 2, mot type = 1 time: 4.933000 primary movement = 2.466088827399e-04 time: 4.933000000000e+00 total movement = 2.466088827399e-04 vel = 2.547095676107e-01 ------------------- tc state : vr = 1.394038, vf = 0.302397, maxvel = 9.000761, current_vel = 0.270911, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.270911, acc = 16.201370,T = 0.002927, P = 0.002267 initial results: dx= 0.000661,dt = 0.002305, a_f = 13.657726, v_f = 0.302397 dt = 0.002305, not at end yet tc id = 84, canon_type = 2, mot type = 1 time: 4.934000 primary movement = 2.628102524816e-04 time: 4.934000000000e+00 total movement = 2.628102524816e-04 vel = 2.709109373525e-01 ------------------- tc state : vr = 1.394038, vf = 0.302397, maxvel = 9.000761, current_vel = 0.287112, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.287112, acc = 16.201370,T = 0.002927, P = 0.002546 initial results: dx= 0.000382,dt = 0.001295, a_f = 11.799004, v_f = 0.302397 dt = 0.001295, not at end yet tc id = 84, canon_type = 2, mot type = 1 time: 4.935000 primary movement = 2.790116222233e-04 time: 4.935000000000e+00 total movement = 2.790116222233e-04 vel = 2.871123070942e-01 ------------------- tc state : vr = 1.394038, vf = 0.302397, maxvel = 9.000761, current_vel = 0.303314, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.303314, acc = 16.201370,T = 0.002927, P = 0.002841 initial results: dx= 0.000087,dt = 0.000286, a_f = -3.206292, v_f = 0.302397 actual v_f = 0.302397, a = -3.206292 split time is 0.000285984 tc id = 84, canon_type = 2, mot type = 1 time: 4.936000 primary movement = 2.952129919650e-04 time: 4.936000000000e+00 total movement = 2.952129919650e-04 vel = 3.033136768359e-01 ------------------- tc id 84 done Finishing split-cycle on id 85 tc state : vr = 0.302397, vf = 0.302397, maxvel = 0.302397, current_vel = 0.302397, fs = 1.000000, tc = 0.000714, term = 3 tc result: v = 0.302397, acc = 0.000000,T = 0.004165, P = 0.000216 initial results: dx= 0.003949,dt = 0.013058, a_f = 0.000000, v_f = 0.302397 dt = 0.013058, not at end yet secondary movement = 0.000216 tc id = 85, canon_type = 3, mot type = 2 time: 4.937000 primary movement = 8.661178254135e-05 time: 4.937000000000e+00 total movement = 3.024939899060e-04 vel = 3.023967281965e-01 Finished tc id 84 ------------------- Activate tc id = 85 target_vel = 0.302397 final_vel = 0.302397 length = 0.004165 tc state : vr = 0.302397, vf = 0.302397, maxvel = 0.302397, current_vel = 0.302397, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.302397, acc = 0.000000,T = 0.004165, P = 0.000518 initial results: dx= 0.003646,dt = 0.012058, a_f = 0.000000, v_f = 0.302397 dt = 0.012058, not at end yet tc id = 85, canon_type = 3, mot type = 2 time: 4.938000 primary movement = 3.023037298192e-04 time: 4.938000000000e+00 total movement = 3.023037298192e-04 vel = 3.023967281965e-01 ------------------- tc state : vr = 0.302397, vf = 0.302397, maxvel = 0.302397, current_vel = 0.302397, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.302397, acc = 0.000000,T = 0.004165, P = 0.000821 initial results: dx= 0.003344,dt = 0.011058, a_f = 0.000000, v_f = 0.302397 dt = 0.011058, not at end yet tc id = 85, canon_type = 3, mot type = 2 time: 4.939000 primary movement = 3.023037298192e-04 time: 4.939000000000e+00 total movement = 3.023037298192e-04 vel = 3.023967281965e-01 ------------------- tc state : vr = 0.302397, vf = 0.302397, maxvel = 0.302397, current_vel = 0.302397, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.302397, acc = 0.000000,T = 0.004165, P = 0.001123 initial results: dx= 0.003042,dt = 0.010058, a_f = 0.000000, v_f = 0.302397 dt = 0.010058, not at end yet tc id = 85, canon_type = 3, mot type = 2 time: 4.940000 primary movement = 3.023037298192e-04 time: 4.940000000000e+00 total movement = 3.023037298192e-04 vel = 3.023967281965e-01 ------------------- tc state : vr = 0.302397, vf = 0.302397, maxvel = 0.302397, current_vel = 0.302397, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.302397, acc = 0.000000,T = 0.004165, P = 0.001426 initial results: dx= 0.002739,dt = 0.009058, a_f = 0.000000, v_f = 0.302397 dt = 0.009058, not at end yet tc id = 85, canon_type = 3, mot type = 2 time: 4.941000 primary movement = 3.023037298191e-04 time: 4.941000000000e+00 total movement = 3.023037298191e-04 vel = 3.023967281965e-01 ------------------- tc state : vr = 0.302397, vf = 0.302397, maxvel = 0.302397, current_vel = 0.302397, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.302397, acc = 0.000000,T = 0.004165, P = 0.001728 initial results: dx= 0.002437,dt = 0.008058, a_f = 0.000000, v_f = 0.302397 dt = 0.008058, not at end yet tc id = 85, canon_type = 3, mot type = 2 time: 4.942000 primary movement = 3.023037298192e-04 time: 4.942000000000e+00 total movement = 3.023037298192e-04 vel = 3.023967281965e-01 ------------------- tc state : vr = 0.302397, vf = 0.302397, maxvel = 0.302397, current_vel = 0.302397, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.302397, acc = 0.000000,T = 0.004165, P = 0.002030 initial results: dx= 0.002134,dt = 0.007058, a_f = 0.000000, v_f = 0.302397 dt = 0.007058, not at end yet tc id = 85, canon_type = 3, mot type = 2 time: 4.943000 primary movement = 3.023037298191e-04 time: 4.943000000000e+00 total movement = 3.023037298191e-04 vel = 3.023967281965e-01 ------------------- tc state : vr = 0.302397, vf = 0.302397, maxvel = 0.302397, current_vel = 0.302397, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.302397, acc = 0.000000,T = 0.004165, P = 0.002333 initial results: dx= 0.001832,dt = 0.006058, a_f = 0.000000, v_f = 0.302397 dt = 0.006058, not at end yet tc id = 85, canon_type = 3, mot type = 2 time: 4.944000 primary movement = 3.023037298191e-04 time: 4.944000000000e+00 total movement = 3.023037298191e-04 vel = 3.023967281965e-01 ------------------- tc state : vr = 0.302397, vf = 0.302397, maxvel = 0.302397, current_vel = 0.302397, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.302397, acc = 0.000000,T = 0.004165, P = 0.002635 initial results: dx= 0.001530,dt = 0.005058, a_f = 0.000000, v_f = 0.302397 dt = 0.005058, not at end yet tc id = 85, canon_type = 3, mot type = 2 time: 4.945000 primary movement = 3.023037298192e-04 time: 4.945000000000e+00 total movement = 3.023037298192e-04 vel = 3.023967281965e-01 ------------------- tc state : vr = 0.302397, vf = 0.302397, maxvel = 0.302397, current_vel = 0.302397, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.302397, acc = 0.000000,T = 0.004165, P = 0.002937 initial results: dx= 0.001227,dt = 0.004058, a_f = 0.000000, v_f = 0.302397 dt = 0.004058, not at end yet tc id = 85, canon_type = 3, mot type = 2 time: 4.946000 primary movement = 3.023037298192e-04 time: 4.946000000000e+00 total movement = 3.023037298192e-04 vel = 3.023967281965e-01 ------------------- tc state : vr = 0.302397, vf = 0.302397, maxvel = 0.302397, current_vel = 0.302397, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.302397, acc = 0.000000,T = 0.004165, P = 0.003240 initial results: dx= 0.000925,dt = 0.003058, a_f = 0.000000, v_f = 0.302397 dt = 0.003058, not at end yet tc id = 85, canon_type = 3, mot type = 2 time: 4.947000 primary movement = 3.023037298191e-04 time: 4.947000000000e+00 total movement = 3.023037298191e-04 vel = 3.023967281965e-01 ------------------- tc state : vr = 0.302397, vf = 0.302397, maxvel = 0.302397, current_vel = 0.302397, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.302397, acc = 0.000000,T = 0.004165, P = 0.003542 initial results: dx= 0.000622,dt = 0.002058, a_f = 0.000000, v_f = 0.302397 dt = 0.002058, not at end yet tc id = 85, canon_type = 3, mot type = 2 time: 4.948000 primary movement = 3.023037298191e-04 time: 4.948000000000e+00 total movement = 3.023037298191e-04 vel = 3.023967281965e-01 ------------------- tc state : vr = 0.302397, vf = 0.302397, maxvel = 0.302397, current_vel = 0.302397, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.302397, acc = 0.000000,T = 0.004165, P = 0.003845 initial results: dx= 0.000320,dt = 0.001058, a_f = 0.000000, v_f = 0.302397 dt = 0.001058, not at end yet tc id = 85, canon_type = 3, mot type = 2 time: 4.949000 primary movement = 3.023037298192e-04 time: 4.949000000000e+00 total movement = 3.023037298192e-04 vel = 3.023967281965e-01 ------------------- tc state : vr = 0.302397, vf = 0.302397, maxvel = 0.302397, current_vel = 0.302397, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.302397, acc = 0.000000,T = 0.004165, P = 0.004147 initial results: dx= 0.000018,dt = 0.000058, a_f = 0.000000, v_f = 0.302397 actual v_f = 0.302397, a = 0.000000 split time is 5.83953e-05 tc id = 85, canon_type = 3, mot type = 2 time: 4.950000 primary movement = 3.023037298191e-04 time: 4.950000000000e+00 total movement = 3.023037298191e-04 vel = 3.023967281965e-01 ------------------- tc id 85 done Finishing split-cycle on id 85 tc state : vr = 1.059974, vf = 0.393801, maxvel = 8.333300, current_vel = 0.330645, fs = 1.000000, tc = 0.000942, term = 3 tc result: v = 0.330645, acc = 30.000000,T = 0.002226, P = 0.000298 initial results: dx= 0.001928,dt = 0.005322, a_f = 11.865920, v_f = 0.393801 dt = 0.005322, not at end yet secondary movement = 0.000298 tc id = 85, canon_type = 2, mot type = 1 time: 4.951000 primary movement = 1.765853684885e-05 time: 4.951000000000e+00 total movement = 3.156960001221e-04 vel = 3.306448684319e-01 Finished tc id 85 ------------------- Activate tc id = 85 target_vel = 1.059974 final_vel = 0.393801 length = 0.002226 tc state : vr = 1.059974, vf = 0.393801, maxvel = 8.333300, current_vel = 0.360645, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.360645, acc = 30.000000,T = 0.002226, P = 0.000644 initial results: dx= 0.001582,dt = 0.004195, a_f = 7.904538, v_f = 0.393801 dt = 0.004195, not at end yet tc id = 85, canon_type = 2, mot type = 1 time: 4.952000 primary movement = 3.456448684319e-04 time: 4.952000000000e+00 total movement = 3.456448684319e-04 vel = 3.606448684319e-01 ------------------- tc state : vr = 1.059974, vf = 0.393801, maxvel = 8.333300, current_vel = 0.390645, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.390645, acc = 30.000000,T = 0.002226, P = 0.001019 initial results: dx= 0.001207,dt = 0.003076, a_f = 1.025775, v_f = 0.393801 dt = 0.003076, not at end yet tc id = 85, canon_type = 2, mot type = 1 time: 4.953000 primary movement = 3.756448684318e-04 time: 4.953000000000e+00 total movement = 3.756448684318e-04 vel = 3.906448684319e-01 ------------------- tc state : vr = 1.059974, vf = 0.393801, maxvel = 8.333300, current_vel = 0.420645, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.420645, acc = 30.000000,T = 0.002226, P = 0.001425 initial results: dx= 0.000801,dt = 0.001967, a_f = -13.647914, v_f = 0.393801 dt = 0.001967, not at end yet tc id = 85, canon_type = 2, mot type = 1 time: 4.954000 primary movement = 4.056448684319e-04 time: 4.954000000000e+00 total movement = 4.056448684319e-04 vel = 4.206448684319e-01 ------------------- tc state : vr = 1.059974, vf = 0.393801, maxvel = 8.333300, current_vel = 0.421741, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.421741, acc = 1.096425,T = 0.002226, P = 0.001846 initial results: dx= 0.000380,dt = 0.000931, a_f = -30.000000, v_f = 0.393801 actual v_f = 0.393801, a = -30.000000 split time is 0.000931359 tc id = 85, canon_type = 2, mot type = 1 time: 4.955000 primary movement = 4.211930807422e-04 time: 4.955000000000e+00 total movement = 4.211930807422e-04 vel = 4.217412930526e-01 ------------------- tc id 85 done Finishing split-cycle on id 86 tc state : vr = 0.393801, vf = 0.393801, maxvel = 0.393801, current_vel = 0.393801, fs = 1.000000, tc = 0.000069, term = 3 tc result: v = 0.393801, acc = 0.000000,T = 0.002768, P = 0.000027 initial results: dx= 0.002740,dt = 0.006959, a_f = 0.000000, v_f = 0.393801 dt = 0.006959, not at end yet secondary movement = 0.000027 tc id = 86, canon_type = 3, mot type = 2 time: 4.956000 primary movement = 3.797811014109e-04 time: 4.956000000000e+00 total movement = 4.068119437778e-04 vel = 3.938005233377e-01 Finished tc id 85 ------------------- Activate tc id = 86 target_vel = 0.393801 final_vel = 0.393801 length = 0.002768 tc state : vr = 0.393801, vf = 0.393801, maxvel = 0.393801, current_vel = 0.393801, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.393801, acc = 0.000000,T = 0.002768, P = 0.000421 initial results: dx= 0.002347,dt = 0.005959, a_f = 0.000000, v_f = 0.393801 dt = 0.005959, not at end yet tc id = 86, canon_type = 3, mot type = 2 time: 4.957000 primary movement = 3.937291078160e-04 time: 4.957000000000e+00 total movement = 3.937291078160e-04 vel = 3.938005233377e-01 ------------------- tc state : vr = 0.393801, vf = 0.393801, maxvel = 0.393801, current_vel = 0.393801, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.393801, acc = 0.000000,T = 0.002768, P = 0.000815 initial results: dx= 0.001953,dt = 0.004959, a_f = 0.000000, v_f = 0.393801 dt = 0.004959, not at end yet tc id = 86, canon_type = 3, mot type = 2 time: 4.958000 primary movement = 3.937291078160e-04 time: 4.958000000000e+00 total movement = 3.937291078160e-04 vel = 3.938005233377e-01 ------------------- tc state : vr = 0.393801, vf = 0.393801, maxvel = 0.393801, current_vel = 0.393801, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.393801, acc = 0.000000,T = 0.002768, P = 0.001208 initial results: dx= 0.001559,dt = 0.003959, a_f = 0.000000, v_f = 0.393801 dt = 0.003959, not at end yet tc id = 86, canon_type = 3, mot type = 2 time: 4.959000 primary movement = 3.937291078160e-04 time: 4.959000000000e+00 total movement = 3.937291078160e-04 vel = 3.938005233377e-01 ------------------- tc state : vr = 0.393801, vf = 0.393801, maxvel = 0.393801, current_vel = 0.393801, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.393801, acc = 0.000000,T = 0.002768, P = 0.001602 initial results: dx= 0.001165,dt = 0.002959, a_f = 0.000000, v_f = 0.393801 dt = 0.002959, not at end yet tc id = 86, canon_type = 3, mot type = 2 time: 4.960000 primary movement = 3.937291078159e-04 time: 4.960000000000e+00 total movement = 3.937291078159e-04 vel = 3.938005233377e-01 ------------------- tc state : vr = 0.393801, vf = 0.393801, maxvel = 0.393801, current_vel = 0.393801, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.393801, acc = 0.000000,T = 0.002768, P = 0.001996 initial results: dx= 0.000771,dt = 0.001959, a_f = 0.000000, v_f = 0.393801 dt = 0.001959, not at end yet tc id = 86, canon_type = 3, mot type = 2 time: 4.961000 primary movement = 3.937291078160e-04 time: 4.961000000000e+00 total movement = 3.937291078160e-04 vel = 3.938005233377e-01 ------------------- tc state : vr = 0.393801, vf = 0.393801, maxvel = 0.393801, current_vel = 0.393801, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.393801, acc = 0.000000,T = 0.002768, P = 0.002390 initial results: dx= 0.000378,dt = 0.000959, a_f = 0.000000, v_f = 0.393801 actual v_f = 0.393801, a = 0.000000 split time is 0.000959046 tc id = 86, canon_type = 3, mot type = 2 time: 4.962000 primary movement = 3.937291078160e-04 time: 4.962000000000e+00 total movement = 3.937291078160e-04 vel = 3.938005233377e-01 ------------------- tc id 86 done Finishing split-cycle on id 86 tc state : vr = 0.477878, vf = 0.477878, maxvel = 9.316913, current_vel = 0.395174, fs = 1.000000, tc = 0.000041, term = 3 tc result: v = 0.395174, acc = 33.541020,T = 0.001093, P = 0.000016 initial results: dx= 0.001076,dt = 0.002466, a_f = 33.541020, v_f = 0.477878 recalculating with a_f = 33.541020, a = 33.541020 revised dt = 0.002466 dt = 0.002466, not at end yet secondary movement = 0.000016 tc id = 86, canon_type = 2, mot type = 1 time: 4.963000 primary movement = 3.776099217235e-04 time: 4.963000000000e+00 total movement = 3.937656549607e-04 vel = 3.951741536505e-01 Finished tc id 86 ------------------- Activate tc id = 86 target_vel = 0.477878 final_vel = 0.477878 length = 0.001093 tc state : vr = 0.477878, vf = 0.477878, maxvel = 9.316913, current_vel = 0.428715, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.428715, acc = 33.541020,T = 0.001093, P = 0.000428 initial results: dx= 0.000664,dt = 0.001466, a_f = 33.541020, v_f = 0.477878 recalculating with a_f = 33.541020, a = 33.541020 revised dt = 0.001466 dt = 0.001466, not at end yet tc id = 86, canon_type = 2, mot type = 1 time: 4.964000 primary movement = 4.119446634817e-04 time: 4.964000000000e+00 total movement = 4.119446634817e-04 vel = 4.287151733130e-01 ------------------- tc state : vr = 0.477878, vf = 0.477878, maxvel = 9.316913, current_vel = 0.462256, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.462256, acc = 33.541020,T = 0.001093, P = 0.000874 initial results: dx= 0.000219,dt = 0.000466, a_f = 33.541020, v_f = 0.477878 recalculating with a_f = 33.541020, a = 33.541020 revised dt = 0.000466 actual v_f = 0.477878, a = 33.541020 split time is 0.000465751 tc id = 86, canon_type = 2, mot type = 1 time: 4.965000 primary movement = 4.454856831442e-04 time: 4.965000000000e+00 total movement = 4.454856831442e-04 vel = 4.622561929755e-01 ------------------- tc id 86 done Finishing split-cycle on id 87 tc state : vr = 0.520248, vf = 0.520248, maxvel = 0.520248, current_vel = 0.485892, fs = 1.000000, tc = 0.000534, term = 3 tc result: v = 0.485892, acc = 15.000000,T = 0.003895, P = 0.000257 initial results: dx= 0.003638,dt = 0.007231, a_f = 4.751361, v_f = 0.520248 dt = 0.007231, not at end yet secondary movement = 0.000257 tc id = 87, canon_type = 3, mot type = 2 time: 4.966000 primary movement = 2.189342932472e-04 time: 4.966000000000e+00 total movement = 4.763741461119e-04 vel = 4.858916946500e-01 Finished tc id 86 ------------------- Activate tc id = 87 target_vel = 0.520248 final_vel = 0.520248 length = 0.003895 tc state : vr = 0.520248, vf = 0.520248, maxvel = 0.520248, current_vel = 0.500892, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.500892, acc = 15.000000,T = 0.003895, P = 0.000751 initial results: dx= 0.003144,dt = 0.006158, a_f = 3.143133, v_f = 0.520248 dt = 0.006158, not at end yet tc id = 87, canon_type = 3, mot type = 2 time: 4.967000 primary movement = 4.933455825544e-04 time: 4.967000000000e+00 total movement = 4.933455825544e-04 vel = 5.008916946500e-01 ------------------- tc state : vr = 0.520248, vf = 0.520248, maxvel = 0.520248, current_vel = 0.515892, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.515892, acc = 15.000000,T = 0.003895, P = 0.001259 initial results: dx= 0.002636,dt = 0.005088, a_f = 0.856194, v_f = 0.520248 dt = 0.005088, not at end yet tc id = 87, canon_type = 3, mot type = 2 time: 4.968000 primary movement = 5.083412478125e-04 time: 4.968000000000e+00 total movement = 5.083412478125e-04 vel = 5.158916946500e-01 ------------------- tc state : vr = 0.520248, vf = 0.520248, maxvel = 0.520248, current_vel = 0.520248, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.520248, acc = 4.356102,T = 0.003895, P = 0.001777 initial results: dx= 0.002118,dt = 0.004071, a_f = 0.000000, v_f = 0.520248 dt = 0.004071, not at end yet tc id = 87, canon_type = 3, mot type = 2 time: 4.969000 primary movement = 5.180163627062e-04 time: 4.969000000000e+00 total movement = 5.180163627062e-04 vel = 5.202477967192e-01 ------------------- tc state : vr = 0.520248, vf = 0.520248, maxvel = 0.520248, current_vel = 0.520248, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.520248, acc = 0.000000,T = 0.003895, P = 0.002298 initial results: dx= 0.001597,dt = 0.003071, a_f = 0.000000, v_f = 0.520248 dt = 0.003071, not at end yet tc id = 87, canon_type = 3, mot type = 2 time: 4.970000 primary movement = 5.201937376277e-04 time: 4.970000000000e+00 total movement = 5.201937376277e-04 vel = 5.202477967192e-01 ------------------- tc state : vr = 0.520248, vf = 0.520248, maxvel = 0.520248, current_vel = 0.520248, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.520248, acc = 0.000000,T = 0.003895, P = 0.002818 initial results: dx= 0.001077,dt = 0.002071, a_f = 0.000000, v_f = 0.520248 dt = 0.002071, not at end yet tc id = 87, canon_type = 3, mot type = 2 time: 4.971000 primary movement = 5.201937376277e-04 time: 4.971000000000e+00 total movement = 5.201937376277e-04 vel = 5.202477967192e-01 ------------------- tc state : vr = 0.520248, vf = 0.520248, maxvel = 0.520248, current_vel = 0.520248, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.520248, acc = 0.000000,T = 0.003895, P = 0.003338 initial results: dx= 0.000557,dt = 0.001071, a_f = 0.000000, v_f = 0.520248 dt = 0.001071, not at end yet tc id = 87, canon_type = 3, mot type = 2 time: 4.972000 primary movement = 5.201937376277e-04 time: 4.972000000000e+00 total movement = 5.201937376277e-04 vel = 5.202477967192e-01 ------------------- tc state : vr = 0.520248, vf = 0.520248, maxvel = 0.520248, current_vel = 0.520248, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.520248, acc = 0.000000,T = 0.003895, P = 0.003858 initial results: dx= 0.000037,dt = 0.000071, a_f = 0.000000, v_f = 0.520248 actual v_f = 0.520248, a = 0.000000 split time is 7.0636e-05 tc id = 87, canon_type = 3, mot type = 2 time: 4.973000 primary movement = 5.201937376277e-04 time: 4.973000000000e+00 total movement = 5.201937376277e-04 vel = 5.202477967192e-01 ------------------- tc id 87 done Finishing split-cycle on id 87 tc state : vr = 2.544506, vf = 0.659447, maxvel = 8.366982, current_vel = 0.548241, fs = 1.000000, tc = 0.000929, term = 3 tc result: v = 0.548241, acc = 30.121255,T = 0.005343, P = 0.000497 initial results: dx= 0.004847,dt = 0.008027, a_f = 13.854175, v_f = 0.659447 dt = 0.008027, not at end yet secondary movement = 0.000497 tc id = 87, canon_type = 2, mot type = 1 time: 4.974000 primary movement = 3.674821545323e-05 time: 4.974000000000e+00 total movement = 5.332559037440e-04 vel = 5.482414060634e-01 Finished tc id 87 ------------------- Activate tc id = 87 target_vel = 2.544506 final_vel = 0.659447 length = 0.005343 tc state : vr = 2.544506, vf = 0.659447, maxvel = 8.366982, current_vel = 0.578363, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.578363, acc = 30.121255,T = 0.005343, P = 0.001060 initial results: dx= 0.004284,dt = 0.006921, a_f = 11.715048, v_f = 0.659447 dt = 0.006921, not at end yet tc id = 87, canon_type = 2, mot type = 1 time: 4.975000 primary movement = 5.633020335403e-04 time: 4.975000000000e+00 total movement = 5.633020335403e-04 vel = 5.783626610173e-01 ------------------- tc state : vr = 2.544506, vf = 0.659447, maxvel = 8.366982, current_vel = 0.608484, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.608484, acc = 30.121255,T = 0.005343, P = 0.001653 initial results: dx= 0.003690,dt = 0.005821, a_f = 8.755158, v_f = 0.659447 dt = 0.005821, not at end yet tc id = 87, canon_type = 2, mot type = 1 time: 4.976000 primary movement = 5.934232884943e-04 time: 4.976000000000e+00 total movement = 5.934232884943e-04 vel = 6.084839159712e-01 ------------------- tc state : vr = 2.544506, vf = 0.659447, maxvel = 8.366982, current_vel = 0.638605, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.638605, acc = 30.121255,T = 0.005343, P = 0.002277 initial results: dx= 0.003067,dt = 0.004725, a_f = 4.410820, v_f = 0.659447 dt = 0.004725, not at end yet tc id = 87, canon_type = 2, mot type = 1 time: 4.977000 primary movement = 6.235445434482e-04 time: 4.977000000000e+00 total movement = 6.235445434482e-04 vel = 6.386051709252e-01 ------------------- tc state : vr = 2.544506, vf = 0.659447, maxvel = 8.366982, current_vel = 0.668726, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.668726, acc = 30.121255,T = 0.005343, P = 0.002930 initial results: dx= 0.002413,dt = 0.003634, a_f = -2.553912, v_f = 0.659447 dt = 0.003634, not at end yet tc id = 87, canon_type = 2, mot type = 1 time: 4.978000 primary movement = 6.536657984022e-04 time: 4.978000000000e+00 total movement = 6.536657984022e-04 vel = 6.687264258791e-01 ------------------- tc state : vr = 2.544506, vf = 0.659447, maxvel = 8.366982, current_vel = 0.698848, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.698848, acc = 30.121255,T = 0.005343, P = 0.003614 initial results: dx= 0.001729,dt = 0.002546, a_f = -15.474594, v_f = 0.659447 dt = 0.002546, not at end yet tc id = 87, canon_type = 2, mot type = 1 time: 4.979000 primary movement = 6.837870533561e-04 time: 4.979000000000e+00 total movement = 6.837870533561e-04 vel = 6.988476808331e-01 ------------------- tc state : vr = 2.544506, vf = 0.659447, maxvel = 8.366982, current_vel = 0.704814, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.704814, acc = 5.966461,T = 0.005343, P = 0.004316 initial results: dx= 0.001027,dt = 0.001506, a_f = -30.121255, v_f = 0.659447 recalculating with a_f = -30.121255, a = -30.121255 revised dt = 0.001506 dt = 0.001506, not at end yet tc id = 87, canon_type = 2, mot type = 1 time: 4.980000 primary movement = 7.018309111908e-04 time: 4.980000000000e+00 total movement = 7.018309111908e-04 vel = 7.048141415487e-01 ------------------- tc state : vr = 2.544506, vf = 0.659447, maxvel = 8.366982, current_vel = 0.674693, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.674693, acc = -30.121255,T = 0.005343, P = 0.005006 on final decel initial results: dx= 0.000338,dt = 0.000506, a_f = -30.121255, v_f = 0.659447 actual v_f = 0.659447, a = -30.121255 split time is 0.000506165 tc id = 87, canon_type = 2, mot type = 1 time: 4.981000 primary movement = 6.897535140717e-04 time: 4.981000000000e+00 total movement = 6.897535140717e-04 vel = 6.746928865947e-01 ------------------- tc id 87 done Finishing split-cycle on id 88 tc state : vr = 0.659447, vf = 0.614725, maxvel = 0.659447, current_vel = 0.659447, fs = 1.000000, tc = 0.000494, term = 3 tc result: v = 0.659447, acc = 0.000000,T = 0.005405, P = 0.000326 initial results: dx= 0.005080,dt = 0.007973, a_f = -5.608889, v_f = 0.614725 dt = 0.007973, not at end yet secondary movement = 0.000326 tc id = 88, canon_type = 3, mot type = 2 time: 4.982000 primary movement = 3.376475331093e-04 time: 4.982000000000e+00 total movement = 6.632999990676e-04 vel = 6.594465530753e-01 Finished tc id 87 ------------------- Activate tc id = 88 target_vel = 0.659447 final_vel = 0.614725 length = 0.005405 tc state : vr = 0.659447, vf = 0.614725, maxvel = 0.659447, current_vel = 0.659447, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.659447, acc = 0.000000,T = 0.005405, P = 0.000985 initial results: dx= 0.004420,dt = 0.006938, a_f = -6.445661, v_f = 0.614725 dt = 0.006938, not at end yet tc id = 88, canon_type = 3, mot type = 2 time: 4.983000 primary movement = 6.594039045025e-04 time: 4.983000000000e+00 total movement = 6.594039045025e-04 vel = 6.594465530753e-01 ------------------- tc state : vr = 0.659447, vf = 0.614725, maxvel = 0.659447, current_vel = 0.659447, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.659447, acc = 0.000000,T = 0.005405, P = 0.001645 initial results: dx= 0.003761,dt = 0.005903, a_f = -7.575881, v_f = 0.614725 dt = 0.005903, not at end yet tc id = 88, canon_type = 3, mot type = 2 time: 4.984000 primary movement = 6.594039045025e-04 time: 4.984000000000e+00 total movement = 6.594039045025e-04 vel = 6.594465530753e-01 ------------------- tc state : vr = 0.659447, vf = 0.614725, maxvel = 0.659447, current_vel = 0.659447, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.659447, acc = 0.000000,T = 0.005405, P = 0.002304 initial results: dx= 0.003101,dt = 0.004868, a_f = -9.186738, v_f = 0.614725 dt = 0.004868, not at end yet tc id = 88, canon_type = 3, mot type = 2 time: 4.985000 primary movement = 6.594039045025e-04 time: 4.985000000000e+00 total movement = 6.594039045025e-04 vel = 6.594465530753e-01 ------------------- tc state : vr = 0.659447, vf = 0.614725, maxvel = 0.659447, current_vel = 0.659447, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.659447, acc = 0.000000,T = 0.005405, P = 0.002963 initial results: dx= 0.002442,dt = 0.003833, a_f = -11.667621, v_f = 0.614725 dt = 0.003833, not at end yet tc id = 88, canon_type = 3, mot type = 2 time: 4.986000 primary movement = 6.594039045025e-04 time: 4.986000000000e+00 total movement = 6.594039045025e-04 vel = 6.594465530753e-01 ------------------- tc state : vr = 0.659447, vf = 0.614725, maxvel = 0.659447, current_vel = 0.656811, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.656811, acc = -2.635451,T = 0.005405, P = 0.003622 on final decel initial results: dx= 0.001784,dt = 0.002806, a_f = -15.000000, v_f = 0.614725 dt = 0.002806, not at end yet tc id = 88, canon_type = 3, mot type = 2 time: 4.987000 primary movement = 6.580864340801e-04 time: 4.987000000000e+00 total movement = 6.580864340801e-04 vel = 6.568111019283e-01 ------------------- tc state : vr = 0.659447, vf = 0.614725, maxvel = 0.659447, current_vel = 0.641811, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.641811, acc = -15.000000,T = 0.005405, P = 0.004271 on final decel initial results: dx= 0.001134,dt = 0.001806, a_f = -15.000000, v_f = 0.614725 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.001806 dt = 0.001806, not at end yet tc id = 88, canon_type = 3, mot type = 2 time: 4.988000 primary movement = 6.492703897409e-04 time: 4.988000000000e+00 total movement = 6.492703897409e-04 vel = 6.418111019283e-01 ------------------- tc state : vr = 0.659447, vf = 0.614725, maxvel = 0.659447, current_vel = 0.626811, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.626811, acc = -15.000000,T = 0.005405, P = 0.004905 on final decel initial results: dx= 0.000500,dt = 0.000806, a_f = -15.000000, v_f = 0.614725 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.000806 actual v_f = 0.614725, a = -15.000000 split time is 0.000805756 tc id = 88, canon_type = 3, mot type = 2 time: 4.989000 primary movement = 6.342731465555e-04 time: 4.989000000000e+00 total movement = 6.342731465555e-04 vel = 6.268111019283e-01 ------------------- tc id 88 done Finishing split-cycle on id 88 tc state : vr = 1.490251, vf = 0.429991, maxvel = 8.565101, current_vel = 0.608735, fs = 1.000000, tc = 0.000194, term = 3 tc result: v = 0.608735, acc = -30.834488,T = 0.003130, P = 0.000119 on final decel initial results: dx= 0.003011,dt = 0.005797, a_f = -30.834488, v_f = 0.429991 dt = 0.005797, not at end yet secondary movement = 0.000119 tc id = 88, canon_type = 2, mot type = 1 time: 4.990000 primary movement = 5.001691036000e-04 time: 4.990000000000e+00 total movement = 6.189937687318e-04 vel = 6.087353536138e-01 Finished tc id 88 ------------------- Activate tc id = 88 target_vel = 1.490251 final_vel = 0.429991 length = 0.003130 tc state : vr = 1.490251, vf = 0.429991, maxvel = 8.565101, current_vel = 0.577901, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.577901, acc = -30.834488,T = 0.003130, P = 0.000712 on final decel initial results: dx= 0.002417,dt = 0.004797, a_f = -30.834488, v_f = 0.429991 recalculating with a_f = -30.834488, a = -30.834488 revised dt = 0.004797 dt = 0.004797, not at end yet tc id = 88, canon_type = 2, mot type = 1 time: 4.991000 primary movement = 5.933181098183e-04 time: 4.991000000000e+00 total movement = 5.933181098183e-04 vel = 5.779008660228e-01 ------------------- tc state : vr = 1.490251, vf = 0.429991, maxvel = 8.565101, current_vel = 0.547066, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.547066, acc = -30.834488,T = 0.003130, P = 0.001275 on final decel initial results: dx= 0.001855,dt = 0.003797, a_f = -30.834488, v_f = 0.429991 recalculating with a_f = -30.834488, a = -30.834488 revised dt = 0.003797 dt = 0.003797, not at end yet tc id = 88, canon_type = 2, mot type = 1 time: 4.992000 primary movement = 5.624836222274e-04 time: 4.992000000000e+00 total movement = 5.624836222274e-04 vel = 5.470663784318e-01 ------------------- tc state : vr = 1.490251, vf = 0.429991, maxvel = 8.565101, current_vel = 0.516232, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.516232, acc = -30.834488,T = 0.003130, P = 0.001806 on final decel initial results: dx= 0.001323,dt = 0.002797, a_f = -30.834488, v_f = 0.429991 dt = 0.002797, not at end yet tc id = 88, canon_type = 2, mot type = 1 time: 4.993000 primary movement = 5.316491346363e-04 time: 4.993000000000e+00 total movement = 5.316491346363e-04 vel = 5.162318908408e-01 ------------------- tc state : vr = 1.490251, vf = 0.429991, maxvel = 8.565101, current_vel = 0.485397, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.485397, acc = -30.834488,T = 0.003130, P = 0.002307 on final decel initial results: dx= 0.000822,dt = 0.001797, a_f = -30.834488, v_f = 0.429991 recalculating with a_f = -30.834488, a = -30.834488 revised dt = 0.001797 dt = 0.001797, not at end yet tc id = 88, canon_type = 2, mot type = 1 time: 4.994000 primary movement = 5.008146470454e-04 time: 4.994000000000e+00 total movement = 5.008146470454e-04 vel = 4.853974032498e-01 ------------------- tc state : vr = 1.490251, vf = 0.429991, maxvel = 8.565101, current_vel = 0.454563, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.454563, acc = -30.834488,T = 0.003130, P = 0.002777 on final decel initial results: dx= 0.000352,dt = 0.000797, a_f = -30.834488, v_f = 0.429991 recalculating with a_f = -30.834488, a = -30.834488 revised dt = 0.000797 actual v_f = 0.429991, a = -30.834488 split time is 0.000796913 tc id = 88, canon_type = 2, mot type = 1 time: 4.995000 primary movement = 4.699801594543e-04 time: 4.995000000000e+00 total movement = 4.699801594543e-04 vel = 4.545629156588e-01 ------------------- tc id 88 done Finishing split-cycle on id 89 tc state : vr = 0.429991, vf = 0.429991, maxvel = 0.429991, current_vel = 0.429991, fs = 1.000000, tc = 0.000203, term = 3 tc result: v = 0.429991, acc = -0.000000,T = 0.004569, P = 0.000087 initial results: dx= 0.004482,dt = 0.010424, a_f = 0.000000, v_f = 0.429991 dt = 0.010424, not at end yet secondary movement = 0.000087 tc id = 89, canon_type = 3, mot type = 2 time: 4.996000 primary movement = 3.524559776908e-04 time: 4.996000000000e+00 total movement = 4.397809991119e-04 vel = 4.299905177458e-01 Finished tc id 88 ------------------- Activate tc id = 89 target_vel = 0.429991 final_vel = 0.429991 length = 0.004569 tc state : vr = 0.429991, vf = 0.429991, maxvel = 0.429991, current_vel = 0.429991, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.429991, acc = 0.000000,T = 0.004569, P = 0.000517 initial results: dx= 0.004052,dt = 0.009424, a_f = 0.000000, v_f = 0.429991 dt = 0.009424, not at end yet tc id = 89, canon_type = 3, mot type = 2 time: 4.997000 primary movement = 4.299251123115e-04 time: 4.997000000000e+00 total movement = 4.299251123115e-04 vel = 4.299905177458e-01 ------------------- tc state : vr = 0.429991, vf = 0.429991, maxvel = 0.429991, current_vel = 0.429991, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.429991, acc = 0.000000,T = 0.004569, P = 0.000947 initial results: dx= 0.003622,dt = 0.008424, a_f = 0.000000, v_f = 0.429991 dt = 0.008424, not at end yet tc id = 89, canon_type = 3, mot type = 2 time: 4.998000 primary movement = 4.299251123115e-04 time: 4.998000000000e+00 total movement = 4.299251123115e-04 vel = 4.299905177458e-01 ------------------- tc state : vr = 0.429991, vf = 0.429991, maxvel = 0.429991, current_vel = 0.429991, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.429991, acc = 0.000000,T = 0.004569, P = 0.001377 initial results: dx= 0.003192,dt = 0.007424, a_f = 0.000000, v_f = 0.429991 dt = 0.007424, not at end yet tc id = 89, canon_type = 3, mot type = 2 time: 4.999000 primary movement = 4.299251123115e-04 time: 4.999000000000e+00 total movement = 4.299251123115e-04 vel = 4.299905177458e-01 ------------------- tc state : vr = 0.429991, vf = 0.429991, maxvel = 0.429991, current_vel = 0.429991, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.429991, acc = 0.000000,T = 0.004569, P = 0.001807 initial results: dx= 0.002762,dt = 0.006424, a_f = 0.000000, v_f = 0.429991 dt = 0.006424, not at end yet tc id = 89, canon_type = 3, mot type = 2 time: 5.000000 primary movement = 4.299251123115e-04 time: 5.000000000000e+00 total movement = 4.299251123115e-04 vel = 4.299905177458e-01 ------------------- tc state : vr = 0.429991, vf = 0.429991, maxvel = 0.429991, current_vel = 0.429991, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.429991, acc = 0.000000,T = 0.004569, P = 0.002237 initial results: dx= 0.002332,dt = 0.005424, a_f = 0.000000, v_f = 0.429991 dt = 0.005424, not at end yet tc id = 89, canon_type = 3, mot type = 2 time: 5.001000 primary movement = 4.299251123114e-04 time: 5.001000000000e+00 total movement = 4.299251123114e-04 vel = 4.299905177458e-01 ------------------- tc state : vr = 0.429991, vf = 0.429991, maxvel = 0.429991, current_vel = 0.429991, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.429991, acc = 0.000000,T = 0.004569, P = 0.002667 initial results: dx= 0.001902,dt = 0.004424, a_f = 0.000000, v_f = 0.429991 dt = 0.004424, not at end yet tc id = 89, canon_type = 3, mot type = 2 time: 5.002000 primary movement = 4.299251123115e-04 time: 5.002000000000e+00 total movement = 4.299251123115e-04 vel = 4.299905177458e-01 ------------------- tc state : vr = 0.429991, vf = 0.429991, maxvel = 0.429991, current_vel = 0.429991, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.429991, acc = 0.000000,T = 0.004569, P = 0.003097 initial results: dx= 0.001472,dt = 0.003424, a_f = 0.000000, v_f = 0.429991 dt = 0.003424, not at end yet tc id = 89, canon_type = 3, mot type = 2 time: 5.003000 primary movement = 4.299251123115e-04 time: 5.003000000000e+00 total movement = 4.299251123115e-04 vel = 4.299905177458e-01 ------------------- tc state : vr = 0.429991, vf = 0.429991, maxvel = 0.429991, current_vel = 0.429991, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.429991, acc = 0.000000,T = 0.004569, P = 0.003527 initial results: dx= 0.001042,dt = 0.002424, a_f = 0.000000, v_f = 0.429991 dt = 0.002424, not at end yet tc id = 89, canon_type = 3, mot type = 2 time: 5.004000 primary movement = 4.299251123115e-04 time: 5.004000000000e+00 total movement = 4.299251123115e-04 vel = 4.299905177458e-01 ------------------- tc state : vr = 0.429991, vf = 0.429991, maxvel = 0.429991, current_vel = 0.429991, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.429991, acc = 0.000000,T = 0.004569, P = 0.003957 initial results: dx= 0.000612,dt = 0.001424, a_f = 0.000000, v_f = 0.429991 dt = 0.001424, not at end yet tc id = 89, canon_type = 3, mot type = 2 time: 5.005000 primary movement = 4.299251123115e-04 time: 5.005000000000e+00 total movement = 4.299251123115e-04 vel = 4.299905177458e-01 ------------------- tc state : vr = 0.429991, vf = 0.429991, maxvel = 0.429991, current_vel = 0.429991, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.429991, acc = 0.000000,T = 0.004569, P = 0.004387 initial results: dx= 0.000182,dt = 0.000424, a_f = 0.000000, v_f = 0.429991 actual v_f = 0.429991, a = 0.000000 split time is 0.000423683 tc id = 89, canon_type = 3, mot type = 2 time: 5.006000 primary movement = 4.299251123115e-04 time: 5.006000000000e+00 total movement = 4.299251123115e-04 vel = 4.299905177458e-01 ------------------- tc id 89 done Finishing split-cycle on id 89 tc state : vr = 0.519368, vf = 0.519368, maxvel = 9.082065, current_vel = 0.448834, fs = 1.000000, tc = 0.000576, term = 3 tc result: v = 0.448834, acc = 32.695565,T = 0.001298, P = 0.000253 initial results: dx= 0.001044,dt = 0.002157, a_f = 32.695565, v_f = 0.519368 recalculating with a_f = 32.695565, a = 32.695565 revised dt = 0.002157 dt = 0.002157, not at end yet secondary movement = 0.000253 tc id = 89, canon_type = 2, mot type = 1 time: 5.007000 primary movement = 1.821747599918e-04 time: 5.007000000000e+00 total movement = 4.354153140326e-04 vel = 4.488335232233e-01 Finished tc id 89 ------------------- Activate tc id = 89 target_vel = 0.519368 final_vel = 0.519368 length = 0.001298 tc state : vr = 0.519368, vf = 0.519368, maxvel = 9.082065, current_vel = 0.481529, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.481529, acc = 32.695565,T = 0.001298, P = 0.000718 initial results: dx= 0.000579,dt = 0.001157, a_f = 32.695565, v_f = 0.519368 recalculating with a_f = 32.695565, a = 32.695565 revised dt = 0.001157 dt = 0.001157, not at end yet tc id = 89, canon_type = 2, mot type = 1 time: 5.008000 primary movement = 4.651813059475e-04 time: 5.008000000000e+00 total movement = 4.651813059475e-04 vel = 4.815290886718e-01 ------------------- tc state : vr = 0.519368, vf = 0.519368, maxvel = 9.082065, current_vel = 0.514225, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.514225, acc = 32.695565,T = 0.001298, P = 0.001216 initial results: dx= 0.000081,dt = 0.000157, a_f = 32.695565, v_f = 0.519368 actual v_f = 0.519368, a = 32.695565 split time is 0.000157297 tc id = 89, canon_type = 2, mot type = 1 time: 5.009000 primary movement = 4.978768713961e-04 time: 5.009000000000e+00 total movement = 4.978768713961e-04 vel = 5.142246541203e-01 ------------------- tc id 89 done Finishing split-cycle on id 90 tc state : vr = 0.543017, vf = 0.543017, maxvel = 0.543017, current_vel = 0.532008, fs = 1.000000, tc = 0.000843, term = 3 tc result: v = 0.532008, acc = 15.000000,T = 0.005631, P = 0.000443 initial results: dx= 0.005188,dt = 0.009653, a_f = 1.140518, v_f = 0.543017 dt = 0.009653, not at end yet secondary movement = 0.000443 tc id = 90, canon_type = 3, mot type = 2 time: 5.010000 primary movement = 8.129068818851e-05 time: 5.010000000000e+00 total movement = 5.242610832230e-04 vel = 5.320081206429e-01 Finished tc id 89 ------------------- Activate tc id = 90 target_vel = 0.543017 final_vel = 0.543017 length = 0.005631 tc state : vr = 0.543017, vf = 0.543017, maxvel = 0.543017, current_vel = 0.543017, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.543017, acc = 11.009065,T = 0.005631, P = 0.000981 initial results: dx= 0.004651,dt = 0.008565, a_f = 0.000000, v_f = 0.543017 dt = 0.008565, not at end yet tc id = 90, canon_type = 3, mot type = 2 time: 5.011000 primary movement = 5.374624198380e-04 time: 5.011000000000e+00 total movement = 5.374624198380e-04 vel = 5.430171857311e-01 ------------------- tc state : vr = 0.543017, vf = 0.543017, maxvel = 0.543017, current_vel = 0.543017, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.543017, acc = 0.000000,T = 0.005631, P = 0.001524 initial results: dx= 0.004108,dt = 0.007565, a_f = 0.000000, v_f = 0.543017 dt = 0.007565, not at end yet tc id = 90, canon_type = 3, mot type = 2 time: 5.012000 primary movement = 5.429653932723e-04 time: 5.012000000000e+00 total movement = 5.429653932723e-04 vel = 5.430171857311e-01 ------------------- tc state : vr = 0.543017, vf = 0.543017, maxvel = 0.543017, current_vel = 0.543017, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.543017, acc = 0.000000,T = 0.005631, P = 0.002067 initial results: dx= 0.003565,dt = 0.006565, a_f = 0.000000, v_f = 0.543017 dt = 0.006565, not at end yet tc id = 90, canon_type = 3, mot type = 2 time: 5.013000 primary movement = 5.429653932723e-04 time: 5.013000000000e+00 total movement = 5.429653932723e-04 vel = 5.430171857311e-01 ------------------- tc state : vr = 0.543017, vf = 0.543017, maxvel = 0.543017, current_vel = 0.543017, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.543017, acc = 0.000000,T = 0.005631, P = 0.002610 initial results: dx= 0.003022,dt = 0.005565, a_f = 0.000000, v_f = 0.543017 dt = 0.005565, not at end yet tc id = 90, canon_type = 3, mot type = 2 time: 5.014000 primary movement = 5.429653932723e-04 time: 5.014000000000e+00 total movement = 5.429653932723e-04 vel = 5.430171857311e-01 ------------------- tc state : vr = 0.543017, vf = 0.543017, maxvel = 0.543017, current_vel = 0.543017, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.543017, acc = 0.000000,T = 0.005631, P = 0.003153 initial results: dx= 0.002479,dt = 0.004565, a_f = 0.000000, v_f = 0.543017 dt = 0.004565, not at end yet tc id = 90, canon_type = 3, mot type = 2 time: 5.015000 primary movement = 5.429653932723e-04 time: 5.015000000000e+00 total movement = 5.429653932723e-04 vel = 5.430171857311e-01 ------------------- tc state : vr = 0.543017, vf = 0.543017, maxvel = 0.543017, current_vel = 0.543017, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.543017, acc = 0.000000,T = 0.005631, P = 0.003696 initial results: dx= 0.001936,dt = 0.003565, a_f = 0.000000, v_f = 0.543017 dt = 0.003565, not at end yet tc id = 90, canon_type = 3, mot type = 2 time: 5.016000 primary movement = 5.429653932723e-04 time: 5.016000000000e+00 total movement = 5.429653932723e-04 vel = 5.430171857311e-01 ------------------- tc state : vr = 0.543017, vf = 0.543017, maxvel = 0.543017, current_vel = 0.543017, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.543017, acc = 0.000000,T = 0.005631, P = 0.004239 initial results: dx= 0.001393,dt = 0.002565, a_f = 0.000000, v_f = 0.543017 dt = 0.002565, not at end yet tc id = 90, canon_type = 3, mot type = 2 time: 5.017000 primary movement = 5.429653932723e-04 time: 5.017000000000e+00 total movement = 5.429653932723e-04 vel = 5.430171857311e-01 ------------------- tc state : vr = 0.543017, vf = 0.543017, maxvel = 0.543017, current_vel = 0.543017, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.543017, acc = 0.000000,T = 0.005631, P = 0.004782 initial results: dx= 0.000850,dt = 0.001565, a_f = 0.000000, v_f = 0.543017 dt = 0.001565, not at end yet tc id = 90, canon_type = 3, mot type = 2 time: 5.018000 primary movement = 5.429653932722e-04 time: 5.018000000000e+00 total movement = 5.429653932722e-04 vel = 5.430171857311e-01 ------------------- tc state : vr = 0.543017, vf = 0.543017, maxvel = 0.543017, current_vel = 0.543017, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.543017, acc = 0.000000,T = 0.005631, P = 0.005325 initial results: dx= 0.000307,dt = 0.000565, a_f = 0.000000, v_f = 0.543017 actual v_f = 0.543017, a = 0.000000 split time is 0.000564973 tc id = 90, canon_type = 3, mot type = 2 time: 5.019000 primary movement = 5.429653932723e-04 time: 5.019000000000e+00 total movement = 5.429653932723e-04 vel = 5.430171857311e-01 ------------------- tc id 90 done Finishing split-cycle on id 90 tc state : vr = 1.757269, vf = 0.367007, maxvel = 8.365140, current_vel = 0.556118, fs = 1.000000, tc = 0.000435, term = 3 tc result: v = 0.556118, acc = 30.114625,T = 0.003690, P = 0.000239 initial results: dx= 0.003451,dt = 0.007477, a_f = -25.291731, v_f = 0.367007 dt = 0.007477, not at end yet secondary movement = 0.000239 tc id = 90, canon_type = 2, mot type = 1 time: 5.020000 primary movement = 3.067807977742e-04 time: 5.020000000000e+00 total movement = 5.458574169650e-04 vel = 5.561178556344e-01 Finished tc id 90 ------------------- Activate tc id = 90 target_vel = 1.757269 final_vel = 0.367007 length = 0.003690 tc state : vr = 1.757269, vf = 0.367007, maxvel = 8.365140, current_vel = 0.555938, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.555938, acc = -0.179594,T = 0.003690, P = 0.000795 on final decel initial results: dx= 0.002895,dt = 0.006274, a_f = -30.114625, v_f = 0.367007 dt = 0.006274, not at end yet tc id = 90, canon_type = 2, mot type = 1 time: 5.021000 primary movement = 5.560280587869e-04 time: 5.021000000000e+00 total movement = 5.560280587869e-04 vel = 5.559382619394e-01 ------------------- tc state : vr = 1.757269, vf = 0.367007, maxvel = 8.365140, current_vel = 0.525824, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.525824, acc = -30.114625,T = 0.003690, P = 0.001336 on final decel initial results: dx= 0.002354,dt = 0.005274, a_f = -30.114625, v_f = 0.367007 dt = 0.005274, not at end yet tc id = 90, canon_type = 2, mot type = 1 time: 5.022000 primary movement = 5.408809495547e-04 time: 5.022000000000e+00 total movement = 5.408809495547e-04 vel = 5.258236371700e-01 ------------------- tc state : vr = 1.757269, vf = 0.367007, maxvel = 8.365140, current_vel = 0.495709, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.495709, acc = -30.114625,T = 0.003690, P = 0.001847 on final decel initial results: dx= 0.001844,dt = 0.004274, a_f = -30.114625, v_f = 0.367007 recalculating with a_f = -30.114625, a = -30.114625 revised dt = 0.004274 dt = 0.004274, not at end yet tc id = 90, canon_type = 2, mot type = 1 time: 5.023000 primary movement = 5.107663247853e-04 time: 5.023000000000e+00 total movement = 5.107663247853e-04 vel = 4.957090124006e-01 ------------------- tc state : vr = 1.757269, vf = 0.367007, maxvel = 8.365140, current_vel = 0.465594, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.465594, acc = -30.114625,T = 0.003690, P = 0.002327 on final decel initial results: dx= 0.001363,dt = 0.003274, a_f = -30.114625, v_f = 0.367007 recalculating with a_f = -30.114625, a = -30.114625 revised dt = 0.003274 dt = 0.003274, not at end yet tc id = 90, canon_type = 2, mot type = 1 time: 5.024000 primary movement = 4.806517000159e-04 time: 5.024000000000e+00 total movement = 4.806517000159e-04 vel = 4.655943876312e-01 ------------------- tc state : vr = 1.757269, vf = 0.367007, maxvel = 8.365140, current_vel = 0.435480, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.435480, acc = -30.114625,T = 0.003690, P = 0.002778 on final decel initial results: dx= 0.000912,dt = 0.002274, a_f = -30.114625, v_f = 0.367007 recalculating with a_f = -30.114625, a = -30.114625 revised dt = 0.002274 dt = 0.002274, not at end yet tc id = 90, canon_type = 2, mot type = 1 time: 5.025000 primary movement = 4.505370752466e-04 time: 5.025000000000e+00 total movement = 4.505370752466e-04 vel = 4.354797628619e-01 ------------------- tc state : vr = 1.757269, vf = 0.367007, maxvel = 8.365140, current_vel = 0.405365, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.405365, acc = -30.114625,T = 0.003690, P = 0.003198 on final decel initial results: dx= 0.000492,dt = 0.001274, a_f = -30.114625, v_f = 0.367007 recalculating with a_f = -30.114625, a = -30.114625 revised dt = 0.001274 dt = 0.001274, not at end yet tc id = 90, canon_type = 2, mot type = 1 time: 5.026000 primary movement = 4.204224504772e-04 time: 5.026000000000e+00 total movement = 4.204224504772e-04 vel = 4.053651380925e-01 ------------------- tc state : vr = 1.757269, vf = 0.367007, maxvel = 8.365140, current_vel = 0.375251, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.375251, acc = -30.114625,T = 0.003690, P = 0.003589 on final decel initial results: dx= 0.000102,dt = 0.000274, a_f = -30.114625, v_f = 0.367007 recalculating with a_f = -30.114625, a = -30.114625 revised dt = 0.000274 actual v_f = 0.367007, a = -30.114625 split time is 0.000273745 tc id = 90, canon_type = 2, mot type = 1 time: 5.027000 primary movement = 3.903078257078e-04 time: 5.027000000000e+00 total movement = 3.903078257078e-04 vel = 3.752505133231e-01 ------------------- tc id 90 done Finishing split-cycle on id 91 tc state : vr = 0.367007, vf = 0.367007, maxvel = 0.367007, current_vel = 0.367007, fs = 1.000000, tc = 0.000726, term = 3 tc result: v = 0.367007, acc = -0.000000,T = 0.002856, P = 0.000267 initial results: dx= 0.002590,dt = 0.007056, a_f = 0.000000, v_f = 0.367007 dt = 0.007056, not at end yet secondary movement = 0.000267 tc id = 91, canon_type = 3, mot type = 2 time: 5.028000 primary movement = 1.015946534912e-04 time: 5.028000000000e+00 total movement = 3.681057682840e-04 vel = 3.670067819705e-01 Finished tc id 90 ------------------- Activate tc id = 91 target_vel = 0.367007 final_vel = 0.367007 length = 0.002856 tc state : vr = 0.367007, vf = 0.367007, maxvel = 0.367007, current_vel = 0.367007, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.367007, acc = 0.000000,T = 0.002856, P = 0.000634 initial results: dx= 0.002223,dt = 0.006056, a_f = 0.000000, v_f = 0.367007 dt = 0.006056, not at end yet tc id = 91, canon_type = 3, mot type = 2 time: 5.029000 primary movement = 3.669301533096e-04 time: 5.029000000000e+00 total movement = 3.669301533096e-04 vel = 3.670067819705e-01 ------------------- tc state : vr = 0.367007, vf = 0.367007, maxvel = 0.367007, current_vel = 0.367007, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.367007, acc = 0.000000,T = 0.002856, P = 0.001001 initial results: dx= 0.001856,dt = 0.005056, a_f = 0.000000, v_f = 0.367007 dt = 0.005056, not at end yet tc id = 91, canon_type = 3, mot type = 2 time: 5.030000 primary movement = 3.669301533096e-04 time: 5.030000000000e+00 total movement = 3.669301533096e-04 vel = 3.670067819705e-01 ------------------- tc state : vr = 0.367007, vf = 0.367007, maxvel = 0.367007, current_vel = 0.367007, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.367007, acc = 0.000000,T = 0.002856, P = 0.001368 initial results: dx= 0.001489,dt = 0.004056, a_f = 0.000000, v_f = 0.367007 dt = 0.004056, not at end yet tc id = 91, canon_type = 3, mot type = 2 time: 5.031000 primary movement = 3.669301533096e-04 time: 5.031000000000e+00 total movement = 3.669301533096e-04 vel = 3.670067819705e-01 ------------------- tc state : vr = 0.367007, vf = 0.367007, maxvel = 0.367007, current_vel = 0.367007, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.367007, acc = 0.000000,T = 0.002856, P = 0.001735 initial results: dx= 0.001122,dt = 0.003056, a_f = 0.000000, v_f = 0.367007 dt = 0.003056, not at end yet tc id = 91, canon_type = 3, mot type = 2 time: 5.032000 primary movement = 3.669301533096e-04 time: 5.032000000000e+00 total movement = 3.669301533096e-04 vel = 3.670067819705e-01 ------------------- tc state : vr = 0.367007, vf = 0.367007, maxvel = 0.367007, current_vel = 0.367007, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.367007, acc = 0.000000,T = 0.002856, P = 0.002102 initial results: dx= 0.000755,dt = 0.002056, a_f = 0.000000, v_f = 0.367007 dt = 0.002056, not at end yet tc id = 91, canon_type = 3, mot type = 2 time: 5.033000 primary movement = 3.669301533096e-04 time: 5.033000000000e+00 total movement = 3.669301533096e-04 vel = 3.670067819705e-01 ------------------- tc state : vr = 0.367007, vf = 0.367007, maxvel = 0.367007, current_vel = 0.367007, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.367007, acc = 0.000000,T = 0.002856, P = 0.002469 initial results: dx= 0.000388,dt = 0.001056, a_f = 0.000000, v_f = 0.367007 dt = 0.001056, not at end yet tc id = 91, canon_type = 3, mot type = 2 time: 5.034000 primary movement = 3.669301533096e-04 time: 5.034000000000e+00 total movement = 3.669301533096e-04 vel = 3.670067819705e-01 ------------------- tc state : vr = 0.367007, vf = 0.367007, maxvel = 0.367007, current_vel = 0.367007, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.367007, acc = 0.000000,T = 0.002856, P = 0.002836 initial results: dx= 0.000021,dt = 0.000056, a_f = 0.000000, v_f = 0.367007 actual v_f = 0.367007, a = 0.000000 split time is 5.617e-05 tc id = 91, canon_type = 3, mot type = 2 time: 5.035000 primary movement = 3.669301533096e-04 time: 5.035000000000e+00 total movement = 3.669301533096e-04 vel = 3.670067819705e-01 ------------------- tc id 91 done Finishing split-cycle on id 91 tc state : vr = 0.452719, vf = 0.452719, maxvel = 9.316913, current_vel = 0.398664, fs = 1.000000, tc = 0.000944, term = 3 tc result: v = 0.398664, acc = 33.541020,T = 0.001047, P = 0.000361 initial results: dx= 0.000686,dt = 0.001612, a_f = 33.541020, v_f = 0.452719 recalculating with a_f = 33.541020, a = 33.541020 revised dt = 0.001612 dt = 0.001612, not at end yet secondary movement = 0.000361 tc id = 91, canon_type = 2, mot type = 1 time: 5.036000 primary movement = 2.061475528140e-05 time: 5.036000000000e+00 total movement = 3.819461914398e-04 vel = 3.986638027487e-01 Finished tc id 91 ------------------- Activate tc id = 91 target_vel = 0.452719 final_vel = 0.452719 length = 0.001047 tc state : vr = 0.452719, vf = 0.452719, maxvel = 9.316913, current_vel = 0.432205, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.432205, acc = 33.541020,T = 0.001047, P = 0.000777 initial results: dx= 0.000271,dt = 0.000612, a_f = 33.541020, v_f = 0.452719 recalculating with a_f = 33.541020, a = 33.541020 revised dt = 0.000612 actual v_f = 0.452719, a = 33.541020 split time is 0.000611611 tc id = 91, canon_type = 2, mot type = 1 time: 5.037000 primary movement = 4.154343125800e-04 time: 5.037000000000e+00 total movement = 4.154343125800e-04 vel = 4.322048224112e-01 ------------------- tc id 91 done Finishing split-cycle on id 92 tc state : vr = 0.498753, vf = 0.498753, maxvel = 0.498753, current_vel = 0.458545, fs = 1.000000, tc = 0.000388, term = 3 tc result: v = 0.458545, acc = 15.000000,T = 0.003865, P = 0.000177 initial results: dx= 0.003688,dt = 0.007706, a_f = 5.217723, v_f = 0.498753 dt = 0.007706, not at end yet secondary movement = 0.000177 tc id = 92, canon_type = 3, mot type = 2 time: 5.038000 primary movement = 2.706145549109e-04 time: 5.038000000000e+00 total movement = 4.475743942960e-04 vel = 4.585447148048e-01 Finished tc id 91 ------------------- Activate tc id = 92 target_vel = 0.498753 final_vel = 0.498753 length = 0.003865 tc state : vr = 0.498753, vf = 0.498753, maxvel = 0.498753, current_vel = 0.473545, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.473545, acc = 15.000000,T = 0.003865, P = 0.000643 initial results: dx= 0.003222,dt = 0.006628, a_f = 3.802957, v_f = 0.498753 dt = 0.006628, not at end yet tc id = 92, canon_type = 3, mot type = 2 time: 5.039000 primary movement = 4.659987080078e-04 time: 5.039000000000e+00 total movement = 4.659987080078e-04 vel = 4.735447148048e-01 ------------------- tc state : vr = 0.498753, vf = 0.498753, maxvel = 0.498753, current_vel = 0.488545, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.488545, acc = 15.000000,T = 0.003865, P = 0.001124 initial results: dx= 0.002741,dt = 0.005553, a_f = 1.838152, v_f = 0.498753 dt = 0.005553, not at end yet tc id = 92, canon_type = 3, mot type = 2 time: 5.040000 primary movement = 4.809941213031e-04 time: 5.040000000000e+00 total movement = 4.809941213031e-04 vel = 4.885447148048e-01 ------------------- tc state : vr = 0.498753, vf = 0.498753, maxvel = 0.498753, current_vel = 0.498753, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.498753, acc = 10.207811,T = 0.003865, P = 0.001618 initial results: dx= 0.002248,dt = 0.004507, a_f = 0.000000, v_f = 0.498753 dt = 0.004507, not at end yet tc id = 92, canon_type = 3, mot type = 2 time: 5.041000 primary movement = 4.935939448412e-04 time: 5.041000000000e+00 total movement = 4.935939448412e-04 vel = 4.987525255473e-01 ------------------- tc state : vr = 0.498753, vf = 0.498753, maxvel = 0.498753, current_vel = 0.498753, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.498753, acc = 0.000000,T = 0.003865, P = 0.002116 initial results: dx= 0.001749,dt = 0.003507, a_f = 0.000000, v_f = 0.498753 dt = 0.003507, not at end yet tc id = 92, canon_type = 3, mot type = 2 time: 5.042000 primary movement = 4.986961367681e-04 time: 5.042000000000e+00 total movement = 4.986961367681e-04 vel = 4.987525255473e-01 ------------------- tc state : vr = 0.498753, vf = 0.498753, maxvel = 0.498753, current_vel = 0.498753, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.498753, acc = 0.000000,T = 0.003865, P = 0.002615 initial results: dx= 0.001250,dt = 0.002507, a_f = 0.000000, v_f = 0.498753 dt = 0.002507, not at end yet tc id = 92, canon_type = 3, mot type = 2 time: 5.043000 primary movement = 4.986961367681e-04 time: 5.043000000000e+00 total movement = 4.986961367681e-04 vel = 4.987525255473e-01 ------------------- tc state : vr = 0.498753, vf = 0.498753, maxvel = 0.498753, current_vel = 0.498753, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.498753, acc = 0.000000,T = 0.003865, P = 0.003114 initial results: dx= 0.000751,dt = 0.001507, a_f = 0.000000, v_f = 0.498753 dt = 0.001507, not at end yet tc id = 92, canon_type = 3, mot type = 2 time: 5.044000 primary movement = 4.986961367681e-04 time: 5.044000000000e+00 total movement = 4.986961367681e-04 vel = 4.987525255473e-01 ------------------- tc state : vr = 0.498753, vf = 0.498753, maxvel = 0.498753, current_vel = 0.498753, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.498753, acc = 0.000000,T = 0.003865, P = 0.003613 initial results: dx= 0.000253,dt = 0.000507, a_f = 0.000000, v_f = 0.498753 actual v_f = 0.498753, a = 0.000000 split time is 0.000506707 tc id = 92, canon_type = 3, mot type = 2 time: 5.045000 primary movement = 4.986961367681e-04 time: 5.045000000000e+00 total movement = 4.986961367681e-04 vel = 4.987525255473e-01 ------------------- tc id 92 done Finishing split-cycle on id 92 tc state : vr = 3.127373, vf = 0.249746, maxvel = 8.348286, current_vel = 0.513578, fs = 1.000000, tc = 0.000493, term = 3 tc result: v = 0.513578, acc = 30.053951,T = 0.006567, P = 0.000250 initial results: dx= 0.006318,dt = 0.016553, a_f = -15.938249, v_f = 0.249746 dt = 0.016553, not at end yet secondary movement = 0.000250 tc id = 92, canon_type = 2, mot type = 1 time: 5.046000 primary movement = 2.527138754115e-04 time: 5.046000000000e+00 total movement = 5.024018287690e-04 vel = 5.135779405447e-01 Finished tc id 92 ------------------- Activate tc id = 92 target_vel = 3.127373 final_vel = 0.249746 length = 0.006567 tc state : vr = 3.127373, vf = 0.249746, maxvel = 8.348286, current_vel = 0.543632, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.543632, acc = 30.053951,T = 0.006567, P = 0.000778 initial results: dx= 0.005789,dt = 0.014594, a_f = -20.137749, v_f = 0.249746 dt = 0.014594, not at end yet tc id = 92, canon_type = 2, mot type = 1 time: 5.047000 primary movement = 5.286049162884e-04 time: 5.047000000000e+00 total movement = 5.286049162884e-04 vel = 5.436318920320e-01 ------------------- tc state : vr = 3.127373, vf = 0.249746, maxvel = 8.348286, current_vel = 0.573686, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.573686, acc = 30.053951,T = 0.006567, P = 0.001337 initial results: dx= 0.005231,dt = 0.012704, a_f = -25.498587, v_f = 0.249746 dt = 0.012704, not at end yet tc id = 92, canon_type = 2, mot type = 1 time: 5.048000 primary movement = 5.586588677756e-04 time: 5.048000000000e+00 total movement = 5.586588677756e-04 vel = 5.736858435193e-01 ------------------- tc state : vr = 3.127373, vf = 0.249746, maxvel = 8.348286, current_vel = 0.584768, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.584768, acc = 11.081892,T = 0.006567, P = 0.001916 initial results: dx= 0.004651,dt = 0.011147, a_f = -30.053951, v_f = 0.249746 dt = 0.011147, not at end yet tc id = 92, canon_type = 2, mot type = 1 time: 5.049000 primary movement = 5.792267894900e-04 time: 5.049000000000e+00 total movement = 5.792267894900e-04 vel = 5.847677354606e-01 ------------------- tc state : vr = 3.127373, vf = 0.249746, maxvel = 8.348286, current_vel = 0.554714, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.554714, acc = -30.053951,T = 0.006567, P = 0.002486 on final decel initial results: dx= 0.004082,dt = 0.010147, a_f = -30.053951, v_f = 0.249746 recalculating with a_f = -30.053951, a = -30.053951 revised dt = 0.010147 dt = 0.010147, not at end yet tc id = 92, canon_type = 2, mot type = 1 time: 5.050000 primary movement = 5.697407597169e-04 time: 5.050000000000e+00 total movement = 5.697407597169e-04 vel = 5.547137839733e-01 ------------------- tc state : vr = 3.127373, vf = 0.249746, maxvel = 8.348286, current_vel = 0.524660, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.524660, acc = -30.053951,T = 0.006567, P = 0.003026 on final decel initial results: dx= 0.003542,dt = 0.009147, a_f = -30.053951, v_f = 0.249746 recalculating with a_f = -30.053951, a = -30.053951 revised dt = 0.009147 dt = 0.009147, not at end yet tc id = 92, canon_type = 2, mot type = 1 time: 5.051000 primary movement = 5.396868082297e-04 time: 5.051000000000e+00 total movement = 5.396868082297e-04 vel = 5.246598324860e-01 ------------------- tc state : vr = 3.127373, vf = 0.249746, maxvel = 8.348286, current_vel = 0.494606, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.494606, acc = -30.053951,T = 0.006567, P = 0.003535 on final decel initial results: dx= 0.003032,dt = 0.008147, a_f = -30.053951, v_f = 0.249746 recalculating with a_f = -30.053951, a = -30.053951 revised dt = 0.008147 dt = 0.008147, not at end yet tc id = 92, canon_type = 2, mot type = 1 time: 5.052000 primary movement = 5.096328567424e-04 time: 5.052000000000e+00 total movement = 5.096328567424e-04 vel = 4.946058809988e-01 ------------------- tc state : vr = 3.127373, vf = 0.249746, maxvel = 8.348286, current_vel = 0.464552, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.464552, acc = -30.053951,T = 0.006567, P = 0.004015 on final decel initial results: dx= 0.002553,dt = 0.007147, a_f = -30.053951, v_f = 0.249746 recalculating with a_f = -30.053951, a = -30.053951 revised dt = 0.007147 dt = 0.007147, not at end yet tc id = 92, canon_type = 2, mot type = 1 time: 5.053000 primary movement = 4.795789052551e-04 time: 5.053000000000e+00 total movement = 4.795789052551e-04 vel = 4.645519295115e-01 ------------------- tc state : vr = 3.127373, vf = 0.249746, maxvel = 8.348286, current_vel = 0.434498, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.434498, acc = -30.053951,T = 0.006567, P = 0.004464 on final decel initial results: dx= 0.002103,dt = 0.006147, a_f = -30.053951, v_f = 0.249746 recalculating with a_f = -30.053951, a = -30.053951 revised dt = 0.006147 dt = 0.006147, not at end yet tc id = 92, canon_type = 2, mot type = 1 time: 5.054000 primary movement = 4.495249537679e-04 time: 5.054000000000e+00 total movement = 4.495249537679e-04 vel = 4.344979780242e-01 ------------------- tc state : vr = 3.127373, vf = 0.249746, maxvel = 8.348286, current_vel = 0.404444, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.404444, acc = -30.053951,T = 0.006567, P = 0.004884 on final decel initial results: dx= 0.001684,dt = 0.005147, a_f = -30.053951, v_f = 0.249746 recalculating with a_f = -30.053951, a = -30.053951 revised dt = 0.005147 dt = 0.005147, not at end yet tc id = 92, canon_type = 2, mot type = 1 time: 5.055000 primary movement = 4.194710022805e-04 time: 5.055000000000e+00 total movement = 4.194710022805e-04 vel = 4.044440265369e-01 ------------------- tc state : vr = 3.127373, vf = 0.249746, maxvel = 8.348286, current_vel = 0.374390, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.374390, acc = -30.053951,T = 0.006567, P = 0.005273 on final decel initial results: dx= 0.001294,dt = 0.004147, a_f = -30.053951, v_f = 0.249746 recalculating with a_f = -30.053951, a = -30.053951 revised dt = 0.004147 dt = 0.004147, not at end yet tc id = 92, canon_type = 2, mot type = 1 time: 5.056000 primary movement = 3.894170507932e-04 time: 5.056000000000e+00 total movement = 3.894170507932e-04 vel = 3.743900750496e-01 ------------------- tc state : vr = 3.127373, vf = 0.249746, maxvel = 8.348286, current_vel = 0.344336, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.344336, acc = -30.053951,T = 0.006567, P = 0.005633 on final decel initial results: dx= 0.000935,dt = 0.003147, a_f = -30.053951, v_f = 0.249746 recalculating with a_f = -30.053951, a = -30.053951 revised dt = 0.003147 dt = 0.003147, not at end yet tc id = 92, canon_type = 2, mot type = 1 time: 5.057000 primary movement = 3.593630993060e-04 time: 5.057000000000e+00 total movement = 3.593630993060e-04 vel = 3.443361235623e-01 ------------------- tc state : vr = 3.127373, vf = 0.249746, maxvel = 8.348286, current_vel = 0.314282, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.314282, acc = -30.053951,T = 0.006567, P = 0.005962 on final decel initial results: dx= 0.000606,dt = 0.002147, a_f = -30.053951, v_f = 0.249746 recalculating with a_f = -30.053951, a = -30.053951 revised dt = 0.002147 dt = 0.002147, not at end yet tc id = 92, canon_type = 2, mot type = 1 time: 5.058000 primary movement = 3.293091478187e-04 time: 5.058000000000e+00 total movement = 3.293091478187e-04 vel = 3.142821720751e-01 ------------------- tc state : vr = 3.127373, vf = 0.249746, maxvel = 8.348286, current_vel = 0.284228, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.284228, acc = -30.053951,T = 0.006567, P = 0.006261 on final decel initial results: dx= 0.000306,dt = 0.001147, a_f = -30.053951, v_f = 0.249746 recalculating with a_f = -30.053951, a = -30.053951 revised dt = 0.001147 dt = 0.001147, not at end yet tc id = 92, canon_type = 2, mot type = 1 time: 5.059000 primary movement = 2.992551963315e-04 time: 5.059000000000e+00 total movement = 2.992551963315e-04 vel = 2.842282205878e-01 ------------------- tc state : vr = 3.127373, vf = 0.249746, maxvel = 8.348286, current_vel = 0.254174, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.254174, acc = -30.053951,T = 0.006567, P = 0.006530 on final decel initial results: dx= 0.000037,dt = 0.000147, a_f = -30.053951, v_f = 0.249746 recalculating with a_f = -30.053951, a = -30.053951 revised dt = 0.000147 actual v_f = 0.249746, a = -30.053951 split time is 0.000147343 tc id = 92, canon_type = 2, mot type = 1 time: 5.060000 primary movement = 2.692012448441e-04 time: 5.060000000000e+00 total movement = 2.692012448441e-04 vel = 2.541742691005e-01 ------------------- tc id 92 done Finishing split-cycle on id 93 tc state : vr = 0.249746, vf = 0.249746, maxvel = 0.249746, current_vel = 0.249746, fs = 1.000000, tc = 0.000853, term = 3 tc result: v = 0.249746, acc = 0.000000,T = 0.002669, P = 0.000213 initial results: dx= 0.002456,dt = 0.009833, a_f = 0.000000, v_f = 0.249746 dt = 0.009833, not at end yet secondary movement = 0.000213 tc id = 93, canon_type = 3, mot type = 2 time: 5.061000 primary movement = 3.712458198823e-05 time: 5.061000000000e+00 total movement = 2.500024599290e-04 vel = 2.497460275973e-01 Finished tc id 92 ------------------- Activate tc id = 93 target_vel = 0.249746 final_vel = 0.249746 length = 0.002669 tc state : vr = 0.249746, vf = 0.249746, maxvel = 0.249746, current_vel = 0.249746, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.249746, acc = 0.000000,T = 0.002669, P = 0.000463 initial results: dx= 0.002206,dt = 0.008833, a_f = 0.000000, v_f = 0.249746 dt = 0.008833, not at end yet tc id = 93, canon_type = 3, mot type = 2 time: 5.062000 primary movement = 2.496334284264e-04 time: 5.062000000000e+00 total movement = 2.496334284264e-04 vel = 2.497460275973e-01 ------------------- tc state : vr = 0.249746, vf = 0.249746, maxvel = 0.249746, current_vel = 0.249746, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.249746, acc = 0.000000,T = 0.002669, P = 0.000712 initial results: dx= 0.001956,dt = 0.007833, a_f = 0.000000, v_f = 0.249746 dt = 0.007833, not at end yet tc id = 93, canon_type = 3, mot type = 2 time: 5.063000 primary movement = 2.496334284264e-04 time: 5.063000000000e+00 total movement = 2.496334284264e-04 vel = 2.497460275973e-01 ------------------- tc state : vr = 0.249746, vf = 0.249746, maxvel = 0.249746, current_vel = 0.249746, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.249746, acc = 0.000000,T = 0.002669, P = 0.000962 initial results: dx= 0.001706,dt = 0.006833, a_f = 0.000000, v_f = 0.249746 dt = 0.006833, not at end yet tc id = 93, canon_type = 3, mot type = 2 time: 5.064000 primary movement = 2.496334284264e-04 time: 5.064000000000e+00 total movement = 2.496334284264e-04 vel = 2.497460275973e-01 ------------------- tc state : vr = 0.249746, vf = 0.249746, maxvel = 0.249746, current_vel = 0.249746, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.249746, acc = 0.000000,T = 0.002669, P = 0.001212 initial results: dx= 0.001457,dt = 0.005833, a_f = 0.000000, v_f = 0.249746 dt = 0.005833, not at end yet tc id = 93, canon_type = 3, mot type = 2 time: 5.065000 primary movement = 2.496334284265e-04 time: 5.065000000000e+00 total movement = 2.496334284265e-04 vel = 2.497460275973e-01 ------------------- tc state : vr = 0.249746, vf = 0.249746, maxvel = 0.249746, current_vel = 0.249746, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.249746, acc = 0.000000,T = 0.002669, P = 0.001462 initial results: dx= 0.001207,dt = 0.004833, a_f = 0.000000, v_f = 0.249746 dt = 0.004833, not at end yet tc id = 93, canon_type = 3, mot type = 2 time: 5.066000 primary movement = 2.496334284264e-04 time: 5.066000000000e+00 total movement = 2.496334284264e-04 vel = 2.497460275973e-01 ------------------- tc state : vr = 0.249746, vf = 0.249746, maxvel = 0.249746, current_vel = 0.249746, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.249746, acc = 0.000000,T = 0.002669, P = 0.001711 initial results: dx= 0.000957,dt = 0.003833, a_f = 0.000000, v_f = 0.249746 dt = 0.003833, not at end yet tc id = 93, canon_type = 3, mot type = 2 time: 5.067000 primary movement = 2.496334284264e-04 time: 5.067000000000e+00 total movement = 2.496334284264e-04 vel = 2.497460275973e-01 ------------------- tc state : vr = 0.249746, vf = 0.249746, maxvel = 0.249746, current_vel = 0.249746, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.249746, acc = 0.000000,T = 0.002669, P = 0.001961 initial results: dx= 0.000707,dt = 0.002833, a_f = 0.000000, v_f = 0.249746 dt = 0.002833, not at end yet tc id = 93, canon_type = 3, mot type = 2 time: 5.068000 primary movement = 2.496334284264e-04 time: 5.068000000000e+00 total movement = 2.496334284264e-04 vel = 2.497460275973e-01 ------------------- tc state : vr = 0.249746, vf = 0.249746, maxvel = 0.249746, current_vel = 0.249746, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.249746, acc = 0.000000,T = 0.002669, P = 0.002211 initial results: dx= 0.000458,dt = 0.001833, a_f = 0.000000, v_f = 0.249746 dt = 0.001833, not at end yet tc id = 93, canon_type = 3, mot type = 2 time: 5.069000 primary movement = 2.496334284264e-04 time: 5.069000000000e+00 total movement = 2.496334284264e-04 vel = 2.497460275973e-01 ------------------- tc state : vr = 0.249746, vf = 0.249746, maxvel = 0.249746, current_vel = 0.249746, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.249746, acc = 0.000000,T = 0.002669, P = 0.002461 initial results: dx= 0.000208,dt = 0.000833, a_f = 0.000000, v_f = 0.249746 actual v_f = 0.249746, a = 0.000000 split time is 0.000832645 tc id = 93, canon_type = 3, mot type = 2 time: 5.070000 primary movement = 2.496334284264e-04 time: 5.070000000000e+00 total movement = 2.496334284264e-04 vel = 2.497460275973e-01 ------------------- tc id 93 done Finishing split-cycle on id 93 tc state : vr = 0.296074, vf = 0.296074, maxvel = 9.597926, current_vel = 0.255529, fs = 1.000000, tc = 0.000167, term = 3 tc result: v = 0.255529, acc = 34.552533,T = 0.001100, P = 0.000042 initial results: dx= 0.001058,dt = 0.003836, a_f = 10.569822, v_f = 0.296074 dt = 0.003836, not at end yet secondary movement = 0.000042 tc id = 93, canon_type = 2, mot type = 1 time: 5.071000 primary movement = 2.078847221070e-04 time: 5.071000000000e+00 total movement = 2.501648944571e-04 vel = 2.555285745644e-01 Finished tc id 93 ------------------- Activate tc id = 93 target_vel = 0.296074 final_vel = 0.296074 length = 0.001100 tc state : vr = 0.296074, vf = 0.296074, maxvel = 9.597926, current_vel = 0.290081, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.290081, acc = 34.552533,T = 0.001100, P = 0.000315 initial results: dx= 0.000785,dt = 0.002679, a_f = 2.236870, v_f = 0.296074 dt = 0.002679, not at end yet tc id = 93, canon_type = 2, mot type = 1 time: 5.072000 primary movement = 2.728048411678e-04 time: 5.072000000000e+00 total movement = 2.728048411678e-04 vel = 2.900811077714e-01 ------------------- tc state : vr = 0.296074, vf = 0.296074, maxvel = 9.597926, current_vel = 0.296074, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.296074, acc = 5.992527,T = 0.001100, P = 0.000608 initial results: dx= 0.000492,dt = 0.001662, a_f = 0.000000, v_f = 0.296074 dt = 0.001662, not at end yet tc id = 93, canon_type = 2, mot type = 1 time: 5.073000 primary movement = 2.930773713079e-04 time: 5.073000000000e+00 total movement = 2.930773713079e-04 vel = 2.960736348445e-01 ------------------- tc state : vr = 0.296074, vf = 0.296074, maxvel = 9.597926, current_vel = 0.296074, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.296074, acc = 0.000000,T = 0.001100, P = 0.000904 initial results: dx= 0.000196,dt = 0.000662, a_f = 0.000000, v_f = 0.296074 actual v_f = 0.296074, a = 0.000000 split time is 0.000661987 tc id = 93, canon_type = 2, mot type = 1 time: 5.074000 primary movement = 2.960736348445e-04 time: 5.074000000000e+00 total movement = 2.960736348445e-04 vel = 2.960736348445e-01 ------------------- tc id 93 done Finishing split-cycle on id 94 tc state : vr = 0.296074, vf = 0.296074, maxvel = 0.296074, current_vel = 0.296074, fs = 1.000000, tc = 0.000338, term = 3 tc result: v = 0.296074, acc = 0.000000,T = 0.002722, P = 0.000100 initial results: dx= 0.002622,dt = 0.008855, a_f = 0.000000, v_f = 0.296074 dt = 0.008855, not at end yet secondary movement = 0.000100 tc id = 94, canon_type = 3, mot type = 2 time: 5.075000 primary movement = 1.959968957233e-04 time: 5.075000000000e+00 total movement = 2.960699663468e-04 vel = 2.960736348445e-01 Finished tc id 93 ------------------- Activate tc id = 94 target_vel = 0.296074 final_vel = 0.296074 length = 0.002722 tc state : vr = 0.296074, vf = 0.296074, maxvel = 0.296074, current_vel = 0.296074, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.296074, acc = 0.000000,T = 0.002722, P = 0.000396 initial results: dx= 0.002326,dt = 0.007855, a_f = 0.000000, v_f = 0.296074 dt = 0.007855, not at end yet tc id = 94, canon_type = 3, mot type = 2 time: 5.076000 primary movement = 2.959786507267e-04 time: 5.076000000000e+00 total movement = 2.959786507267e-04 vel = 2.960736348445e-01 ------------------- tc state : vr = 0.296074, vf = 0.296074, maxvel = 0.296074, current_vel = 0.296074, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.296074, acc = 0.000000,T = 0.002722, P = 0.000692 initial results: dx= 0.002030,dt = 0.006855, a_f = 0.000000, v_f = 0.296074 dt = 0.006855, not at end yet tc id = 94, canon_type = 3, mot type = 2 time: 5.077000 primary movement = 2.959786507267e-04 time: 5.077000000000e+00 total movement = 2.959786507267e-04 vel = 2.960736348445e-01 ------------------- tc state : vr = 0.296074, vf = 0.296074, maxvel = 0.296074, current_vel = 0.296074, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.296074, acc = 0.000000,T = 0.002722, P = 0.000988 initial results: dx= 0.001733,dt = 0.005855, a_f = 0.000000, v_f = 0.296074 dt = 0.005855, not at end yet tc id = 94, canon_type = 3, mot type = 2 time: 5.078000 primary movement = 2.959786507267e-04 time: 5.078000000000e+00 total movement = 2.959786507267e-04 vel = 2.960736348445e-01 ------------------- tc state : vr = 0.296074, vf = 0.296074, maxvel = 0.296074, current_vel = 0.296074, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.296074, acc = 0.000000,T = 0.002722, P = 0.001284 initial results: dx= 0.001437,dt = 0.004855, a_f = 0.000000, v_f = 0.296074 dt = 0.004855, not at end yet tc id = 94, canon_type = 3, mot type = 2 time: 5.079000 primary movement = 2.959786507268e-04 time: 5.079000000000e+00 total movement = 2.959786507268e-04 vel = 2.960736348445e-01 ------------------- tc state : vr = 0.296074, vf = 0.296074, maxvel = 0.296074, current_vel = 0.296074, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.296074, acc = 0.000000,T = 0.002722, P = 0.001580 initial results: dx= 0.001141,dt = 0.003855, a_f = 0.000000, v_f = 0.296074 dt = 0.003855, not at end yet tc id = 94, canon_type = 3, mot type = 2 time: 5.080000 primary movement = 2.959786507267e-04 time: 5.080000000000e+00 total movement = 2.959786507267e-04 vel = 2.960736348445e-01 ------------------- tc state : vr = 0.296074, vf = 0.296074, maxvel = 0.296074, current_vel = 0.296074, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.296074, acc = 0.000000,T = 0.002722, P = 0.001877 initial results: dx= 0.000845,dt = 0.002855, a_f = 0.000000, v_f = 0.296074 dt = 0.002855, not at end yet tc id = 94, canon_type = 3, mot type = 2 time: 5.081000 primary movement = 2.959786507267e-04 time: 5.081000000000e+00 total movement = 2.959786507267e-04 vel = 2.960736348445e-01 ------------------- tc state : vr = 0.296074, vf = 0.296074, maxvel = 0.296074, current_vel = 0.296074, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.296074, acc = 0.000000,T = 0.002722, P = 0.002173 initial results: dx= 0.000549,dt = 0.001855, a_f = 0.000000, v_f = 0.296074 dt = 0.001855, not at end yet tc id = 94, canon_type = 3, mot type = 2 time: 5.082000 primary movement = 2.959786507267e-04 time: 5.082000000000e+00 total movement = 2.959786507267e-04 vel = 2.960736348445e-01 ------------------- tc state : vr = 0.296074, vf = 0.296074, maxvel = 0.296074, current_vel = 0.296074, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.296074, acc = 0.000000,T = 0.002722, P = 0.002469 initial results: dx= 0.000253,dt = 0.000855, a_f = 0.000000, v_f = 0.296074 actual v_f = 0.296074, a = 0.000000 split time is 0.000854719 tc id = 94, canon_type = 3, mot type = 2 time: 5.083000 primary movement = 2.959786507267e-04 time: 5.083000000000e+00 total movement = 2.959786507267e-04 vel = 2.960736348445e-01 ------------------- tc id 94 done Finishing split-cycle on id 94 tc state : vr = 0.382673, vf = 0.382673, maxvel = 8.589769, current_vel = 0.300566, fs = 1.000000, tc = 0.000145, term = 3 tc result: v = 0.300566, acc = 30.923292,T = 0.000950, P = 0.000043 initial results: dx= 0.000907,dt = 0.002655, a_f = 30.923292, v_f = 0.382673 dt = 0.002655, not at end yet secondary movement = 0.000043 tc id = 94, canon_type = 2, mot type = 1 time: 5.084000 primary movement = 2.530003862506e-04 time: 5.084000000000e+00 total movement = 2.963406675629e-04 vel = 3.005662083726e-01 Finished tc id 94 ------------------- Activate tc id = 94 target_vel = 0.382673 final_vel = 0.382673 length = 0.000950 tc state : vr = 0.382673, vf = 0.382673, maxvel = 8.589769, current_vel = 0.331490, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.331490, acc = 30.923292,T = 0.000950, P = 0.000359 initial results: dx= 0.000591,dt = 0.001655, a_f = 30.923292, v_f = 0.382673 dt = 0.001655, not at end yet tc id = 94, canon_type = 2, mot type = 1 time: 5.085000 primary movement = 3.160278544686e-04 time: 5.085000000000e+00 total movement = 3.160278544686e-04 vel = 3.314895005647e-01 ------------------- tc state : vr = 0.382673, vf = 0.382673, maxvel = 8.589769, current_vel = 0.362413, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.362413, acc = 30.923292,T = 0.000950, P = 0.000706 initial results: dx= 0.000244,dt = 0.000655, a_f = 30.923292, v_f = 0.382673 actual v_f = 0.382673, a = 30.923292 split time is 0.000655182 tc id = 94, canon_type = 2, mot type = 1 time: 5.086000 primary movement = 3.469511466607e-04 time: 5.086000000000e+00 total movement = 3.469511466607e-04 vel = 3.624127927568e-01 ------------------- tc id 94 done Finishing split-cycle on id 95 tc state : vr = 0.452573, vf = 0.452573, maxvel = 0.452573, current_vel = 0.387845, fs = 1.000000, tc = 0.000345, term = 3 tc result: v = 0.387845, acc = 15.000000,T = 0.003412, P = 0.000133 initial results: dx= 0.003279,dt = 0.007803, a_f = 8.295627, v_f = 0.452573 dt = 0.007803, not at end yet secondary movement = 0.000133 tc id = 95, canon_type = 3, mot type = 2 time: 5.087000 primary movement = 2.440832790401e-04 time: 5.087000000000e+00 total movement = 3.769262292220e-04 vel = 3.878454397361e-01 Finished tc id 94 ------------------- Activate tc id = 95 target_vel = 0.452573 final_vel = 0.452573 length = 0.003412 tc state : vr = 0.452573, vf = 0.452573, maxvel = 0.452573, current_vel = 0.402845, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.402845, acc = 15.000000,T = 0.003412, P = 0.000528 initial results: dx= 0.002883,dt = 0.006741, a_f = 7.376373, v_f = 0.452573 dt = 0.006741, not at end yet tc id = 95, canon_type = 3, mot type = 2 time: 5.088000 primary movement = 3.953040153705e-04 time: 5.088000000000e+00 total movement = 3.953040153705e-04 vel = 4.028454397361e-01 ------------------- tc state : vr = 0.452573, vf = 0.452573, maxvel = 0.452573, current_vel = 0.417845, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.417845, acc = 15.000000,T = 0.003412, P = 0.000939 initial results: dx= 0.002473,dt = 0.005682, a_f = 6.111393, v_f = 0.452573 dt = 0.005682, not at end yet tc id = 95, canon_type = 3, mot type = 2 time: 5.089000 primary movement = 4.102991192142e-04 time: 5.089000000000e+00 total movement = 4.102991192142e-04 vel = 4.178454397361e-01 ------------------- tc state : vr = 0.452573, vf = 0.452573, maxvel = 0.452573, current_vel = 0.432845, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.432845, acc = 15.000000,T = 0.003412, P = 0.001364 initial results: dx= 0.002048,dt = 0.004625, a_f = 4.265041, v_f = 0.452573 dt = 0.004625, not at end yet tc id = 95, canon_type = 3, mot type = 2 time: 5.090000 primary movement = 4.252938517163e-04 time: 5.090000000000e+00 total movement = 4.252938517163e-04 vel = 4.328454397361e-01 ------------------- tc state : vr = 0.452573, vf = 0.452573, maxvel = 0.452573, current_vel = 0.447845, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.447845, acc = 15.000000,T = 0.003412, P = 0.001804 initial results: dx= 0.001607,dt = 0.003570, a_f = 1.324080, v_f = 0.452573 dt = 0.003570, not at end yet tc id = 95, canon_type = 3, mot type = 2 time: 5.091000 primary movement = 4.402881993058e-04 time: 5.091000000000e+00 total movement = 4.402881993058e-04 vel = 4.478454397361e-01 ------------------- tc state : vr = 0.452573, vf = 0.452573, maxvel = 0.452573, current_vel = 0.452573, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.452573, acc = 4.727209,T = 0.003412, P = 0.002254 initial results: dx= 0.001157,dt = 0.002557, a_f = 0.000000, v_f = 0.452573 dt = 0.002557, not at end yet tc id = 95, canon_type = 3, mot type = 2 time: 5.092000 primary movement = 4.501478703994e-04 time: 5.092000000000e+00 total movement = 4.501478703994e-04 vel = 4.525726483246e-01 ------------------- tc state : vr = 0.452573, vf = 0.452573, maxvel = 0.452573, current_vel = 0.452573, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.452573, acc = 0.000000,T = 0.003412, P = 0.002707 initial results: dx= 0.000705,dt = 0.001557, a_f = 0.000000, v_f = 0.452573 dt = 0.001557, not at end yet tc id = 95, canon_type = 3, mot type = 2 time: 5.093000 primary movement = 4.525105061657e-04 time: 5.093000000000e+00 total movement = 4.525105061657e-04 vel = 4.525726483246e-01 ------------------- tc state : vr = 0.452573, vf = 0.452573, maxvel = 0.452573, current_vel = 0.452573, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.452573, acc = 0.000000,T = 0.003412, P = 0.003160 initial results: dx= 0.000252,dt = 0.000557, a_f = 0.000000, v_f = 0.452573 actual v_f = 0.452573, a = 0.000000 split time is 0.00055676 tc id = 95, canon_type = 3, mot type = 2 time: 5.094000 primary movement = 4.525105061657e-04 time: 5.094000000000e+00 total movement = 4.525105061657e-04 vel = 4.525726483246e-01 ------------------- tc id 95 done Finishing split-cycle on id 95 tc state : vr = 3.255940, vf = 0.424514, maxvel = 8.482383, current_vel = 0.466108, fs = 1.000000, tc = 0.000443, term = 3 tc result: v = 0.466108, acc = 30.536699,T = 0.006837, P = 0.000204 initial results: dx= 0.006634,dt = 0.014897, a_f = -2.792083, v_f = 0.424514 dt = 0.014897, not at end yet secondary movement = 0.000204 tc id = 95, canon_type = 2, mot type = 1 time: 5.095000 primary movement = 2.519636197236e-04 time: 5.095000000000e+00 total movement = 4.555615691598e-04 vel = 4.661077350828e-01 Finished tc id 95 ------------------- Activate tc id = 95 target_vel = 3.255940 final_vel = 0.424514 length = 0.006837 tc state : vr = 3.255940, vf = 0.424514, maxvel = 8.482383, current_vel = 0.496644, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.496644, acc = 30.536699,T = 0.006837, P = 0.000685 initial results: dx= 0.006152,dt = 0.013358, a_f = -5.399751, v_f = 0.424514 dt = 0.013358, not at end yet tc id = 95, canon_type = 2, mot type = 1 time: 5.096000 primary movement = 4.813760846989e-04 time: 5.096000000000e+00 total movement = 4.813760846989e-04 vel = 4.966444343150e-01 ------------------- tc state : vr = 3.255940, vf = 0.424514, maxvel = 8.482383, current_vel = 0.527181, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.527181, acc = 30.536699,T = 0.006837, P = 0.001197 initial results: dx= 0.005641,dt = 0.011854, a_f = -8.661172, v_f = 0.424514 dt = 0.011854, not at end yet tc id = 95, canon_type = 2, mot type = 1 time: 5.097000 primary movement = 5.119127839312e-04 time: 5.097000000000e+00 total movement = 5.119127839312e-04 vel = 5.271811335473e-01 ------------------- tc state : vr = 3.255940, vf = 0.424514, maxvel = 8.482383, current_vel = 0.557718, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.557718, acc = 30.536699,T = 0.006837, P = 0.001739 initial results: dx= 0.005098,dt = 0.010381, a_f = -12.831885, v_f = 0.424514 dt = 0.010381, not at end yet tc id = 95, canon_type = 2, mot type = 1 time: 5.098000 primary movement = 5.424494831634e-04 time: 5.098000000000e+00 total movement = 5.424494831634e-04 vel = 5.577178327795e-01 ------------------- tc state : vr = 3.255940, vf = 0.424514, maxvel = 8.482383, current_vel = 0.588255, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.588255, acc = 30.536699,T = 0.006837, P = 0.002312 initial results: dx= 0.004525,dt = 0.008936, a_f = -18.323326, v_f = 0.424514 dt = 0.008936, not at end yet tc id = 95, canon_type = 2, mot type = 1 time: 5.099000 primary movement = 5.729861823956e-04 time: 5.099000000000e+00 total movement = 5.729861823956e-04 vel = 5.882545320117e-01 ------------------- tc state : vr = 3.255940, vf = 0.424514, maxvel = 8.482383, current_vel = 0.618791, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.618791, acc = 30.536699,T = 0.006837, P = 0.002916 initial results: dx= 0.003922,dt = 0.007518, a_f = -25.842689, v_f = 0.424514 dt = 0.007518, not at end yet tc id = 95, canon_type = 2, mot type = 1 time: 5.100000 primary movement = 6.035228816278e-04 time: 5.100000000000e+00 total movement = 6.035228816278e-04 vel = 6.187912312440e-01 ------------------- tc state : vr = 3.255940, vf = 0.424514, maxvel = 8.482383, current_vel = 0.618022, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.618022, acc = -0.769606,T = 0.006837, P = 0.003534 on final decel initial results: dx= 0.003303,dt = 0.006337, a_f = -30.536699, v_f = 0.424514 recalculating with a_f = -30.536699, a = -30.536699 revised dt = 0.006337 dt = 0.006337, not at end yet tc id = 95, canon_type = 2, mot type = 1 time: 5.101000 primary movement = 6.184064282682e-04 time: 5.101000000000e+00 total movement = 6.184064282682e-04 vel = 6.180216252924e-01 ------------------- tc state : vr = 3.255940, vf = 0.424514, maxvel = 8.482383, current_vel = 0.587485, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.587485, acc = -30.536699,T = 0.006837, P = 0.004137 on final decel initial results: dx= 0.002700,dt = 0.005337, a_f = -30.536699, v_f = 0.424514 recalculating with a_f = -30.536699, a = -30.536699 revised dt = 0.005337 dt = 0.005337, not at end yet tc id = 95, canon_type = 2, mot type = 1 time: 5.102000 primary movement = 6.027532756763e-04 time: 5.102000000000e+00 total movement = 6.027532756763e-04 vel = 5.874849260602e-01 ------------------- tc state : vr = 3.255940, vf = 0.424514, maxvel = 8.482383, current_vel = 0.556948, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.556948, acc = -30.536699,T = 0.006837, P = 0.004709 on final decel initial results: dx= 0.002128,dt = 0.004337, a_f = -30.536699, v_f = 0.424514 dt = 0.004337, not at end yet tc id = 95, canon_type = 2, mot type = 1 time: 5.103000 primary movement = 5.722165764441e-04 time: 5.103000000000e+00 total movement = 5.722165764441e-04 vel = 5.569482268279e-01 ------------------- tc state : vr = 3.255940, vf = 0.424514, maxvel = 8.482383, current_vel = 0.526412, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.526412, acc = -30.536699,T = 0.006837, P = 0.005251 on final decel initial results: dx= 0.001587,dt = 0.003337, a_f = -30.536699, v_f = 0.424514 recalculating with a_f = -30.536699, a = -30.536699 revised dt = 0.003337 dt = 0.003337, not at end yet tc id = 95, canon_type = 2, mot type = 1 time: 5.104000 primary movement = 5.416798772118e-04 time: 5.104000000000e+00 total movement = 5.416798772118e-04 vel = 5.264115275957e-01 ------------------- tc state : vr = 3.255940, vf = 0.424514, maxvel = 8.482383, current_vel = 0.495875, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.495875, acc = -30.536699,T = 0.006837, P = 0.005762 on final decel initial results: dx= 0.001075,dt = 0.002337, a_f = -30.536699, v_f = 0.424514 recalculating with a_f = -30.536699, a = -30.536699 revised dt = 0.002337 dt = 0.002337, not at end yet tc id = 95, canon_type = 2, mot type = 1 time: 5.105000 primary movement = 5.111431779796e-04 time: 5.105000000000e+00 total movement = 5.111431779796e-04 vel = 4.958748283634e-01 ------------------- tc state : vr = 3.255940, vf = 0.424514, maxvel = 8.482383, current_vel = 0.465338, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.465338, acc = -30.536699,T = 0.006837, P = 0.006243 on final decel initial results: dx= 0.000595,dt = 0.001337, a_f = -30.536699, v_f = 0.424514 recalculating with a_f = -30.536699, a = -30.536699 revised dt = 0.001337 dt = 0.001337, not at end yet tc id = 95, canon_type = 2, mot type = 1 time: 5.106000 primary movement = 4.806064787473e-04 time: 5.106000000000e+00 total movement = 4.806064787473e-04 vel = 4.653381291312e-01 ------------------- tc state : vr = 3.255940, vf = 0.424514, maxvel = 8.482383, current_vel = 0.434801, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.434801, acc = -30.536699,T = 0.006837, P = 0.006693 on final decel initial results: dx= 0.000145,dt = 0.000337, a_f = -30.536699, v_f = 0.424514 recalculating with a_f = -30.536699, a = -30.536699 revised dt = 0.000337 actual v_f = 0.424514, a = -30.536699 split time is 0.000336902 tc id = 95, canon_type = 2, mot type = 1 time: 5.107000 primary movement = 4.500697795151e-04 time: 5.107000000000e+00 total movement = 4.500697795151e-04 vel = 4.348014298990e-01 ------------------- tc id 95 done Finishing split-cycle on id 96 tc state : vr = 0.424514, vf = 0.424514, maxvel = 0.424514, current_vel = 0.424514, fs = 1.000000, tc = 0.000663, term = 3 tc result: v = 0.424514, acc = -0.000000,T = 0.003161, P = 0.000281 initial results: dx= 0.002880,dt = 0.006783, a_f = 0.000000, v_f = 0.424514 dt = 0.006783, not at end yet secondary movement = 0.000281 tc id = 96, canon_type = 3, mot type = 2 time: 5.108000 primary movement = 1.447523791701e-04 time: 5.108000000000e+00 total movement = 4.262272455809e-04 vel = 4.245135612798e-01 Finished tc id 95 ------------------- Activate tc id = 96 target_vel = 0.424514 final_vel = 0.424514 length = 0.003161 tc state : vr = 0.424514, vf = 0.424514, maxvel = 0.424514, current_vel = 0.424514, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.424514, acc = 0.000000,T = 0.003161, P = 0.000706 initial results: dx= 0.002455,dt = 0.005783, a_f = 0.000000, v_f = 0.424514 dt = 0.005783, not at end yet tc id = 96, canon_type = 3, mot type = 2 time: 5.109000 primary movement = 4.244473120813e-04 time: 5.109000000000e+00 total movement = 4.244473120813e-04 vel = 4.245135612798e-01 ------------------- tc state : vr = 0.424514, vf = 0.424514, maxvel = 0.424514, current_vel = 0.424514, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.424514, acc = 0.000000,T = 0.003161, P = 0.001131 initial results: dx= 0.002031,dt = 0.004783, a_f = 0.000000, v_f = 0.424514 dt = 0.004783, not at end yet tc id = 96, canon_type = 3, mot type = 2 time: 5.110000 primary movement = 4.244473120812e-04 time: 5.110000000000e+00 total movement = 4.244473120812e-04 vel = 4.245135612798e-01 ------------------- tc state : vr = 0.424514, vf = 0.424514, maxvel = 0.424514, current_vel = 0.424514, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.424514, acc = 0.000000,T = 0.003161, P = 0.001555 initial results: dx= 0.001606,dt = 0.003783, a_f = 0.000000, v_f = 0.424514 dt = 0.003783, not at end yet tc id = 96, canon_type = 3, mot type = 2 time: 5.111000 primary movement = 4.244473120813e-04 time: 5.111000000000e+00 total movement = 4.244473120813e-04 vel = 4.245135612798e-01 ------------------- tc state : vr = 0.424514, vf = 0.424514, maxvel = 0.424514, current_vel = 0.424514, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.424514, acc = 0.000000,T = 0.003161, P = 0.001980 initial results: dx= 0.001182,dt = 0.002783, a_f = 0.000000, v_f = 0.424514 dt = 0.002783, not at end yet tc id = 96, canon_type = 3, mot type = 2 time: 5.112000 primary movement = 4.244473120812e-04 time: 5.112000000000e+00 total movement = 4.244473120812e-04 vel = 4.245135612798e-01 ------------------- tc state : vr = 0.424514, vf = 0.424514, maxvel = 0.424514, current_vel = 0.424514, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.424514, acc = 0.000000,T = 0.003161, P = 0.002404 initial results: dx= 0.000757,dt = 0.001783, a_f = 0.000000, v_f = 0.424514 dt = 0.001783, not at end yet tc id = 96, canon_type = 3, mot type = 2 time: 5.113000 primary movement = 4.244473120813e-04 time: 5.113000000000e+00 total movement = 4.244473120813e-04 vel = 4.245135612798e-01 ------------------- tc state : vr = 0.424514, vf = 0.424514, maxvel = 0.424514, current_vel = 0.424514, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.424514, acc = 0.000000,T = 0.003161, P = 0.002829 initial results: dx= 0.000333,dt = 0.000783, a_f = 0.000000, v_f = 0.424514 actual v_f = 0.424514, a = 0.000000 split time is 0.000783468 tc id = 96, canon_type = 3, mot type = 2 time: 5.114000 primary movement = 4.244473120812e-04 time: 5.114000000000e+00 total movement = 4.244473120812e-04 vel = 4.245135612798e-01 ------------------- tc id 96 done Finishing split-cycle on id 96 tc state : vr = 0.983984, vf = 0.321376, maxvel = 10.416625, current_vel = 0.432634, fs = 1.000000, tc = 0.000217, term = 3 tc result: v = 0.432634, acc = 37.500000,T = 0.002066, P = 0.000093 initial results: dx= 0.001974,dt = 0.005235, a_f = -21.253282, v_f = 0.321376 dt = 0.005235, not at end yet secondary movement = 0.000093 tc id = 96, canon_type = 2, mot type = 1 time: 5.115000 primary movement = 3.325607591369e-04 time: 5.115000000000e+00 total movement = 4.253608186349e-04 vel = 4.326335264087e-01 Finished tc id 96 ------------------- Activate tc id = 96 target_vel = 0.983984 final_vel = 0.321376 length = 0.002066 tc state : vr = 0.983984, vf = 0.321376, maxvel = 10.416625, current_vel = 0.466459, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.466459, acc = 33.825237,T = 0.002066, P = 0.000542 initial results: dx= 0.001524,dt = 0.003869, a_f = -37.500000, v_f = 0.321376 recalculating with a_f = -37.500000, a = -37.500000 revised dt = 0.003869 dt = 0.003869, not at end yet tc id = 96, canon_type = 2, mot type = 1 time: 5.116000 primary movement = 4.495461448563e-04 time: 5.116000000000e+00 total movement = 4.495461448563e-04 vel = 4.664587633038e-01 ------------------- tc state : vr = 0.983984, vf = 0.321376, maxvel = 10.416625, current_vel = 0.428959, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.428959, acc = -37.500000,T = 0.002066, P = 0.000990 on final decel initial results: dx= 0.001076,dt = 0.002869, a_f = -37.500000, v_f = 0.321376 recalculating with a_f = -37.500000, a = -37.500000 revised dt = 0.002869 dt = 0.002869, not at end yet tc id = 96, canon_type = 2, mot type = 1 time: 5.117000 primary movement = 4.477087633038e-04 time: 5.117000000000e+00 total movement = 4.477087633038e-04 vel = 4.289587633038e-01 ------------------- tc state : vr = 0.983984, vf = 0.321376, maxvel = 10.416625, current_vel = 0.391459, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.391459, acc = -37.500000,T = 0.002066, P = 0.001400 on final decel initial results: dx= 0.000666,dt = 0.001869, a_f = -37.500000, v_f = 0.321376 dt = 0.001869, not at end yet tc id = 96, canon_type = 2, mot type = 1 time: 5.118000 primary movement = 4.102087633038e-04 time: 5.118000000000e+00 total movement = 4.102087633038e-04 vel = 3.914587633038e-01 ------------------- tc state : vr = 0.983984, vf = 0.321376, maxvel = 10.416625, current_vel = 0.353959, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.353959, acc = -37.500000,T = 0.002066, P = 0.001773 on final decel initial results: dx= 0.000293,dt = 0.000869, a_f = -37.500000, v_f = 0.321376 actual v_f = 0.321376, a = -37.500000 split time is 0.000868887 tc id = 96, canon_type = 2, mot type = 1 time: 5.119000 primary movement = 3.727087633038e-04 time: 5.119000000000e+00 total movement = 3.727087633038e-04 vel = 3.539587633038e-01 ------------------- tc id 96 done Finishing split-cycle on id 97 tc state : vr = 0.321376, vf = 0.321376, maxvel = 0.321376, current_vel = 0.321376, fs = 1.000000, tc = 0.000131, term = 3 tc result: v = 0.321376, acc = 0.000000,T = 0.002558, P = 0.000042 initial results: dx= 0.002516,dt = 0.007829, a_f = 0.000000, v_f = 0.321376 dt = 0.007829, not at end yet secondary movement = 0.000042 tc id = 97, canon_type = 3, mot type = 2 time: 5.120000 primary movement = 2.933945450175e-04 time: 5.120000000000e+00 total movement = 3.355308907116e-04 vel = 3.213755050455e-01 Finished tc id 96 ------------------- Activate tc id = 97 target_vel = 0.321376 final_vel = 0.321376 length = 0.002558 tc state : vr = 0.321376, vf = 0.321376, maxvel = 0.321376, current_vel = 0.321376, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.321376, acc = 0.000000,T = 0.002558, P = 0.000364 initial results: dx= 0.002195,dt = 0.006829, a_f = 0.000000, v_f = 0.321376 dt = 0.006829, not at end yet tc id = 97, canon_type = 3, mot type = 2 time: 5.121000 primary movement = 3.212879977464e-04 time: 5.121000000000e+00 total movement = 3.212879977464e-04 vel = 3.213755050455e-01 ------------------- tc state : vr = 0.321376, vf = 0.321376, maxvel = 0.321376, current_vel = 0.321376, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.321376, acc = 0.000000,T = 0.002558, P = 0.000685 initial results: dx= 0.001873,dt = 0.005829, a_f = 0.000000, v_f = 0.321376 dt = 0.005829, not at end yet tc id = 97, canon_type = 3, mot type = 2 time: 5.122000 primary movement = 3.212879977464e-04 time: 5.122000000000e+00 total movement = 3.212879977464e-04 vel = 3.213755050455e-01 ------------------- tc state : vr = 0.321376, vf = 0.321376, maxvel = 0.321376, current_vel = 0.321376, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.321376, acc = 0.000000,T = 0.002558, P = 0.001006 initial results: dx= 0.001552,dt = 0.004829, a_f = 0.000000, v_f = 0.321376 dt = 0.004829, not at end yet tc id = 97, canon_type = 3, mot type = 2 time: 5.123000 primary movement = 3.212879977464e-04 time: 5.123000000000e+00 total movement = 3.212879977464e-04 vel = 3.213755050455e-01 ------------------- tc state : vr = 0.321376, vf = 0.321376, maxvel = 0.321376, current_vel = 0.321376, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.321376, acc = 0.000000,T = 0.002558, P = 0.001328 initial results: dx= 0.001230,dt = 0.003829, a_f = 0.000000, v_f = 0.321376 dt = 0.003829, not at end yet tc id = 97, canon_type = 3, mot type = 2 time: 5.124000 primary movement = 3.212879977464e-04 time: 5.124000000000e+00 total movement = 3.212879977464e-04 vel = 3.213755050455e-01 ------------------- tc state : vr = 0.321376, vf = 0.321376, maxvel = 0.321376, current_vel = 0.321376, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.321376, acc = 0.000000,T = 0.002558, P = 0.001649 initial results: dx= 0.000909,dt = 0.002829, a_f = 0.000000, v_f = 0.321376 dt = 0.002829, not at end yet tc id = 97, canon_type = 3, mot type = 2 time: 5.125000 primary movement = 3.212879977464e-04 time: 5.125000000000e+00 total movement = 3.212879977464e-04 vel = 3.213755050455e-01 ------------------- tc state : vr = 0.321376, vf = 0.321376, maxvel = 0.321376, current_vel = 0.321376, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.321376, acc = 0.000000,T = 0.002558, P = 0.001970 initial results: dx= 0.000588,dt = 0.001829, a_f = 0.000000, v_f = 0.321376 dt = 0.001829, not at end yet tc id = 97, canon_type = 3, mot type = 2 time: 5.126000 primary movement = 3.212879977464e-04 time: 5.126000000000e+00 total movement = 3.212879977464e-04 vel = 3.213755050455e-01 ------------------- tc state : vr = 0.321376, vf = 0.321376, maxvel = 0.321376, current_vel = 0.321376, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.321376, acc = 0.000000,T = 0.002558, P = 0.002292 initial results: dx= 0.000266,dt = 0.000829, a_f = 0.000000, v_f = 0.321376 actual v_f = 0.321376, a = 0.000000 split time is 0.000828834 tc id = 97, canon_type = 3, mot type = 2 time: 5.127000 primary movement = 3.212879977464e-04 time: 5.127000000000e+00 total movement = 3.212879977464e-04 vel = 3.213755050455e-01 ------------------- tc id 97 done Finishing split-cycle on id 97 tc state : vr = 0.351660, vf = 0.351660, maxvel = 8.333300, current_vel = 0.326510, fs = 1.000000, tc = 0.000171, term = 3 tc result: v = 0.326510, acc = 30.000000,T = 0.000738, P = 0.000055 initial results: dx= 0.000683,dt = 0.002014, a_f = 12.485340, v_f = 0.351660 dt = 0.002014, not at end yet secondary movement = 0.000055 tc id = 97, canon_type = 2, mot type = 1 time: 5.128000 primary movement = 2.663171370875e-04 time: 5.128000000000e+00 total movement = 3.217651455077e-04 vel = 3.265104833669e-01 Finished tc id 97 ------------------- Activate tc id = 97 target_vel = 0.351660 final_vel = 0.351660 length = 0.000738 tc state : vr = 0.351660, vf = 0.351660, maxvel = 8.333300, current_vel = 0.351660, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.351660, acc = 25.149920,T = 0.000738, P = 0.000395 initial results: dx= 0.000344,dt = 0.000978, a_f = 0.000000, v_f = 0.351660 actual v_f = 0.351660, a = 0.000000 split time is 0.000978084 tc id = 97, canon_type = 2, mot type = 1 time: 5.129000 primary movement = 3.390854435393e-04 time: 5.129000000000e+00 total movement = 3.390854435393e-04 vel = 3.516604037116e-01 ------------------- tc id 97 done Finishing split-cycle on id 98 tc state : vr = 0.351660, vf = 0.351660, maxvel = 0.351660, current_vel = 0.351660, fs = 1.000000, tc = 0.000022, term = 3 tc result: v = 0.351660, acc = 0.000000,T = 0.003678, P = 0.000008 initial results: dx= 0.003670,dt = 0.010437, a_f = 0.000000, v_f = 0.351660 dt = 0.010437, not at end yet secondary movement = 0.000008 tc id = 98, canon_type = 3, mot type = 2 time: 5.130000 primary movement = 3.439533958348e-04 time: 5.130000000000e+00 total movement = 3.516604028697e-04 vel = 3.516604037116e-01 Finished tc id 97 ------------------- Activate tc id = 98 target_vel = 0.351660 final_vel = 0.351660 length = 0.003678 tc state : vr = 0.351660, vf = 0.351660, maxvel = 0.351660, current_vel = 0.351660, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.351660, acc = 0.000000,T = 0.003678, P = 0.000359 initial results: dx= 0.003319,dt = 0.009437, a_f = 0.000000, v_f = 0.351660 dt = 0.009437, not at end yet tc id = 98, canon_type = 3, mot type = 2 time: 5.131000 primary movement = 3.515804314405e-04 time: 5.131000000000e+00 total movement = 3.515804314405e-04 vel = 3.516604037116e-01 ------------------- tc state : vr = 0.351660, vf = 0.351660, maxvel = 0.351660, current_vel = 0.351660, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.351660, acc = 0.000000,T = 0.003678, P = 0.000711 initial results: dx= 0.002967,dt = 0.008437, a_f = 0.000000, v_f = 0.351660 dt = 0.008437, not at end yet tc id = 98, canon_type = 3, mot type = 2 time: 5.132000 primary movement = 3.515804314405e-04 time: 5.132000000000e+00 total movement = 3.515804314405e-04 vel = 3.516604037116e-01 ------------------- tc state : vr = 0.351660, vf = 0.351660, maxvel = 0.351660, current_vel = 0.351660, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.351660, acc = 0.000000,T = 0.003678, P = 0.001063 initial results: dx= 0.002615,dt = 0.007437, a_f = 0.000000, v_f = 0.351660 dt = 0.007437, not at end yet tc id = 98, canon_type = 3, mot type = 2 time: 5.133000 primary movement = 3.515804314406e-04 time: 5.133000000000e+00 total movement = 3.515804314406e-04 vel = 3.516604037116e-01 ------------------- tc state : vr = 0.351660, vf = 0.351660, maxvel = 0.351660, current_vel = 0.351660, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.351660, acc = 0.000000,T = 0.003678, P = 0.001414 initial results: dx= 0.002264,dt = 0.006437, a_f = 0.000000, v_f = 0.351660 dt = 0.006437, not at end yet tc id = 98, canon_type = 3, mot type = 2 time: 5.134000 primary movement = 3.515804314406e-04 time: 5.134000000000e+00 total movement = 3.515804314406e-04 vel = 3.516604037116e-01 ------------------- tc state : vr = 0.351660, vf = 0.351660, maxvel = 0.351660, current_vel = 0.351660, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.351660, acc = 0.000000,T = 0.003678, P = 0.001766 initial results: dx= 0.001912,dt = 0.005437, a_f = 0.000000, v_f = 0.351660 dt = 0.005437, not at end yet tc id = 98, canon_type = 3, mot type = 2 time: 5.135000 primary movement = 3.515804314405e-04 time: 5.135000000000e+00 total movement = 3.515804314405e-04 vel = 3.516604037116e-01 ------------------- tc state : vr = 0.351660, vf = 0.351660, maxvel = 0.351660, current_vel = 0.351660, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.351660, acc = 0.000000,T = 0.003678, P = 0.002118 initial results: dx= 0.001560,dt = 0.004437, a_f = 0.000000, v_f = 0.351660 dt = 0.004437, not at end yet tc id = 98, canon_type = 3, mot type = 2 time: 5.136000 primary movement = 3.515804314405e-04 time: 5.136000000000e+00 total movement = 3.515804314405e-04 vel = 3.516604037116e-01 ------------------- tc state : vr = 0.351660, vf = 0.351660, maxvel = 0.351660, current_vel = 0.351660, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.351660, acc = 0.000000,T = 0.003678, P = 0.002469 initial results: dx= 0.001209,dt = 0.003437, a_f = 0.000000, v_f = 0.351660 dt = 0.003437, not at end yet tc id = 98, canon_type = 3, mot type = 2 time: 5.137000 primary movement = 3.515804314405e-04 time: 5.137000000000e+00 total movement = 3.515804314405e-04 vel = 3.516604037116e-01 ------------------- tc state : vr = 0.351660, vf = 0.351660, maxvel = 0.351660, current_vel = 0.351660, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.351660, acc = 0.000000,T = 0.003678, P = 0.002821 initial results: dx= 0.000857,dt = 0.002437, a_f = 0.000000, v_f = 0.351660 dt = 0.002437, not at end yet tc id = 98, canon_type = 3, mot type = 2 time: 5.138000 primary movement = 3.515804314406e-04 time: 5.138000000000e+00 total movement = 3.515804314406e-04 vel = 3.516604037116e-01 ------------------- tc state : vr = 0.351660, vf = 0.351660, maxvel = 0.351660, current_vel = 0.351660, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.351660, acc = 0.000000,T = 0.003678, P = 0.003173 initial results: dx= 0.000505,dt = 0.001437, a_f = 0.000000, v_f = 0.351660 dt = 0.001437, not at end yet tc id = 98, canon_type = 3, mot type = 2 time: 5.139000 primary movement = 3.515804314405e-04 time: 5.139000000000e+00 total movement = 3.515804314405e-04 vel = 3.516604037116e-01 ------------------- tc state : vr = 0.351660, vf = 0.351660, maxvel = 0.351660, current_vel = 0.351660, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.351660, acc = 0.000000,T = 0.003678, P = 0.003524 initial results: dx= 0.000154,dt = 0.000437, a_f = 0.000000, v_f = 0.351660 actual v_f = 0.351660, a = 0.000000 split time is 0.000437449 tc id = 98, canon_type = 3, mot type = 2 time: 5.140000 primary movement = 3.515804314406e-04 time: 5.140000000000e+00 total movement = 3.515804314406e-04 vel = 3.516604037116e-01 ------------------- tc id 98 done Finishing split-cycle on id 98 tc state : vr = 0.375760, vf = 0.375760, maxvel = 11.638685, current_vel = 0.375231, fs = 1.000000, tc = 0.000563, term = 3 tc result: v = 0.375231, acc = 41.899433,T = 0.001439, P = 0.000204 initial results: dx= 0.001235,dt = 0.003289, a_f = 0.160901, v_f = 0.375760 dt = 0.003289, not at end yet secondary movement = 0.000204 tc id = 98, canon_type = 2, mot type = 1 time: 5.141000 primary movement = 1.538267988950e-04 time: 5.141000000000e+00 total movement = 3.582835319690e-04 vel = 3.752309715175e-01 Finished tc id 98 ------------------- Activate tc id = 98 target_vel = 0.375760 final_vel = 0.375760 length = 0.001439 tc state : vr = 0.375760, vf = 0.375760, maxvel = 11.638685, current_vel = 0.375760, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.375760, acc = 0.529129,T = 0.001439, P = 0.000580 initial results: dx= 0.000859,dt = 0.002287, a_f = 0.000000, v_f = 0.375760 dt = 0.002287, not at end yet tc id = 98, canon_type = 2, mot type = 1 time: 5.142000 primary movement = 3.754955359854e-04 time: 5.142000000000e+00 total movement = 3.754955359854e-04 vel = 3.757601004533e-01 ------------------- tc state : vr = 0.375760, vf = 0.375760, maxvel = 11.638685, current_vel = 0.375760, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.375760, acc = 0.000000,T = 0.001439, P = 0.000956 initial results: dx= 0.000484,dt = 0.001287, a_f = 0.000000, v_f = 0.375760 dt = 0.001287, not at end yet tc id = 98, canon_type = 2, mot type = 1 time: 5.143000 primary movement = 3.757601004533e-04 time: 5.143000000000e+00 total movement = 3.757601004533e-04 vel = 3.757601004533e-01 ------------------- tc state : vr = 0.375760, vf = 0.375760, maxvel = 11.638685, current_vel = 0.375760, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.375760, acc = 0.000000,T = 0.001439, P = 0.001331 initial results: dx= 0.000108,dt = 0.000287, a_f = 0.000000, v_f = 0.375760 actual v_f = 0.375760, a = 0.000000 split time is 0.00028692 tc id = 98, canon_type = 2, mot type = 1 time: 5.144000 primary movement = 3.757601004533e-04 time: 5.144000000000e+00 total movement = 3.757601004533e-04 vel = 3.757601004533e-01 ------------------- tc id 98 done Finishing split-cycle on id 99 tc state : vr = 0.375760, vf = 0.375760, maxvel = 0.375760, current_vel = 0.375760, fs = 1.000000, tc = 0.000713, term = 3 tc result: v = 0.375760, acc = 0.000000,T = 0.004200, P = 0.000268 initial results: dx= 0.003932,dt = 0.010463, a_f = 0.000000, v_f = 0.375760 dt = 0.010463, not at end yet secondary movement = 0.000268 tc id = 99, canon_type = 3, mot type = 2 time: 5.145000 primary movement = 1.078131175701e-04 time: 5.145000000000e+00 total movement = 3.757329621122e-04 vel = 3.757601004533e-01 Finished tc id 98 ------------------- Activate tc id = 99 target_vel = 0.375760 final_vel = 0.375760 length = 0.004200 tc state : vr = 0.375760, vf = 0.375760, maxvel = 0.375760, current_vel = 0.375760, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.375760, acc = 0.000000,T = 0.004200, P = 0.000644 initial results: dx= 0.003556,dt = 0.009463, a_f = 0.000000, v_f = 0.375760 dt = 0.009463, not at end yet tc id = 99, canon_type = 3, mot type = 2 time: 5.146000 primary movement = 3.756852566385e-04 time: 5.146000000000e+00 total movement = 3.756852566385e-04 vel = 3.757601004533e-01 ------------------- tc state : vr = 0.375760, vf = 0.375760, maxvel = 0.375760, current_vel = 0.375760, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.375760, acc = 0.000000,T = 0.004200, P = 0.001019 initial results: dx= 0.003180,dt = 0.008463, a_f = 0.000000, v_f = 0.375760 dt = 0.008463, not at end yet tc id = 99, canon_type = 3, mot type = 2 time: 5.147000 primary movement = 3.756852566385e-04 time: 5.147000000000e+00 total movement = 3.756852566385e-04 vel = 3.757601004533e-01 ------------------- tc state : vr = 0.375760, vf = 0.375760, maxvel = 0.375760, current_vel = 0.375760, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.375760, acc = 0.000000,T = 0.004200, P = 0.001395 initial results: dx= 0.002804,dt = 0.007463, a_f = 0.000000, v_f = 0.375760 dt = 0.007463, not at end yet tc id = 99, canon_type = 3, mot type = 2 time: 5.148000 primary movement = 3.756852566385e-04 time: 5.148000000000e+00 total movement = 3.756852566385e-04 vel = 3.757601004533e-01 ------------------- tc state : vr = 0.375760, vf = 0.375760, maxvel = 0.375760, current_vel = 0.375760, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.375760, acc = 0.000000,T = 0.004200, P = 0.001771 initial results: dx= 0.002429,dt = 0.006463, a_f = 0.000000, v_f = 0.375760 dt = 0.006463, not at end yet tc id = 99, canon_type = 3, mot type = 2 time: 5.149000 primary movement = 3.756852566385e-04 time: 5.149000000000e+00 total movement = 3.756852566385e-04 vel = 3.757601004533e-01 ------------------- tc state : vr = 0.375760, vf = 0.375760, maxvel = 0.375760, current_vel = 0.375760, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.375760, acc = 0.000000,T = 0.004200, P = 0.002147 initial results: dx= 0.002053,dt = 0.005463, a_f = 0.000000, v_f = 0.375760 dt = 0.005463, not at end yet tc id = 99, canon_type = 3, mot type = 2 time: 5.150000 primary movement = 3.756852566385e-04 time: 5.150000000000e+00 total movement = 3.756852566385e-04 vel = 3.757601004533e-01 ------------------- tc state : vr = 0.375760, vf = 0.375760, maxvel = 0.375760, current_vel = 0.375760, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.375760, acc = 0.000000,T = 0.004200, P = 0.002523 initial results: dx= 0.001677,dt = 0.004463, a_f = 0.000000, v_f = 0.375760 dt = 0.004463, not at end yet tc id = 99, canon_type = 3, mot type = 2 time: 5.151000 primary movement = 3.756852566385e-04 time: 5.151000000000e+00 total movement = 3.756852566385e-04 vel = 3.757601004533e-01 ------------------- tc state : vr = 0.375760, vf = 0.375760, maxvel = 0.375760, current_vel = 0.375760, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.375760, acc = 0.000000,T = 0.004200, P = 0.002898 initial results: dx= 0.001301,dt = 0.003463, a_f = 0.000000, v_f = 0.375760 dt = 0.003463, not at end yet tc id = 99, canon_type = 3, mot type = 2 time: 5.152000 primary movement = 3.756852566385e-04 time: 5.152000000000e+00 total movement = 3.756852566385e-04 vel = 3.757601004533e-01 ------------------- tc state : vr = 0.375760, vf = 0.375760, maxvel = 0.375760, current_vel = 0.375760, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.375760, acc = 0.000000,T = 0.004200, P = 0.003274 initial results: dx= 0.000926,dt = 0.002463, a_f = 0.000000, v_f = 0.375760 dt = 0.002463, not at end yet tc id = 99, canon_type = 3, mot type = 2 time: 5.153000 primary movement = 3.756852566385e-04 time: 5.153000000000e+00 total movement = 3.756852566385e-04 vel = 3.757601004533e-01 ------------------- tc state : vr = 0.375760, vf = 0.375760, maxvel = 0.375760, current_vel = 0.375760, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.375760, acc = 0.000000,T = 0.004200, P = 0.003650 initial results: dx= 0.000550,dt = 0.001463, a_f = 0.000000, v_f = 0.375760 dt = 0.001463, not at end yet tc id = 99, canon_type = 3, mot type = 2 time: 5.154000 primary movement = 3.756852566385e-04 time: 5.154000000000e+00 total movement = 3.756852566385e-04 vel = 3.757601004533e-01 ------------------- tc state : vr = 0.375760, vf = 0.375760, maxvel = 0.375760, current_vel = 0.375760, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.375760, acc = 0.000000,T = 0.004200, P = 0.004026 initial results: dx= 0.000174,dt = 0.000463, a_f = 0.000000, v_f = 0.375760 actual v_f = 0.375760, a = 0.000000 split time is 0.000463078 tc id = 99, canon_type = 3, mot type = 2 time: 5.155000 primary movement = 3.756852566385e-04 time: 5.155000000000e+00 total movement = 3.756852566385e-04 vel = 3.757601004533e-01 ------------------- tc id 99 done Finishing split-cycle on id 99 tc state : vr = 0.451661, vf = 0.451661, maxvel = 8.333300, current_vel = 0.391868, fs = 1.000000, tc = 0.000537, term = 3 tc result: v = 0.391868, acc = 30.000000,T = 0.001047, P = 0.000206 initial results: dx= 0.000841,dt = 0.001993, a_f = 30.000000, v_f = 0.451661 recalculating with a_f = 30.000000, a = 30.000000 revised dt = 0.001993 dt = 0.001993, not at end yet secondary movement = 0.000206 tc id = 99, canon_type = 2, mot type = 1 time: 5.156000 primary movement = 1.739986517824e-04 time: 5.156000000000e+00 total movement = 3.800769529114e-04 vel = 3.918677725463e-01 Finished tc id 99 ------------------- Activate tc id = 99 target_vel = 0.451661 final_vel = 0.451661 length = 0.001047 tc state : vr = 0.451661, vf = 0.451661, maxvel = 8.333300, current_vel = 0.421868, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.421868, acc = 30.000000,T = 0.001047, P = 0.000613 initial results: dx= 0.000434,dt = 0.000993, a_f = 30.000000, v_f = 0.451661 actual v_f = 0.451661, a = 30.000000 split time is 0.000993114 tc id = 99, canon_type = 2, mot type = 1 time: 5.157000 primary movement = 4.068677725463e-04 time: 5.157000000000e+00 total movement = 4.068677725463e-04 vel = 4.218677725463e-01 ------------------- tc id 99 done Finishing split-cycle on id 100 tc state : vr = 0.498430, vf = 0.498430, maxvel = 0.498430, current_vel = 0.451764, fs = 1.000000, tc = 0.000007, term = 3 tc result: v = 0.451764, acc = 15.000000,T = 0.005341, P = 0.000003 initial results: dx= 0.005338,dt = 0.011236, a_f = 4.153117, v_f = 0.498430 dt = 0.011236, not at end yet secondary movement = 0.000003 tc id = 100, canon_type = 3, mot type = 2 time: 5.158000 primary movement = 4.337567547505e-04 time: 5.158000000000e+00 total movement = 4.368674168668e-04 vel = 4.517644769812e-01 Finished tc id 99 ------------------- Activate tc id = 100 target_vel = 0.498430 final_vel = 0.498430 length = 0.005341 tc state : vr = 0.498430, vf = 0.498430, maxvel = 0.498430, current_vel = 0.466764, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.466764, acc = 15.000000,T = 0.005341, P = 0.000462 initial results: dx= 0.004879,dt = 0.010110, a_f = 3.132099, v_f = 0.498430 dt = 0.010110, not at end yet tc id = 100, canon_type = 3, mot type = 2 time: 5.159000 primary movement = 4.592203349654e-04 time: 5.159000000000e+00 total movement = 4.592203349654e-04 vel = 4.667644769812e-01 ------------------- tc state : vr = 0.498430, vf = 0.498430, maxvel = 0.498430, current_vel = 0.481764, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.481764, acc = 15.000000,T = 0.005341, P = 0.000937 initial results: dx= 0.004405,dt = 0.008988, a_f = 1.854278, v_f = 0.498430 dt = 0.008988, not at end yet tc id = 100, canon_type = 3, mot type = 2 time: 5.160000 primary movement = 4.742158671006e-04 time: 5.160000000000e+00 total movement = 4.742158671006e-04 vel = 4.817644769812e-01 ------------------- tc state : vr = 0.498430, vf = 0.498430, maxvel = 0.498430, current_vel = 0.496764, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.496764, acc = 15.000000,T = 0.005341, P = 0.001426 initial results: dx= 0.003916,dt = 0.007869, a_f = 0.211650, v_f = 0.498430 dt = 0.007869, not at end yet tc id = 100, canon_type = 3, mot type = 2 time: 5.161000 primary movement = 4.892111075024e-04 time: 5.161000000000e+00 total movement = 4.892111075024e-04 vel = 4.967644769812e-01 ------------------- tc state : vr = 0.498430, vf = 0.498430, maxvel = 0.498430, current_vel = 0.498430, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.498430, acc = 1.665441,T = 0.005341, P = 0.001924 initial results: dx= 0.003418,dt = 0.006857, a_f = 0.000000, v_f = 0.498430 dt = 0.006857, not at end yet tc id = 100, canon_type = 3, mot type = 2 time: 5.162000 primary movement = 4.975410546938e-04 time: 5.162000000000e+00 total movement = 4.975410546938e-04 vel = 4.984299182980e-01 ------------------- tc state : vr = 0.498430, vf = 0.498430, maxvel = 0.498430, current_vel = 0.498430, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.498430, acc = 0.000000,T = 0.005341, P = 0.002422 initial results: dx= 0.002919,dt = 0.005857, a_f = 0.000000, v_f = 0.498430 dt = 0.005857, not at end yet tc id = 100, canon_type = 3, mot type = 2 time: 5.163000 primary movement = 4.983734930238e-04 time: 5.163000000000e+00 total movement = 4.983734930238e-04 vel = 4.984299182980e-01 ------------------- tc state : vr = 0.498430, vf = 0.498430, maxvel = 0.498430, current_vel = 0.498430, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.498430, acc = 0.000000,T = 0.005341, P = 0.002920 initial results: dx= 0.002421,dt = 0.004857, a_f = 0.000000, v_f = 0.498430 dt = 0.004857, not at end yet tc id = 100, canon_type = 3, mot type = 2 time: 5.164000 primary movement = 4.983734930238e-04 time: 5.164000000000e+00 total movement = 4.983734930238e-04 vel = 4.984299182980e-01 ------------------- tc state : vr = 0.498430, vf = 0.498430, maxvel = 0.498430, current_vel = 0.498430, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.498430, acc = 0.000000,T = 0.005341, P = 0.003419 initial results: dx= 0.001923,dt = 0.003857, a_f = 0.000000, v_f = 0.498430 dt = 0.003857, not at end yet tc id = 100, canon_type = 3, mot type = 2 time: 5.165000 primary movement = 4.983734930238e-04 time: 5.165000000000e+00 total movement = 4.983734930238e-04 vel = 4.984299182980e-01 ------------------- tc state : vr = 0.498430, vf = 0.498430, maxvel = 0.498430, current_vel = 0.498430, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.498430, acc = 0.000000,T = 0.005341, P = 0.003917 initial results: dx= 0.001424,dt = 0.002857, a_f = 0.000000, v_f = 0.498430 dt = 0.002857, not at end yet tc id = 100, canon_type = 3, mot type = 2 time: 5.166000 primary movement = 4.983734930238e-04 time: 5.166000000000e+00 total movement = 4.983734930238e-04 vel = 4.984299182980e-01 ------------------- tc state : vr = 0.498430, vf = 0.498430, maxvel = 0.498430, current_vel = 0.498430, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.498430, acc = 0.000000,T = 0.005341, P = 0.004416 initial results: dx= 0.000926,dt = 0.001857, a_f = 0.000000, v_f = 0.498430 dt = 0.001857, not at end yet tc id = 100, canon_type = 3, mot type = 2 time: 5.167000 primary movement = 4.983734930238e-04 time: 5.167000000000e+00 total movement = 4.983734930238e-04 vel = 4.984299182980e-01 ------------------- tc state : vr = 0.498430, vf = 0.498430, maxvel = 0.498430, current_vel = 0.498430, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.498430, acc = 0.000000,T = 0.005341, P = 0.004914 initial results: dx= 0.000427,dt = 0.000857, a_f = 0.000000, v_f = 0.498430 actual v_f = 0.498430, a = 0.000000 split time is 0.00085737 tc id = 100, canon_type = 3, mot type = 2 time: 5.168000 primary movement = 4.983734930238e-04 time: 5.168000000000e+00 total movement = 4.983734930238e-04 vel = 4.984299182980e-01 ------------------- tc id 100 done Finishing split-cycle on id 100 tc state : vr = 2.044357, vf = 0.363733, maxvel = 9.827024, current_vel = 0.503476, fs = 1.000000, tc = 0.000143, term = 3 tc result: v = 0.503476, acc = 35.377429,T = 0.004293, P = 0.000071 initial results: dx= 0.004222,dt = 0.009736, a_f = -14.352793, v_f = 0.363733 dt = 0.009736, not at end yet secondary movement = 0.000071 tc id = 100, canon_type = 2, mot type = 1 time: 5.169000 primary movement = 4.273035199093e-04 time: 5.169000000000e+00 total movement = 4.987542014224e-04 vel = 5.034757852311e-01 Finished tc id 100 ------------------- Activate tc id = 100 target_vel = 2.044357 final_vel = 0.363733 length = 0.004293 tc state : vr = 2.044357, vf = 0.363733, maxvel = 9.827024, current_vel = 0.538853, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.538853, acc = 35.377429,T = 0.004293, P = 0.000593 initial results: dx= 0.003701,dt = 0.008200, a_f = -21.356546, v_f = 0.363733 dt = 0.008200, not at end yet tc id = 100, canon_type = 2, mot type = 1 time: 5.170000 primary movement = 5.211644998537e-04 time: 5.170000000000e+00 total movement = 5.211644998537e-04 vel = 5.388532144763e-01 ------------------- tc state : vr = 2.044357, vf = 0.363733, maxvel = 9.827024, current_vel = 0.574231, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.574231, acc = 35.377429,T = 0.004293, P = 0.001149 initial results: dx= 0.003144,dt = 0.006704, a_f = -31.399459, v_f = 0.363733 dt = 0.006704, not at end yet tc id = 100, canon_type = 2, mot type = 1 time: 5.171000 primary movement = 5.565419290989e-04 time: 5.171000000000e+00 total movement = 5.565419290989e-04 vel = 5.742306437215e-01 ------------------- tc state : vr = 2.044357, vf = 0.363733, maxvel = 9.827024, current_vel = 0.560889, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.560889, acc = -13.341506,T = 0.004293, P = 0.001717 on final decel initial results: dx= 0.002576,dt = 0.005573, a_f = -35.377429, v_f = 0.363733 recalculating with a_f = -35.377429, a = -35.377429 revised dt = 0.005573 dt = 0.005573, not at end yet tc id = 100, canon_type = 2, mot type = 1 time: 5.172000 primary movement = 5.675598906706e-04 time: 5.172000000000e+00 total movement = 5.675598906706e-04 vel = 5.608891376197e-01 ------------------- tc state : vr = 2.044357, vf = 0.363733, maxvel = 9.827024, current_vel = 0.525512, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.525512, acc = -35.377429,T = 0.004293, P = 0.002260 on final decel initial results: dx= 0.002033,dt = 0.004573, a_f = -35.377429, v_f = 0.363733 recalculating with a_f = -35.377429, a = -35.377429 revised dt = 0.004573 dt = 0.004573, not at end yet tc id = 100, canon_type = 2, mot type = 1 time: 5.173000 primary movement = 5.432004229971e-04 time: 5.173000000000e+00 total movement = 5.432004229971e-04 vel = 5.255117083745e-01 ------------------- tc state : vr = 2.044357, vf = 0.363733, maxvel = 9.827024, current_vel = 0.490134, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.490134, acc = -35.377429,T = 0.004293, P = 0.002768 on final decel initial results: dx= 0.001525,dt = 0.003573, a_f = -35.377429, v_f = 0.363733 recalculating with a_f = -35.377429, a = -35.377429 revised dt = 0.003573 dt = 0.003573, not at end yet tc id = 100, canon_type = 2, mot type = 1 time: 5.174000 primary movement = 5.078229937519e-04 time: 5.174000000000e+00 total movement = 5.078229937519e-04 vel = 4.901342791293e-01 ------------------- tc state : vr = 2.044357, vf = 0.363733, maxvel = 9.827024, current_vel = 0.454757, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.454757, acc = -35.377429,T = 0.004293, P = 0.003240 on final decel initial results: dx= 0.001053,dt = 0.002573, a_f = -35.377429, v_f = 0.363733 recalculating with a_f = -35.377429, a = -35.377429 revised dt = 0.002573 dt = 0.002573, not at end yet tc id = 100, canon_type = 2, mot type = 1 time: 5.175000 primary movement = 4.724455645067e-04 time: 5.175000000000e+00 total movement = 4.724455645067e-04 vel = 4.547568498841e-01 ------------------- tc state : vr = 2.044357, vf = 0.363733, maxvel = 9.827024, current_vel = 0.419379, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.419379, acc = -35.377429,T = 0.004293, P = 0.003677 on final decel initial results: dx= 0.000616,dt = 0.001573, a_f = -35.377429, v_f = 0.363733 recalculating with a_f = -35.377429, a = -35.377429 revised dt = 0.001573 dt = 0.001573, not at end yet tc id = 100, canon_type = 2, mot type = 1 time: 5.176000 primary movement = 4.370681352615e-04 time: 5.176000000000e+00 total movement = 4.370681352615e-04 vel = 4.193794206389e-01 ------------------- tc state : vr = 2.044357, vf = 0.363733, maxvel = 9.827024, current_vel = 0.384002, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.384002, acc = -35.377429,T = 0.004293, P = 0.004079 on final decel initial results: dx= 0.000214,dt = 0.000573, a_f = -35.377429, v_f = 0.363733 recalculating with a_f = -35.377429, a = -35.377429 revised dt = 0.000573 actual v_f = 0.363733, a = -35.377429 split time is 0.000572941 tc id = 100, canon_type = 2, mot type = 1 time: 5.177000 primary movement = 4.016907060163e-04 time: 5.177000000000e+00 total movement = 4.016907060163e-04 vel = 3.840019913937e-01 ------------------- tc id 100 done Finishing split-cycle on id 101 tc state : vr = 0.363733, vf = 0.363733, maxvel = 0.363733, current_vel = 0.363733, fs = 1.000000, tc = 0.000427, term = 3 tc result: v = 0.363733, acc = -0.000000,T = 0.004483, P = 0.000155 initial results: dx= 0.004328,dt = 0.011898, a_f = 0.000000, v_f = 0.363733 dt = 0.011898, not at end yet secondary movement = 0.000155 tc id = 101, canon_type = 3, mot type = 2 time: 5.178000 primary movement = 2.142041351016e-04 time: 5.178000000000e+00 total movement = 3.695333042255e-04 vel = 3.637327949568e-01 Finished tc id 100 ------------------- Activate tc id = 101 target_vel = 0.363733 final_vel = 0.363733 length = 0.004483 tc state : vr = 0.363733, vf = 0.363733, maxvel = 0.363733, current_vel = 0.363733, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.363733, acc = 0.000000,T = 0.004483, P = 0.000519 initial results: dx= 0.003964,dt = 0.010898, a_f = 0.000000, v_f = 0.363733 dt = 0.010898, not at end yet tc id = 101, canon_type = 3, mot type = 2 time: 5.179000 primary movement = 3.636554766430e-04 time: 5.179000000000e+00 total movement = 3.636554766430e-04 vel = 3.637327949568e-01 ------------------- tc state : vr = 0.363733, vf = 0.363733, maxvel = 0.363733, current_vel = 0.363733, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.363733, acc = 0.000000,T = 0.004483, P = 0.000883 initial results: dx= 0.003600,dt = 0.009898, a_f = 0.000000, v_f = 0.363733 dt = 0.009898, not at end yet tc id = 101, canon_type = 3, mot type = 2 time: 5.180000 primary movement = 3.636554766430e-04 time: 5.180000000000e+00 total movement = 3.636554766430e-04 vel = 3.637327949568e-01 ------------------- tc state : vr = 0.363733, vf = 0.363733, maxvel = 0.363733, current_vel = 0.363733, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.363733, acc = 0.000000,T = 0.004483, P = 0.001247 initial results: dx= 0.003236,dt = 0.008898, a_f = 0.000000, v_f = 0.363733 dt = 0.008898, not at end yet tc id = 101, canon_type = 3, mot type = 2 time: 5.181000 primary movement = 3.636554766430e-04 time: 5.181000000000e+00 total movement = 3.636554766430e-04 vel = 3.637327949568e-01 ------------------- tc state : vr = 0.363733, vf = 0.363733, maxvel = 0.363733, current_vel = 0.363733, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.363733, acc = 0.000000,T = 0.004483, P = 0.001610 initial results: dx= 0.002873,dt = 0.007898, a_f = 0.000000, v_f = 0.363733 dt = 0.007898, not at end yet tc id = 101, canon_type = 3, mot type = 2 time: 5.182000 primary movement = 3.636554766430e-04 time: 5.182000000000e+00 total movement = 3.636554766430e-04 vel = 3.637327949568e-01 ------------------- tc state : vr = 0.363733, vf = 0.363733, maxvel = 0.363733, current_vel = 0.363733, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.363733, acc = 0.000000,T = 0.004483, P = 0.001974 initial results: dx= 0.002509,dt = 0.006898, a_f = 0.000000, v_f = 0.363733 dt = 0.006898, not at end yet tc id = 101, canon_type = 3, mot type = 2 time: 5.183000 primary movement = 3.636554766430e-04 time: 5.183000000000e+00 total movement = 3.636554766430e-04 vel = 3.637327949568e-01 ------------------- tc state : vr = 0.363733, vf = 0.363733, maxvel = 0.363733, current_vel = 0.363733, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.363733, acc = 0.000000,T = 0.004483, P = 0.002338 initial results: dx= 0.002145,dt = 0.005898, a_f = 0.000000, v_f = 0.363733 dt = 0.005898, not at end yet tc id = 101, canon_type = 3, mot type = 2 time: 5.184000 primary movement = 3.636554766430e-04 time: 5.184000000000e+00 total movement = 3.636554766430e-04 vel = 3.637327949568e-01 ------------------- tc state : vr = 0.363733, vf = 0.363733, maxvel = 0.363733, current_vel = 0.363733, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.363733, acc = 0.000000,T = 0.004483, P = 0.002701 initial results: dx= 0.001782,dt = 0.004898, a_f = 0.000000, v_f = 0.363733 dt = 0.004898, not at end yet tc id = 101, canon_type = 3, mot type = 2 time: 5.185000 primary movement = 3.636554766430e-04 time: 5.185000000000e+00 total movement = 3.636554766430e-04 vel = 3.637327949568e-01 ------------------- tc state : vr = 0.363733, vf = 0.363733, maxvel = 0.363733, current_vel = 0.363733, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.363733, acc = 0.000000,T = 0.004483, P = 0.003065 initial results: dx= 0.001418,dt = 0.003898, a_f = 0.000000, v_f = 0.363733 dt = 0.003898, not at end yet tc id = 101, canon_type = 3, mot type = 2 time: 5.186000 primary movement = 3.636554766430e-04 time: 5.186000000000e+00 total movement = 3.636554766430e-04 vel = 3.637327949568e-01 ------------------- tc state : vr = 0.363733, vf = 0.363733, maxvel = 0.363733, current_vel = 0.363733, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.363733, acc = 0.000000,T = 0.004483, P = 0.003429 initial results: dx= 0.001054,dt = 0.002898, a_f = 0.000000, v_f = 0.363733 dt = 0.002898, not at end yet tc id = 101, canon_type = 3, mot type = 2 time: 5.187000 primary movement = 3.636554766430e-04 time: 5.187000000000e+00 total movement = 3.636554766430e-04 vel = 3.637327949568e-01 ------------------- tc state : vr = 0.363733, vf = 0.363733, maxvel = 0.363733, current_vel = 0.363733, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.363733, acc = 0.000000,T = 0.004483, P = 0.003793 initial results: dx= 0.000690,dt = 0.001898, a_f = 0.000000, v_f = 0.363733 dt = 0.001898, not at end yet tc id = 101, canon_type = 3, mot type = 2 time: 5.188000 primary movement = 3.636554766430e-04 time: 5.188000000000e+00 total movement = 3.636554766430e-04 vel = 3.637327949568e-01 ------------------- tc state : vr = 0.363733, vf = 0.363733, maxvel = 0.363733, current_vel = 0.363733, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.363733, acc = 0.000000,T = 0.004483, P = 0.004156 initial results: dx= 0.000327,dt = 0.000898, a_f = 0.000000, v_f = 0.363733 actual v_f = 0.363733, a = 0.000000 split time is 0.000897912 tc id = 101, canon_type = 3, mot type = 2 time: 5.189000 primary movement = 3.636554766430e-04 time: 5.189000000000e+00 total movement = 3.636554766430e-04 vel = 3.637327949568e-01 ------------------- tc id 101 done Finishing split-cycle on id 101 tc state : vr = 0.995412, vf = 0.329047, maxvel = 8.784069, current_vel = 0.366961, fs = 1.000000, tc = 0.000102, term = 3 tc result: v = 0.366961, acc = 31.622777,T = 0.002090, P = 0.000037 initial results: dx= 0.002053,dt = 0.005900, a_f = -6.426634, v_f = 0.329047 dt = 0.005900, not at end yet secondary movement = 0.000037 tc id = 101, canon_type = 2, mot type = 1 time: 5.190000 primary movement = 3.265439460317e-04 time: 5.190000000000e+00 total movement = 3.638416073949e-04 vel = 3.669611114999e-01 Finished tc id 101 ------------------- Activate tc id = 101 target_vel = 0.995412 final_vel = 0.329047 length = 0.002090 tc state : vr = 0.995412, vf = 0.329047, maxvel = 8.784069, current_vel = 0.398584, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.398584, acc = 31.622777,T = 0.002090, P = 0.000420 initial results: dx= 0.001670,dt = 0.004591, a_f = -15.146211, v_f = 0.329047 dt = 0.004591, not at end yet tc id = 101, canon_type = 2, mot type = 1 time: 5.191000 primary movement = 3.827724998007e-04 time: 5.191000000000e+00 total movement = 3.827724998007e-04 vel = 3.985838881016e-01 ------------------- tc state : vr = 0.995412, vf = 0.329047, maxvel = 8.784069, current_vel = 0.430207, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.430207, acc = 31.622777,T = 0.002090, P = 0.000834 initial results: dx= 0.001256,dt = 0.003308, a_f = -30.578053, v_f = 0.329047 dt = 0.003308, not at end yet tc id = 101, canon_type = 2, mot type = 1 time: 5.192000 primary movement = 4.143952764024e-04 time: 5.192000000000e+00 total movement = 4.143952764024e-04 vel = 4.302066647032e-01 ------------------- tc state : vr = 0.995412, vf = 0.329047, maxvel = 8.784069, current_vel = 0.401738, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.401738, acc = -28.468558,T = 0.002090, P = 0.001250 on final decel initial results: dx= 0.000840,dt = 0.002299, a_f = -31.622777, v_f = 0.329047 recalculating with a_f = -31.622777, a = -31.622777 revised dt = 0.002299 dt = 0.002299, not at end yet tc id = 101, canon_type = 2, mot type = 1 time: 5.193000 primary movement = 4.159723857087e-04 time: 5.193000000000e+00 total movement = 4.159723857087e-04 vel = 4.017381067142e-01 ------------------- tc state : vr = 0.995412, vf = 0.329047, maxvel = 8.784069, current_vel = 0.370115, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.370115, acc = -31.622777,T = 0.002090, P = 0.001636 on final decel initial results: dx= 0.000454,dt = 0.001299, a_f = -31.622777, v_f = 0.329047 recalculating with a_f = -31.622777, a = -31.622777 revised dt = 0.001299 dt = 0.001299, not at end yet tc id = 101, canon_type = 2, mot type = 1 time: 5.194000 primary movement = 3.859267184133e-04 time: 5.194000000000e+00 total movement = 3.859267184133e-04 vel = 3.701153301125e-01 ------------------- tc state : vr = 0.995412, vf = 0.329047, maxvel = 8.784069, current_vel = 0.338493, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.338493, acc = -31.622777,T = 0.002090, P = 0.001991 on final decel initial results: dx= 0.000100,dt = 0.000299, a_f = -31.622777, v_f = 0.329047 recalculating with a_f = -31.622777, a = -31.622777 revised dt = 0.000299 actual v_f = 0.329047, a = -31.622777 split time is 0.000298699 tc id = 101, canon_type = 2, mot type = 1 time: 5.195000 primary movement = 3.543039418117e-04 time: 5.195000000000e+00 total movement = 3.543039418117e-04 vel = 3.384925535108e-01 ------------------- tc id 101 done Finishing split-cycle on id 102 tc state : vr = 0.455973, vf = 0.000000, maxvel = 0.455973, current_vel = 0.318527, fs = 1.000000, tc = 0.000701, term = 3 tc result: v = 0.318527, acc = -15.000000,T = 0.003609, P = 0.000227 on final decel initial results: dx= 0.003382,dt = 0.021235, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.021235 dt = 0.021235, not at end yet secondary movement = 0.000227 tc id = 102, canon_type = 3, mot type = 2 time: 5.196000 primary movement = 9.969678252589e-05 time: 5.196000000000e+00 total movement = 3.267612765468e-04 vel = 3.185273414772e-01 Finished tc id 101 ------------------- Activate tc id = 102 target_vel = 0.455973 final_vel = 0.000000 length = 0.003609 tc state : vr = 0.455973, vf = 0.000000, maxvel = 0.455973, current_vel = 0.303527, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.303527, acc = -15.000000,T = 0.003609, P = 0.000538 on final decel initial results: dx= 0.003071,dt = 0.020235, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.020235 dt = 0.020235, not at end yet tc id = 102, canon_type = 3, mot type = 2 time: 5.197000 primary movement = 3.110077655768e-04 time: 5.197000000000e+00 total movement = 3.110077655768e-04 vel = 3.035273414772e-01 ------------------- tc state : vr = 0.455973, vf = 0.000000, maxvel = 0.455973, current_vel = 0.288527, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.288527, acc = -15.000000,T = 0.003609, P = 0.000834 on final decel initial results: dx= 0.002775,dt = 0.019235, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.019235 dt = 0.019235, not at end yet tc id = 102, canon_type = 3, mot type = 2 time: 5.198000 primary movement = 2.960104634265e-04 time: 5.198000000000e+00 total movement = 2.960104634265e-04 vel = 2.885273414772e-01 ------------------- tc state : vr = 0.455973, vf = 0.000000, maxvel = 0.455973, current_vel = 0.273527, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.273527, acc = -15.000000,T = 0.003609, P = 0.001115 on final decel initial results: dx= 0.002494,dt = 0.018235, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.018235 dt = 0.018235, not at end yet tc id = 102, canon_type = 3, mot type = 2 time: 5.199000 primary movement = 2.810129012751e-04 time: 5.199000000000e+00 total movement = 2.810129012751e-04 vel = 2.735273414772e-01 ------------------- tc state : vr = 0.455973, vf = 0.000000, maxvel = 0.455973, current_vel = 0.258527, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.258527, acc = -15.000000,T = 0.003609, P = 0.001381 on final decel initial results: dx= 0.002228,dt = 0.017235, a_f = -15.000000, v_f = 0.000000 dt = 0.017235, not at end yet tc id = 102, canon_type = 3, mot type = 2 time: 5.200000 primary movement = 2.660150922958e-04 time: 5.200000000000e+00 total movement = 2.660150922958e-04 vel = 2.585273414772e-01 ------------------- tc state : vr = 0.455973, vf = 0.000000, maxvel = 0.455973, current_vel = 0.243527, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.243527, acc = -15.000000,T = 0.003609, P = 0.001632 on final decel initial results: dx= 0.001977,dt = 0.016235, a_f = -15.000000, v_f = 0.000000 dt = 0.016235, not at end yet tc id = 102, canon_type = 3, mot type = 2 time: 5.201000 primary movement = 2.510170496620e-04 time: 5.201000000000e+00 total movement = 2.510170496620e-04 vel = 2.435273414772e-01 ------------------- tc state : vr = 0.455973, vf = 0.000000, maxvel = 0.455973, current_vel = 0.228527, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.228527, acc = -15.000000,T = 0.003609, P = 0.001868 on final decel initial results: dx= 0.001741,dt = 0.015235, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.015235 dt = 0.015235, not at end yet tc id = 102, canon_type = 3, mot type = 2 time: 5.202000 primary movement = 2.360187865472e-04 time: 5.202000000000e+00 total movement = 2.360187865472e-04 vel = 2.285273414772e-01 ------------------- tc state : vr = 0.455973, vf = 0.000000, maxvel = 0.455973, current_vel = 0.213527, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.213527, acc = -15.000000,T = 0.003609, P = 0.002089 on final decel initial results: dx= 0.001520,dt = 0.014235, a_f = -15.000000, v_f = 0.000000 dt = 0.014235, not at end yet tc id = 102, canon_type = 3, mot type = 2 time: 5.203000 primary movement = 2.210203161250e-04 time: 5.203000000000e+00 total movement = 2.210203161250e-04 vel = 2.135273414772e-01 ------------------- tc state : vr = 0.455973, vf = 0.000000, maxvel = 0.455973, current_vel = 0.198527, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.198527, acc = -15.000000,T = 0.003609, P = 0.002295 on final decel initial results: dx= 0.001314,dt = 0.013235, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.013235 dt = 0.013235, not at end yet tc id = 102, canon_type = 3, mot type = 2 time: 5.204000 primary movement = 2.060216515696e-04 time: 5.204000000000e+00 total movement = 2.060216515696e-04 vel = 1.985273414772e-01 ------------------- tc state : vr = 0.455973, vf = 0.000000, maxvel = 0.455973, current_vel = 0.183527, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.183527, acc = -15.000000,T = 0.003609, P = 0.002486 on final decel initial results: dx= 0.001123,dt = 0.012235, a_f = -15.000000, v_f = 0.000000 dt = 0.012235, not at end yet tc id = 102, canon_type = 3, mot type = 2 time: 5.205000 primary movement = 1.910228060548e-04 time: 5.205000000000e+00 total movement = 1.910228060548e-04 vel = 1.835273414772e-01 ------------------- tc state : vr = 0.455973, vf = 0.000000, maxvel = 0.455973, current_vel = 0.168527, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.168527, acc = -15.000000,T = 0.003609, P = 0.002662 on final decel initial results: dx= 0.000947,dt = 0.011235, a_f = -15.000000, v_f = 0.000000 dt = 0.011235, not at end yet tc id = 102, canon_type = 3, mot type = 2 time: 5.206000 primary movement = 1.760237927550e-04 time: 5.206000000000e+00 total movement = 1.760237927550e-04 vel = 1.685273414772e-01 ------------------- tc state : vr = 0.455973, vf = 0.000000, maxvel = 0.455973, current_vel = 0.153527, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.153527, acc = -15.000000,T = 0.003609, P = 0.002823 on final decel initial results: dx= 0.000786,dt = 0.010235, a_f = -15.000000, v_f = 0.000000 dt = 0.010235, not at end yet tc id = 102, canon_type = 3, mot type = 2 time: 5.207000 primary movement = 1.610246248446e-04 time: 5.207000000000e+00 total movement = 1.610246248446e-04 vel = 1.535273414772e-01 ------------------- tc state : vr = 0.455973, vf = 0.000000, maxvel = 0.455973, current_vel = 0.138527, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.138527, acc = -15.000000,T = 0.003609, P = 0.002969 on final decel initial results: dx= 0.000640,dt = 0.009235, a_f = -15.000000, v_f = 0.000000 dt = 0.009235, not at end yet tc id = 102, canon_type = 3, mot type = 2 time: 5.208000 primary movement = 1.460253154981e-04 time: 5.208000000000e+00 total movement = 1.460253154981e-04 vel = 1.385273414772e-01 ------------------- tc state : vr = 0.455973, vf = 0.000000, maxvel = 0.455973, current_vel = 0.123527, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.123527, acc = -15.000000,T = 0.003609, P = 0.003100 on final decel initial results: dx= 0.000509,dt = 0.008235, a_f = -15.000000, v_f = 0.000000 dt = 0.008235, not at end yet tc id = 102, canon_type = 3, mot type = 2 time: 5.209000 primary movement = 1.310258778901e-04 time: 5.209000000000e+00 total movement = 1.310258778901e-04 vel = 1.235273414772e-01 ------------------- tc state : vr = 0.455973, vf = 0.000000, maxvel = 0.455973, current_vel = 0.108527, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.108527, acc = -15.000000,T = 0.003609, P = 0.003216 on final decel initial results: dx= 0.000393,dt = 0.007235, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.007235 dt = 0.007235, not at end yet tc id = 102, canon_type = 3, mot type = 2 time: 5.210000 primary movement = 1.160263251955e-04 time: 5.210000000000e+00 total movement = 1.160263251955e-04 vel = 1.085273414772e-01 ------------------- tc state : vr = 0.455973, vf = 0.000000, maxvel = 0.455973, current_vel = 0.093527, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.093527, acc = -15.000000,T = 0.003609, P = 0.003317 on final decel initial results: dx= 0.000292,dt = 0.006235, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.006235 dt = 0.006235, not at end yet tc id = 102, canon_type = 3, mot type = 2 time: 5.211000 primary movement = 1.010266705890e-04 time: 5.211000000000e+00 total movement = 1.010266705890e-04 vel = 9.352734147724e-02 ------------------- tc state : vr = 0.455973, vf = 0.000000, maxvel = 0.455973, current_vel = 0.078527, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.078527, acc = -15.000000,T = 0.003609, P = 0.003404 on final decel initial results: dx= 0.000206,dt = 0.005235, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.005235 dt = 0.005235, not at end yet tc id = 102, canon_type = 3, mot type = 2 time: 5.212000 primary movement = 8.602692724574e-05 time: 5.212000000000e+00 total movement = 8.602692724574e-05 vel = 7.852734147724e-02 ------------------- tc state : vr = 0.455973, vf = 0.000000, maxvel = 0.455973, current_vel = 0.063527, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.063527, acc = -15.000000,T = 0.003609, P = 0.003475 on final decel initial results: dx= 0.000135,dt = 0.004235, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.004235 dt = 0.004235, not at end yet tc id = 102, canon_type = 3, mot type = 2 time: 5.213000 primary movement = 7.102710834064e-05 time: 5.213000000000e+00 total movement = 7.102710834064e-05 vel = 6.352734147724e-02 ------------------- tc state : vr = 0.455973, vf = 0.000000, maxvel = 0.455973, current_vel = 0.048527, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.048527, acc = -15.000000,T = 0.003609, P = 0.003531 on final decel initial results: dx= 0.000078,dt = 0.003235, a_f = -15.000000, v_f = 0.000000 dt = 0.003235, not at end yet tc id = 102, canon_type = 3, mot type = 2 time: 5.214000 primary movement = 5.602722704876e-05 time: 5.214000000000e+00 total movement = 5.602722704876e-05 vel = 4.852734147724e-02 ------------------- tc state : vr = 0.455973, vf = 0.000000, maxvel = 0.455973, current_vel = 0.033527, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.033527, acc = -15.000000,T = 0.003609, P = 0.003572 on final decel initial results: dx= 0.000037,dt = 0.002235, a_f = -15.000000, v_f = 0.000000 dt = 0.002235, not at end yet tc id = 102, canon_type = 3, mot type = 2 time: 5.215000 primary movement = 4.102729654542e-05 time: 5.215000000000e+00 total movement = 4.102729654542e-05 vel = 3.352734147724e-02 ------------------- tc state : vr = 0.455973, vf = 0.000000, maxvel = 0.455973, current_vel = 0.018527, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.018527, acc = -15.000000,T = 0.003609, P = 0.003598 on final decel initial results: dx= 0.000011,dt = 0.001235, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.001235 dt = 0.001235, not at end yet tc id = 102, canon_type = 3, mot type = 2 time: 5.216000 primary movement = 2.602733000565e-05 time: 5.216000000000e+00 total movement = 2.602733000565e-05 vel = 1.852734147724e-02 ------------------- tc state : vr = 0.455973, vf = 0.000000, maxvel = 0.455973, current_vel = 0.003527, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.003527, acc = -15.000000,T = 0.003609, P = 0.003609 on final decel initial results: dx= 0.000000,dt = 0.000235, a_f = -15.000000, v_f = 0.000000 actual v_f = 0.000000, a = -15.000000 split time is 0.000235156 tc id = 102, canon_type = 3, mot type = 2 time: 5.217000 primary movement = 1.102734060477e-05 time: 5.217000000000e+00 total movement = 1.102734060477e-05 vel = 3.527341477240e-03 ------------------- tc id 102 done Finishing split-cycle on id 102 tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.016023, fs = 1.000000, tc = 0.000765, term = 2 tc result: v = 0.016023, acc = 20.949717,T = 0.003751, P = 0.000006 secondary movement = 0.000006 tc id = 102, canon_type = 2, mot type = 1 time: 5.218000 primary movement = 4.147379298549e-07 time: 5.218000000000e+00 total movement = 6.542385411875e-06 vel = 1.602326296870e-02 Finished tc id 102 ------------------- Activate tc id = 102 target_vel = 11.638685 final_vel = 0.000000 length = 0.003751 Activate nexttc id 103 tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.036973, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.036973, acc = 20.949717,T = 0.003751, P = 0.000033 tc id = 102, canon_type = 2, mot type = 1 time: 5.219000 primary movement = 2.649812126129e-05 time: 5.219000000000e+00 total movement = 2.649812126129e-05 vel = 3.697297955390e-02 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.057923, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.057923, acc = 20.949717,T = 0.003751, P = 0.000080 tc id = 102, canon_type = 2, mot type = 1 time: 5.220000 primary movement = 4.744783784649e-05 time: 5.220000000000e+00 total movement = 4.744783784649e-05 vel = 5.792269613909e-02 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.078872, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.078872, acc = 20.949717,T = 0.003751, P = 0.000148 tc id = 102, canon_type = 2, mot type = 1 time: 5.221000 primary movement = 6.839755443171e-05 time: 5.221000000000e+00 total movement = 6.839755443171e-05 vel = 7.887241272429e-02 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.099822, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.099822, acc = 20.949717,T = 0.003751, P = 0.000238 tc id = 102, canon_type = 2, mot type = 1 time: 5.222000 primary movement = 8.934727101689e-05 time: 5.222000000000e+00 total movement = 8.934727101689e-05 vel = 9.982212930948e-02 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.120772, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.120772, acc = 20.949717,T = 0.003751, P = 0.000348 tc id = 102, canon_type = 2, mot type = 1 time: 5.223000 primary movement = 1.102969876021e-04 time: 5.223000000000e+00 total movement = 1.102969876021e-04 vel = 1.207718458947e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.141722, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.141722, acc = 20.949717,T = 0.003751, P = 0.000479 tc id = 102, canon_type = 2, mot type = 1 time: 5.224000 primary movement = 1.312467041873e-04 time: 5.224000000000e+00 total movement = 1.312467041873e-04 vel = 1.417215624799e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.162671, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.162671, acc = 20.949717,T = 0.003751, P = 0.000632 tc id = 102, canon_type = 2, mot type = 1 time: 5.225000 primary movement = 1.521964207725e-04 time: 5.225000000000e+00 total movement = 1.521964207725e-04 vel = 1.626712790651e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.183621, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.183621, acc = 20.949717,T = 0.003751, P = 0.000805 tc id = 102, canon_type = 2, mot type = 1 time: 5.226000 primary movement = 1.731461373577e-04 time: 5.226000000000e+00 total movement = 1.731461373577e-04 vel = 1.836209956503e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.204571, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.204571, acc = 20.949717,T = 0.003751, P = 0.000999 tc id = 102, canon_type = 2, mot type = 1 time: 5.227000 primary movement = 1.940958539429e-04 time: 5.227000000000e+00 total movement = 1.940958539429e-04 vel = 2.045707122355e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.225520, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.225520, acc = 20.949717,T = 0.003751, P = 0.001214 tc id = 102, canon_type = 2, mot type = 1 time: 5.228000 primary movement = 2.150455705281e-04 time: 5.228000000000e+00 total movement = 2.150455705281e-04 vel = 2.255204288207e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.246470, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.246470, acc = 20.949717,T = 0.003751, P = 0.001450 tc id = 102, canon_type = 2, mot type = 1 time: 5.229000 primary movement = 2.359952871132e-04 time: 5.229000000000e+00 total movement = 2.359952871132e-04 vel = 2.464701454058e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.267420, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.267420, acc = 20.949717,T = 0.003751, P = 0.001707 tc id = 102, canon_type = 2, mot type = 1 time: 5.230000 primary movement = 2.569450036985e-04 time: 5.230000000000e+00 total movement = 2.569450036985e-04 vel = 2.674198619910e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.272636, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.272636, acc = 5.216622,T = 0.003751, P = 0.001977 tc id = 102, canon_type = 2, mot type = 1 time: 5.231000 primary movement = 2.700281732000e-04 time: 5.231000000000e+00 total movement = 2.700281732000e-04 vel = 2.726364844090e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.251687, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.251687, acc = -20.949717,T = 0.003751, P = 0.002239 on final decel tc id = 102, canon_type = 2, mot type = 1 time: 5.232000 primary movement = 2.621616261164e-04 time: 5.232000000000e+00 total movement = 2.621616261164e-04 vel = 2.516867678238e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.230737, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.230737, acc = -20.949717,T = 0.003751, P = 0.002480 on final decel tc id = 102, canon_type = 2, mot type = 1 time: 5.233000 primary movement = 2.412119095312e-04 time: 5.233000000000e+00 total movement = 2.412119095312e-04 vel = 2.307370512386e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.209787, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.209787, acc = -20.949717,T = 0.003751, P = 0.002700 on final decel tc id = 102, canon_type = 2, mot type = 1 time: 5.234000 primary movement = 2.202621929461e-04 time: 5.234000000000e+00 total movement = 2.202621929461e-04 vel = 2.097873346534e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.188838, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.188838, acc = -20.949717,T = 0.003751, P = 0.002900 on final decel tc id = 102, canon_type = 2, mot type = 1 time: 5.235000 primary movement = 1.993124763608e-04 time: 5.235000000000e+00 total movement = 1.993124763608e-04 vel = 1.888376180683e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.167888, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.167888, acc = -20.949717,T = 0.003751, P = 0.003078 on final decel tc id = 102, canon_type = 2, mot type = 1 time: 5.236000 primary movement = 1.783627597757e-04 time: 5.236000000000e+00 total movement = 1.783627597757e-04 vel = 1.678879014831e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.146938, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.146938, acc = -20.949717,T = 0.003751, P = 0.003236 on final decel tc id = 102, canon_type = 2, mot type = 1 tc state : vr = 0.020950, vf = 0.020950, maxvel = 9.225626, current_vel = 0.016606, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.016606, acc = 16.606192,T = 0.001474, P = 0.000008 initial results: dx= 0.001466,dt = 0.012325, a_f = 16.606192, v_f = 0.221274 dt = 0.012325, not at end yet tc id = 102, canon_type = 2, mot type = 1 secondary movement = 0.000008 time: 5.237000 primary movement = 1.574130431905e-04 time: 5.237000000000e+00 total movement = 1.657161393750e-04 vel = 1.635443772670e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.125988, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.125988, acc = -20.949717,T = 0.003751, P = 0.003372 on final decel tc id = 102, canon_type = 2, mot type = 1 tc state : vr = 0.041899, vf = 0.041899, maxvel = 9.225626, current_vel = 0.033212, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.033212, acc = 16.606192,T = 0.001474, P = 0.000033 initial results: dx= 0.001441,dt = 0.011325, a_f = 16.606192, v_f = 0.221274 dt = 0.011325, not at end yet tc id = 102, canon_type = 2, mot type = 1 secondary movement = 0.000025 time: 5.238000 primary movement = 1.364633266053e-04 time: 5.238000000000e+00 total movement = 1.613726151589e-04 vel = 1.592008530509e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.105039, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.105039, acc = -20.949717,T = 0.003751, P = 0.003488 on final decel tc id = 102, canon_type = 2, mot type = 1 tc state : vr = 0.062849, vf = 0.062849, maxvel = 9.225626, current_vel = 0.049819, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.049819, acc = 16.606192,T = 0.001474, P = 0.000075 initial results: dx= 0.001399,dt = 0.010325, a_f = 16.606192, v_f = 0.221274 dt = 0.010325, not at end yet tc id = 102, canon_type = 2, mot type = 1 secondary movement = 0.000042 time: 5.239000 primary movement = 1.155136100201e-04 time: 5.239000000000e+00 total movement = 1.570290909429e-04 vel = 1.548573288348e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.084089, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.084089, acc = -20.949717,T = 0.003751, P = 0.003582 on final decel tc id = 102, canon_type = 2, mot type = 1 tc state : vr = 0.083799, vf = 0.083799, maxvel = 9.225626, current_vel = 0.066425, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.066425, acc = 16.606192,T = 0.001474, P = 0.000133 initial results: dx= 0.001341,dt = 0.009325, a_f = 16.606192, v_f = 0.221274 dt = 0.009325, not at end yet tc id = 102, canon_type = 2, mot type = 1 secondary movement = 0.000058 time: 5.240000 primary movement = 9.456389343487e-05 time: 5.240000000000e+00 total movement = 1.526855667268e-04 vel = 1.505138046187e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.063139, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.063139, acc = -20.949717,T = 0.003751, P = 0.003656 on final decel tc id = 102, canon_type = 2, mot type = 1 tc state : vr = 0.104749, vf = 0.104749, maxvel = 9.225626, current_vel = 0.083031, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.083031, acc = 16.606192,T = 0.001474, P = 0.000208 initial results: dx= 0.001267,dt = 0.008325, a_f = 16.606192, v_f = 0.221274 dt = 0.008325, not at end yet tc id = 103, canon_type = 2, mot type = 1 secondary movement = 0.000075 time: 5.241000 primary movement = 7.361417684967e-05 time: 5.241000000000e+00 total movement = 1.483420425107e-04 vel = 1.461702804027e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.042190, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.042190, acc = -20.949717,T = 0.003751, P = 0.003708 on final decel tc id = 102, canon_type = 2, mot type = 1 tc state : vr = 0.125698, vf = 0.125698, maxvel = 9.225626, current_vel = 0.099637, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.099637, acc = 16.606192,T = 0.001474, P = 0.000299 initial results: dx= 0.001175,dt = 0.007325, a_f = 16.606192, v_f = 0.221274 dt = 0.007325, not at end yet tc id = 103, canon_type = 2, mot type = 1 secondary movement = 0.000091 time: 5.242000 primary movement = 5.266446026449e-05 time: 5.242000000000e+00 total movement = 1.439985182946e-04 vel = 1.418267561866e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.021240, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.021240, acc = -20.949717,T = 0.003751, P = 0.003740 on final decel tc id = 102, canon_type = 2, mot type = 1 tc state : vr = 0.146648, vf = 0.146648, maxvel = 9.225626, current_vel = 0.116243, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.116243, acc = 16.606192,T = 0.001474, P = 0.000407 initial results: dx= 0.001067,dt = 0.006325, a_f = 16.606192, v_f = 0.221274 dt = 0.006325, not at end yet tc id = 103, canon_type = 2, mot type = 1 secondary movement = 0.000108 time: 5.243000 primary movement = 3.171474367929e-05 time: 5.243000000000e+00 total movement = 1.396549940785e-04 vel = 1.374832319705e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.000290, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000290, acc = -20.949717,T = 0.003751, P = 0.003751 on final decel tc id = 102, canon_type = 2, mot type = 1 tc state : vr = 0.167598, vf = 0.167598, maxvel = 9.225626, current_vel = 0.132850, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.132850, acc = 16.606192,T = 0.001474, P = 0.000531 initial results: dx= 0.000943,dt = 0.005325, a_f = 16.606192, v_f = 0.221274 dt = 0.005325, not at end yet tc id = 103, canon_type = 2, mot type = 1 secondary movement = 0.000125 time: 5.244000 primary movement = 1.076502709410e-05 time: 5.244000000000e+00 total movement = 1.353114698625e-04 vel = 1.331397077544e-01 ------------------- Found newvel = -0.000290, assuming segment is done segment 102 at target in runcycle tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.003751, P = 0.003751 tc id = 102, canon_type = 2, mot type = 1 tc state : vr = 0.167888, vf = 0.167888, maxvel = 9.225626, current_vel = 0.149456, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.149456, acc = 16.606192,T = 0.001474, P = 0.000673 initial results: dx= 0.000802,dt = 0.004325, a_f = 16.606192, v_f = 0.221274 dt = 0.004325, not at end yet tc id = 103, canon_type = 2, mot type = 1 secondary movement = 0.000141 time: 5.245000 primary movement = 2.009524402248e-09 time: 5.245000000000e+00 total movement = 1.411546446619e-04 vel = 1.494557313220e-01 Finished tc id 102 ------------------- tc state : vr = 0.702009, vf = 0.221274, maxvel = 9.225626, current_vel = 0.166062, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.166062, acc = 16.606192,T = 0.001474, P = 0.000830 initial results: dx= 0.000644,dt = 0.003325, a_f = 16.606192, v_f = 0.221274 recalculating with a_f = 16.606192, a = 16.606192 revised dt = 0.003325 dt = 0.003325, not at end yet tc id = 103, canon_type = 2, mot type = 1 time: 5.246000 primary movement = 1.577588275066e-04 time: 5.246000000000e+00 total movement = 1.577588275066e-04 vel = 1.660619236911e-01 ------------------- tc state : vr = 0.702009, vf = 0.221274, maxvel = 9.225626, current_vel = 0.182668, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.182668, acc = 16.606192,T = 0.001474, P = 0.001005 initial results: dx= 0.000470,dt = 0.002325, a_f = 16.606192, v_f = 0.221274 recalculating with a_f = 16.606192, a = 16.606192 revised dt = 0.002325 dt = 0.002325, not at end yet tc id = 103, canon_type = 2, mot type = 1 time: 5.247000 primary movement = 1.743650198757e-04 time: 5.247000000000e+00 total movement = 1.743650198757e-04 vel = 1.826681160602e-01 ------------------- tc state : vr = 0.702009, vf = 0.221274, maxvel = 9.225626, current_vel = 0.199274, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.199274, acc = 16.606192,T = 0.001474, P = 0.001196 initial results: dx= 0.000279,dt = 0.001325, a_f = 16.606192, v_f = 0.221274 recalculating with a_f = 16.606192, a = 16.606192 revised dt = 0.001325 dt = 0.001325, not at end yet tc id = 103, canon_type = 2, mot type = 1 time: 5.248000 primary movement = 1.909712122448e-04 time: 5.248000000000e+00 total movement = 1.909712122448e-04 vel = 1.992743084294e-01 ------------------- tc state : vr = 0.702009, vf = 0.221274, maxvel = 9.225626, current_vel = 0.215881, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.215881, acc = 16.606192,T = 0.001474, P = 0.001403 initial results: dx= 0.000071,dt = 0.000325, a_f = 16.606192, v_f = 0.221274 recalculating with a_f = 16.606192, a = 16.606192 revised dt = 0.000325 actual v_f = 0.221274, a = 16.606192 split time is 0.000324806 tc id = 103, canon_type = 2, mot type = 1 time: 5.249000 primary movement = 2.075774046139e-04 time: 5.249000000000e+00 total movement = 2.075774046139e-04 vel = 2.158805007985e-01 ------------------- tc id 103 done Finishing split-cycle on id 104 tc state : vr = 0.470553, vf = 0.470553, maxvel = 0.512871, current_vel = 0.231402, fs = 1.000000, tc = 0.000675, term = 3 tc result: v = 0.231402, acc = 15.000000,T = 0.005749, P = 0.000153 initial results: dx= 0.005596,dt = 0.015943, a_f = 15.000000, v_f = 0.470553 recalculating with a_f = 15.000000, a = 15.000000 revised dt = 0.015943 dt = 0.015943, not at end yet secondary movement = 0.000153 tc id = 104, canon_type = 3, mot type = 2 time: 5.250000 primary movement = 7.099516104312e-05 time: 5.250000000000e+00 total movement = 2.238160246508e-04 vel = 2.314022010731e-01 Finished tc id 103 ------------------- Activate tc id = 104 target_vel = 0.470553 final_vel = 0.470553 length = 0.005749 tc state : vr = 0.470553, vf = 0.470553, maxvel = 0.512871, current_vel = 0.246402, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.246402, acc = 15.000000,T = 0.005749, P = 0.000392 initial results: dx= 0.005357,dt = 0.014943, a_f = 15.000000, v_f = 0.470553 dt = 0.014943, not at end yet tc id = 104, canon_type = 3, mot type = 2 time: 5.251000 primary movement = 2.388966584285e-04 time: 5.251000000000e+00 total movement = 2.388966584285e-04 vel = 2.464022010731e-01 ------------------- tc state : vr = 0.470553, vf = 0.470553, maxvel = 0.512871, current_vel = 0.261402, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.261402, acc = 15.000000,T = 0.005749, P = 0.000646 initial results: dx= 0.005103,dt = 0.013943, a_f = 15.000000, v_f = 0.470553 recalculating with a_f = 15.000000, a = 15.000000 revised dt = 0.013943 dt = 0.013943, not at end yet tc id = 104, canon_type = 3, mot type = 2 time: 5.252000 primary movement = 2.538955474901e-04 time: 5.252000000000e+00 total movement = 2.538955474901e-04 vel = 2.614022010731e-01 ------------------- tc state : vr = 0.470553, vf = 0.470553, maxvel = 0.512871, current_vel = 0.276402, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.276402, acc = 15.000000,T = 0.005749, P = 0.000915 initial results: dx= 0.004834,dt = 0.012943, a_f = 15.000000, v_f = 0.470553 recalculating with a_f = 15.000000, a = 15.000000 revised dt = 0.012943 dt = 0.012943, not at end yet tc id = 104, canon_type = 3, mot type = 2 time: 5.253000 primary movement = 2.688942972204e-04 time: 5.253000000000e+00 total movement = 2.688942972204e-04 vel = 2.764022010731e-01 ------------------- tc state : vr = 0.470553, vf = 0.470553, maxvel = 0.512871, current_vel = 0.291402, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.291402, acc = 15.000000,T = 0.005749, P = 0.001198 initial results: dx= 0.004550,dt = 0.011943, a_f = 15.000000, v_f = 0.470553 recalculating with a_f = 15.000000, a = 15.000000 revised dt = 0.011943 dt = 0.011943, not at end yet tc id = 104, canon_type = 3, mot type = 2 time: 5.254000 primary movement = 2.838928993885e-04 time: 5.254000000000e+00 total movement = 2.838928993885e-04 vel = 2.914022010731e-01 ------------------- tc state : vr = 0.470553, vf = 0.470553, maxvel = 0.512871, current_vel = 0.306402, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.306402, acc = 15.000000,T = 0.005749, P = 0.001497 initial results: dx= 0.004251,dt = 0.010943, a_f = 15.000000, v_f = 0.470553 recalculating with a_f = 15.000000, a = 15.000000 revised dt = 0.010943 dt = 0.010943, not at end yet tc id = 104, canon_type = 3, mot type = 2 time: 5.255000 primary movement = 2.988913457637e-04 time: 5.255000000000e+00 total movement = 2.988913457637e-04 vel = 3.064022010731e-01 ------------------- tc state : vr = 0.470553, vf = 0.470553, maxvel = 0.512871, current_vel = 0.321402, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.321402, acc = 15.000000,T = 0.005749, P = 0.001811 initial results: dx= 0.003937,dt = 0.009943, a_f = 15.000000, v_f = 0.470553 recalculating with a_f = 15.000000, a = 15.000000 revised dt = 0.009943 dt = 0.009943, not at end yet tc id = 104, canon_type = 3, mot type = 2 time: 5.256000 primary movement = 3.138896281152e-04 time: 5.256000000000e+00 total movement = 3.138896281152e-04 vel = 3.214022010731e-01 ------------------- tc state : vr = 0.470553, vf = 0.470553, maxvel = 0.512871, current_vel = 0.336402, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.336402, acc = 15.000000,T = 0.005749, P = 0.002140 initial results: dx= 0.003608,dt = 0.008943, a_f = 15.000000, v_f = 0.470553 dt = 0.008943, not at end yet tc id = 104, canon_type = 3, mot type = 2 time: 5.257000 primary movement = 3.288877382123e-04 time: 5.257000000000e+00 total movement = 3.288877382123e-04 vel = 3.364022010731e-01 ------------------- tc state : vr = 0.470553, vf = 0.470553, maxvel = 0.512871, current_vel = 0.351402, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.351402, acc = 15.000000,T = 0.005749, P = 0.002484 initial results: dx= 0.003265,dt = 0.007943, a_f = 15.000000, v_f = 0.470553 dt = 0.007943, not at end yet tc id = 104, canon_type = 3, mot type = 2 time: 5.258000 primary movement = 3.438856678243e-04 time: 5.258000000000e+00 total movement = 3.438856678243e-04 vel = 3.514022010731e-01 ------------------- tc state : vr = 0.470553, vf = 0.470553, maxvel = 0.512871, current_vel = 0.366402, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.366402, acc = 15.000000,T = 0.005749, P = 0.002843 initial results: dx= 0.002906,dt = 0.006943, a_f = 15.000000, v_f = 0.470553 dt = 0.006943, not at end yet tc id = 104, canon_type = 3, mot type = 2 time: 5.259000 primary movement = 3.588834087210e-04 time: 5.259000000000e+00 total movement = 3.588834087210e-04 vel = 3.664022010731e-01 ------------------- tc state : vr = 0.470553, vf = 0.470553, maxvel = 0.512871, current_vel = 0.381402, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.381402, acc = 15.000000,T = 0.005749, P = 0.003217 initial results: dx= 0.002532,dt = 0.005943, a_f = 15.000000, v_f = 0.470553 dt = 0.005943, not at end yet tc id = 104, canon_type = 3, mot type = 2 time: 5.260000 primary movement = 3.738809526719e-04 time: 5.260000000000e+00 total movement = 3.738809526719e-04 vel = 3.814022010731e-01 ------------------- tc state : vr = 0.470553, vf = 0.470553, maxvel = 0.512871, current_vel = 0.396402, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.396402, acc = 15.000000,T = 0.005749, P = 0.003606 initial results: dx= 0.002143,dt = 0.004943, a_f = 15.000000, v_f = 0.470553 dt = 0.004943, not at end yet tc id = 104, canon_type = 3, mot type = 2 time: 5.261000 primary movement = 3.888782914467e-04 time: 5.261000000000e+00 total movement = 3.888782914467e-04 vel = 3.964022010731e-01 ------------------- tc state : vr = 0.470553, vf = 0.470553, maxvel = 0.512871, current_vel = 0.411402, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.411402, acc = 15.000000,T = 0.005749, P = 0.004010 initial results: dx= 0.001739,dt = 0.003943, a_f = 15.000000, v_f = 0.470553 dt = 0.003943, not at end yet tc id = 104, canon_type = 3, mot type = 2 time: 5.262000 primary movement = 4.038754168153e-04 time: 5.262000000000e+00 total movement = 4.038754168153e-04 vel = 4.114022010731e-01 ------------------- tc state : vr = 0.470553, vf = 0.470553, maxvel = 0.512871, current_vel = 0.426402, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.426402, acc = 15.000000,T = 0.005749, P = 0.004429 initial results: dx= 0.001320,dt = 0.002943, a_f = 15.000000, v_f = 0.470553 dt = 0.002943, not at end yet tc id = 104, canon_type = 3, mot type = 2 time: 5.263000 primary movement = 4.188723205477e-04 time: 5.263000000000e+00 total movement = 4.188723205477e-04 vel = 4.264022010731e-01 ------------------- tc state : vr = 0.470553, vf = 0.470553, maxvel = 0.512871, current_vel = 0.441402, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.441402, acc = 15.000000,T = 0.005749, P = 0.004862 initial results: dx= 0.000886,dt = 0.001943, a_f = 15.000000, v_f = 0.470553 dt = 0.001943, not at end yet tc id = 104, canon_type = 3, mot type = 2 time: 5.264000 primary movement = 4.338689944139e-04 time: 5.264000000000e+00 total movement = 4.338689944139e-04 vel = 4.414022010731e-01 ------------------- tc state : vr = 0.470553, vf = 0.470553, maxvel = 0.512871, current_vel = 0.456402, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.456402, acc = 15.000000,T = 0.005749, P = 0.005311 initial results: dx= 0.000437,dt = 0.000943, a_f = 15.000000, v_f = 0.470553 actual v_f = 0.470553, a = 15.000000 split time is 0.000943412 tc id = 104, canon_type = 3, mot type = 2 time: 5.265000 primary movement = 4.488654301842e-04 time: 5.265000000000e+00 total movement = 4.488654301842e-04 vel = 4.564022010731e-01 ------------------- tc id 104 done Finishing split-cycle on id 104 tc state : vr = 0.504441, vf = 0.504441, maxvel = 8.398152, current_vel = 0.472264, fs = 1.000000, tc = 0.000057, term = 3 tc result: v = 0.472264, acc = 30.233467,T = 0.001197, P = 0.000027 initial results: dx= 0.001171,dt = 0.002397, a_f = 13.422961, v_f = 0.504441 dt = 0.002397, not at end yet secondary movement = 0.000027 tc id = 104, canon_type = 2, mot type = 1 time: 5.266000 primary movement = 4.372163311649e-04 time: 5.266000000000e+00 total movement = 4.638926104617e-04 vel = 4.722642388683e-01 Finished tc id 104 ------------------- Activate tc id = 104 target_vel = 0.504441 final_vel = 0.504441 length = 0.001197 tc state : vr = 0.504441, vf = 0.504441, maxvel = 8.398152, current_vel = 0.502498, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.502498, acc = 30.233467,T = 0.001197, P = 0.000514 initial results: dx= 0.000683,dt = 0.001357, a_f = 1.431844, v_f = 0.504441 dt = 0.001357, not at end yet tc id = 104, canon_type = 2, mot type = 1 time: 5.267000 primary movement = 4.873809721464e-04 time: 5.267000000000e+00 total movement = 4.873809721464e-04 vel = 5.024977054245e-01 ------------------- tc state : vr = 0.504441, vf = 0.504441, maxvel = 8.398152, current_vel = 0.504441, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.504441, acc = 1.943178,T = 0.001197, P = 0.001018 initial results: dx= 0.000180,dt = 0.000356, a_f = 0.000000, v_f = 0.504441 actual v_f = 0.504441, a = 0.000000 split time is 0.000356427 tc id = 104, canon_type = 2, mot type = 1 time: 5.268000 primary movement = 5.034692943740e-04 time: 5.268000000000e+00 total movement = 5.034692943740e-04 vel = 5.044408833235e-01 ------------------- tc id 104 done Finishing split-cycle on id 105 tc state : vr = 0.504441, vf = 0.504441, maxvel = 0.504441, current_vel = 0.504441, fs = 1.000000, tc = 0.000644, term = 3 tc result: v = 0.504441, acc = 0.000000,T = 0.007442, P = 0.000325 initial results: dx= 0.007117,dt = 0.014109, a_f = 0.000000, v_f = 0.504441 dt = 0.014109, not at end yet secondary movement = 0.000325 tc id = 105, canon_type = 3, mot type = 2 time: 5.269000 primary movement = 1.797965454089e-04 time: 5.269000000000e+00 total movement = 5.044260216076e-04 vel = 5.044408833235e-01 Finished tc id 104 ------------------- Activate tc id = 105 target_vel = 0.504441 final_vel = 0.504441 length = 0.007442 tc state : vr = 0.504441, vf = 0.504441, maxvel = 0.504441, current_vel = 0.504441, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.504441, acc = 0.000000,T = 0.007442, P = 0.000829 initial results: dx= 0.006613,dt = 0.013109, a_f = 0.000000, v_f = 0.504441 dt = 0.013109, not at end yet tc id = 105, canon_type = 3, mot type = 2 time: 5.270000 primary movement = 5.043851303734e-04 time: 5.270000000000e+00 total movement = 5.043851303734e-04 vel = 5.044408833235e-01 ------------------- tc state : vr = 0.504441, vf = 0.504441, maxvel = 0.504441, current_vel = 0.504441, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.504441, acc = 0.000000,T = 0.007442, P = 0.001334 initial results: dx= 0.006108,dt = 0.012109, a_f = 0.000000, v_f = 0.504441 dt = 0.012109, not at end yet tc id = 105, canon_type = 3, mot type = 2 time: 5.271000 primary movement = 5.043851303734e-04 time: 5.271000000000e+00 total movement = 5.043851303734e-04 vel = 5.044408833235e-01 ------------------- tc state : vr = 0.504441, vf = 0.504441, maxvel = 0.504441, current_vel = 0.504441, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.504441, acc = 0.000000,T = 0.007442, P = 0.001838 initial results: dx= 0.005604,dt = 0.011109, a_f = 0.000000, v_f = 0.504441 dt = 0.011109, not at end yet tc id = 105, canon_type = 3, mot type = 2 time: 5.272000 primary movement = 5.043851303734e-04 time: 5.272000000000e+00 total movement = 5.043851303734e-04 vel = 5.044408833235e-01 ------------------- tc state : vr = 0.504441, vf = 0.504441, maxvel = 0.504441, current_vel = 0.504441, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.504441, acc = 0.000000,T = 0.007442, P = 0.002342 initial results: dx= 0.005099,dt = 0.010109, a_f = 0.000000, v_f = 0.504441 dt = 0.010109, not at end yet tc id = 105, canon_type = 3, mot type = 2 time: 5.273000 primary movement = 5.043851303734e-04 time: 5.273000000000e+00 total movement = 5.043851303734e-04 vel = 5.044408833235e-01 ------------------- tc state : vr = 0.504441, vf = 0.504441, maxvel = 0.504441, current_vel = 0.504441, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.504441, acc = 0.000000,T = 0.007442, P = 0.002847 initial results: dx= 0.004595,dt = 0.009109, a_f = 0.000000, v_f = 0.504441 dt = 0.009109, not at end yet tc id = 105, canon_type = 3, mot type = 2 time: 5.274000 primary movement = 5.043851303734e-04 time: 5.274000000000e+00 total movement = 5.043851303734e-04 vel = 5.044408833235e-01 ------------------- tc state : vr = 0.504441, vf = 0.504441, maxvel = 0.504441, current_vel = 0.504441, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.504441, acc = 0.000000,T = 0.007442, P = 0.003351 initial results: dx= 0.004090,dt = 0.008109, a_f = 0.000000, v_f = 0.504441 dt = 0.008109, not at end yet tc id = 105, canon_type = 3, mot type = 2 time: 5.275000 primary movement = 5.043851303734e-04 time: 5.275000000000e+00 total movement = 5.043851303734e-04 vel = 5.044408833235e-01 ------------------- tc state : vr = 0.504441, vf = 0.504441, maxvel = 0.504441, current_vel = 0.504441, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.504441, acc = 0.000000,T = 0.007442, P = 0.003856 initial results: dx= 0.003586,dt = 0.007109, a_f = 0.000000, v_f = 0.504441 dt = 0.007109, not at end yet tc id = 105, canon_type = 3, mot type = 2 time: 5.276000 primary movement = 5.043851303734e-04 time: 5.276000000000e+00 total movement = 5.043851303734e-04 vel = 5.044408833235e-01 ------------------- tc state : vr = 0.504441, vf = 0.504441, maxvel = 0.504441, current_vel = 0.504441, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.504441, acc = 0.000000,T = 0.007442, P = 0.004360 initial results: dx= 0.003082,dt = 0.006109, a_f = 0.000000, v_f = 0.504441 dt = 0.006109, not at end yet tc id = 105, canon_type = 3, mot type = 2 time: 5.277000 primary movement = 5.043851303733e-04 time: 5.277000000000e+00 total movement = 5.043851303733e-04 vel = 5.044408833235e-01 ------------------- tc state : vr = 0.504441, vf = 0.504441, maxvel = 0.504441, current_vel = 0.504441, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.504441, acc = 0.000000,T = 0.007442, P = 0.004865 initial results: dx= 0.002577,dt = 0.005109, a_f = 0.000000, v_f = 0.504441 dt = 0.005109, not at end yet tc id = 105, canon_type = 3, mot type = 2 time: 5.278000 primary movement = 5.043851303734e-04 time: 5.278000000000e+00 total movement = 5.043851303734e-04 vel = 5.044408833235e-01 ------------------- tc state : vr = 0.504441, vf = 0.504441, maxvel = 0.504441, current_vel = 0.504441, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.504441, acc = 0.000000,T = 0.007442, P = 0.005369 initial results: dx= 0.002073,dt = 0.004109, a_f = 0.000000, v_f = 0.504441 dt = 0.004109, not at end yet tc id = 105, canon_type = 3, mot type = 2 time: 5.279000 primary movement = 5.043851303734e-04 time: 5.279000000000e+00 total movement = 5.043851303734e-04 vel = 5.044408833235e-01 ------------------- tc state : vr = 0.504441, vf = 0.504441, maxvel = 0.504441, current_vel = 0.504441, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.504441, acc = 0.000000,T = 0.007442, P = 0.005873 initial results: dx= 0.001568,dt = 0.003109, a_f = 0.000000, v_f = 0.504441 dt = 0.003109, not at end yet tc id = 105, canon_type = 3, mot type = 2 time: 5.280000 primary movement = 5.043851303734e-04 time: 5.280000000000e+00 total movement = 5.043851303734e-04 vel = 5.044408833235e-01 ------------------- tc state : vr = 0.504441, vf = 0.504441, maxvel = 0.504441, current_vel = 0.504441, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.504441, acc = 0.000000,T = 0.007442, P = 0.006378 initial results: dx= 0.001064,dt = 0.002109, a_f = 0.000000, v_f = 0.504441 dt = 0.002109, not at end yet tc id = 105, canon_type = 3, mot type = 2 time: 5.281000 primary movement = 5.043851303734e-04 time: 5.281000000000e+00 total movement = 5.043851303734e-04 vel = 5.044408833235e-01 ------------------- tc state : vr = 0.504441, vf = 0.504441, maxvel = 0.504441, current_vel = 0.504441, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.504441, acc = 0.000000,T = 0.007442, P = 0.006882 initial results: dx= 0.000559,dt = 0.001109, a_f = 0.000000, v_f = 0.504441 dt = 0.001109, not at end yet tc id = 105, canon_type = 3, mot type = 2 time: 5.282000 primary movement = 5.043851303734e-04 time: 5.282000000000e+00 total movement = 5.043851303734e-04 vel = 5.044408833235e-01 ------------------- tc state : vr = 0.504441, vf = 0.504441, maxvel = 0.504441, current_vel = 0.504441, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.504441, acc = 0.000000,T = 0.007442, P = 0.007387 initial results: dx= 0.000055,dt = 0.000109, a_f = 0.000000, v_f = 0.504441 actual v_f = 0.504441, a = 0.000000 split time is 0.000108813 tc id = 105, canon_type = 3, mot type = 2 time: 5.283000 primary movement = 5.043851303733e-04 time: 5.283000000000e+00 total movement = 5.043851303733e-04 vel = 5.044408833235e-01 ------------------- tc id 105 done Finishing split-cycle on id 105 tc state : vr = 2.173720, vf = 0.284227, maxvel = 10.354461, current_vel = 0.537661, fs = 1.000000, tc = 0.000891, term = 3 tc result: v = 0.537661, acc = 37.276207,T = 0.004565, P = 0.000464 initial results: dx= 0.004100,dt = 0.009978, a_f = -25.398892, v_f = 0.284227 dt = 0.009978, not at end yet secondary movement = 0.000464 tc id = 105, canon_type = 2, mot type = 1 time: 5.284000 primary movement = 5.488948042284e-05 time: 5.284000000000e+00 total movement = 5.192434707576e-04 vel = 5.376609674378e-01 Finished tc id 105 ------------------- Activate tc id = 105 target_vel = 2.173720 final_vel = 0.284227 length = 0.004565 tc state : vr = 2.173720, vf = 0.284227, maxvel = 10.354461, current_vel = 0.574937, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.574937, acc = 37.276207,T = 0.004565, P = 0.001021 initial results: dx= 0.003544,dt = 0.008250, a_f = -35.236517, v_f = 0.284227 dt = 0.008250, not at end yet tc id = 105, canon_type = 2, mot type = 1 time: 5.285000 primary movement = 5.562990710498e-04 time: 5.285000000000e+00 total movement = 5.562990710498e-04 vel = 5.749371746617e-01 ------------------- tc state : vr = 2.173720, vf = 0.284227, maxvel = 10.354461, current_vel = 0.550507, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.550507, acc = -24.429757,T = 0.004565, P = 0.001583 on final decel initial results: dx= 0.002981,dt = 0.007143, a_f = -37.276207, v_f = 0.284227 dt = 0.007143, not at end yet tc id = 105, canon_type = 2, mot type = 1 time: 5.286000 primary movement = 5.627222963005e-04 time: 5.286000000000e+00 total movement = 5.627222963005e-04 vel = 5.505074179393e-01 ------------------- tc state : vr = 2.173720, vf = 0.284227, maxvel = 10.354461, current_vel = 0.513231, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.513231, acc = -37.276207,T = 0.004565, P = 0.002115 on final decel initial results: dx= 0.002450,dt = 0.006143, a_f = -37.276207, v_f = 0.284227 dt = 0.006143, not at end yet tc id = 105, canon_type = 2, mot type = 1 time: 5.287000 primary movement = 5.318693143273e-04 time: 5.287000000000e+00 total movement = 5.318693143273e-04 vel = 5.132312107154e-01 ------------------- tc state : vr = 2.173720, vf = 0.284227, maxvel = 10.354461, current_vel = 0.475955, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.475955, acc = -37.276207,T = 0.004565, P = 0.002610 on final decel initial results: dx= 0.001955,dt = 0.005143, a_f = -37.276207, v_f = 0.284227 dt = 0.005143, not at end yet tc id = 105, canon_type = 2, mot type = 1 time: 5.288000 primary movement = 4.945931071034e-04 time: 5.288000000000e+00 total movement = 4.945931071034e-04 vel = 4.759550034915e-01 ------------------- tc state : vr = 2.173720, vf = 0.284227, maxvel = 10.354461, current_vel = 0.438679, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.438679, acc = -37.276207,T = 0.004565, P = 0.003067 on final decel initial results: dx= 0.001498,dt = 0.004143, a_f = -37.276207, v_f = 0.284227 recalculating with a_f = -37.276207, a = -37.276207 revised dt = 0.004143 dt = 0.004143, not at end yet tc id = 105, canon_type = 2, mot type = 1 time: 5.289000 primary movement = 4.573168998795e-04 time: 5.289000000000e+00 total movement = 4.573168998795e-04 vel = 4.386787962676e-01 ------------------- tc state : vr = 2.173720, vf = 0.284227, maxvel = 10.354461, current_vel = 0.401403, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.401403, acc = -37.276207,T = 0.004565, P = 0.003487 on final decel initial results: dx= 0.001078,dt = 0.003143, a_f = -37.276207, v_f = 0.284227 dt = 0.003143, not at end yet tc id = 105, canon_type = 2, mot type = 1 time: 5.290000 primary movement = 4.200406926556e-04 time: 5.290000000000e+00 total movement = 4.200406926556e-04 vel = 4.014025890436e-01 ------------------- tc state : vr = 2.173720, vf = 0.284227, maxvel = 10.354461, current_vel = 0.364126, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.364126, acc = -37.276207,T = 0.004565, P = 0.003870 on final decel initial results: dx= 0.000695,dt = 0.002143, a_f = -37.276207, v_f = 0.284227 recalculating with a_f = -37.276207, a = -37.276207 revised dt = 0.002143 dt = 0.002143, not at end yet tc id = 105, canon_type = 2, mot type = 1 time: 5.291000 primary movement = 3.827644854317e-04 time: 5.291000000000e+00 total movement = 3.827644854317e-04 vel = 3.641263818197e-01 ------------------- tc state : vr = 2.173720, vf = 0.284227, maxvel = 10.354461, current_vel = 0.326850, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.326850, acc = -37.276207,T = 0.004565, P = 0.004215 on final decel initial results: dx= 0.000349,dt = 0.001143, a_f = -37.276207, v_f = 0.284227 dt = 0.001143, not at end yet tc id = 105, canon_type = 2, mot type = 1 time: 5.292000 primary movement = 3.454882782078e-04 time: 5.292000000000e+00 total movement = 3.454882782078e-04 vel = 3.268501745958e-01 ------------------- tc state : vr = 2.173720, vf = 0.284227, maxvel = 10.354461, current_vel = 0.289574, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.289574, acc = -37.276207,T = 0.004565, P = 0.004524 on final decel initial results: dx= 0.000041,dt = 0.000143, a_f = -37.276207, v_f = 0.284227 recalculating with a_f = -37.276207, a = -37.276207 revised dt = 0.000143 actual v_f = 0.284227, a = -37.276207 split time is 0.000143433 tc id = 105, canon_type = 2, mot type = 1 time: 5.293000 primary movement = 3.082120709839e-04 time: 5.293000000000e+00 total movement = 3.082120709839e-04 vel = 2.895739673719e-01 ------------------- tc id 105 done Finishing split-cycle on id 106 tc state : vr = 0.284227, vf = 0.284227, maxvel = 0.284227, current_vel = 0.284227, fs = 1.000000, tc = 0.000857, term = 3 tc result: v = 0.284227, acc = 0.000000,T = 0.002738, P = 0.000243 initial results: dx= 0.002494,dt = 0.008775, a_f = 0.000000, v_f = 0.284227 dt = 0.008775, not at end yet secondary movement = 0.000243 tc id = 106, canon_type = 3, mot type = 2 time: 5.294000 primary movement = 4.115115365764e-05 time: 5.294000000000e+00 total movement = 2.845485726565e-04 vel = 2.842273117014e-01 Finished tc id 105 ------------------- Activate tc id = 106 target_vel = 0.284227 final_vel = 0.284227 length = 0.002738 tc state : vr = 0.284227, vf = 0.284227, maxvel = 0.284227, current_vel = 0.284227, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.284227, acc = 0.000000,T = 0.002738, P = 0.000528 initial results: dx= 0.002210,dt = 0.007775, a_f = 0.000000, v_f = 0.284227 dt = 0.007775, not at end yet tc id = 106, canon_type = 3, mot type = 2 time: 5.295000 primary movement = 2.841283695466e-04 time: 5.295000000000e+00 total movement = 2.841283695466e-04 vel = 2.842273117014e-01 ------------------- tc state : vr = 0.284227, vf = 0.284227, maxvel = 0.284227, current_vel = 0.284227, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.284227, acc = 0.000000,T = 0.002738, P = 0.000812 initial results: dx= 0.001926,dt = 0.006775, a_f = 0.000000, v_f = 0.284227 dt = 0.006775, not at end yet tc id = 106, canon_type = 3, mot type = 2 time: 5.296000 primary movement = 2.841283695466e-04 time: 5.296000000000e+00 total movement = 2.841283695466e-04 vel = 2.842273117014e-01 ------------------- tc state : vr = 0.284227, vf = 0.284227, maxvel = 0.284227, current_vel = 0.284227, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.284227, acc = 0.000000,T = 0.002738, P = 0.001096 initial results: dx= 0.001641,dt = 0.005775, a_f = 0.000000, v_f = 0.284227 dt = 0.005775, not at end yet tc id = 106, canon_type = 3, mot type = 2 time: 5.297000 primary movement = 2.841283695467e-04 time: 5.297000000000e+00 total movement = 2.841283695467e-04 vel = 2.842273117014e-01 ------------------- tc state : vr = 0.284227, vf = 0.284227, maxvel = 0.284227, current_vel = 0.284227, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.284227, acc = 0.000000,T = 0.002738, P = 0.001380 initial results: dx= 0.001357,dt = 0.004775, a_f = 0.000000, v_f = 0.284227 dt = 0.004775, not at end yet tc id = 106, canon_type = 3, mot type = 2 time: 5.298000 primary movement = 2.841283695466e-04 time: 5.298000000000e+00 total movement = 2.841283695466e-04 vel = 2.842273117014e-01 ------------------- tc state : vr = 0.284227, vf = 0.284227, maxvel = 0.284227, current_vel = 0.284227, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.284227, acc = 0.000000,T = 0.002738, P = 0.001665 initial results: dx= 0.001073,dt = 0.003775, a_f = 0.000000, v_f = 0.284227 dt = 0.003775, not at end yet tc id = 106, canon_type = 3, mot type = 2 time: 5.299000 primary movement = 2.841283695466e-04 time: 5.299000000000e+00 total movement = 2.841283695466e-04 vel = 2.842273117014e-01 ------------------- tc state : vr = 0.284227, vf = 0.284227, maxvel = 0.284227, current_vel = 0.284227, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.284227, acc = 0.000000,T = 0.002738, P = 0.001949 initial results: dx= 0.000789,dt = 0.002775, a_f = 0.000000, v_f = 0.284227 dt = 0.002775, not at end yet tc id = 106, canon_type = 3, mot type = 2 time: 5.300000 primary movement = 2.841283695466e-04 time: 5.300000000000e+00 total movement = 2.841283695466e-04 vel = 2.842273117014e-01 ------------------- tc state : vr = 0.284227, vf = 0.284227, maxvel = 0.284227, current_vel = 0.284227, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.284227, acc = 0.000000,T = 0.002738, P = 0.002233 initial results: dx= 0.000505,dt = 0.001775, a_f = 0.000000, v_f = 0.284227 dt = 0.001775, not at end yet tc id = 106, canon_type = 3, mot type = 2 time: 5.301000 primary movement = 2.841283695466e-04 time: 5.301000000000e+00 total movement = 2.841283695466e-04 vel = 2.842273117014e-01 ------------------- tc state : vr = 0.284227, vf = 0.284227, maxvel = 0.284227, current_vel = 0.284227, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.284227, acc = 0.000000,T = 0.002738, P = 0.002517 initial results: dx= 0.000220,dt = 0.000775, a_f = 0.000000, v_f = 0.284227 actual v_f = 0.284227, a = 0.000000 split time is 0.00077528 tc id = 106, canon_type = 3, mot type = 2 time: 5.302000 primary movement = 2.841283695466e-04 time: 5.302000000000e+00 total movement = 2.841283695466e-04 vel = 2.842273117014e-01 ------------------- tc id 106 done Finishing split-cycle on id 106 tc state : vr = 0.284227, vf = 0.229051, maxvel = 8.589769, current_vel = 0.284227, fs = 1.000000, tc = 0.000225, term = 3 tc result: v = 0.284227, acc = 0.000000,T = 0.000848, P = 0.000064 initial results: dx= 0.000784,dt = 0.003057, a_f = -18.051854, v_f = 0.229051 dt = 0.003057, not at end yet secondary movement = 0.000064 tc id = 106, canon_type = 2, mot type = 1 time: 5.303000 primary movement = 2.203097433734e-04 time: 5.303000000000e+00 total movement = 2.841812037529e-04 vel = 2.842273117014e-01 Finished tc id 106 ------------------- Activate tc id = 106 target_vel = 0.284227 final_vel = 0.229051 length = 0.000848 tc state : vr = 0.284227, vf = 0.229051, maxvel = 8.589769, current_vel = 0.284227, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.284227, acc = 0.000000,T = 0.000848, P = 0.000348 initial results: dx= 0.000500,dt = 0.001949, a_f = -28.309401, v_f = 0.229051 dt = 0.001949, not at end yet tc id = 106, canon_type = 2, mot type = 1 time: 5.304000 primary movement = 2.842273117014e-04 time: 5.304000000000e+00 total movement = 2.842273117014e-04 vel = 2.842273117014e-01 ------------------- tc state : vr = 0.284227, vf = 0.229051, maxvel = 8.589769, current_vel = 0.258125, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.258125, acc = -26.101819,T = 0.000848, P = 0.000619 on final decel initial results: dx= 0.000229,dt = 0.000940, a_f = -30.923292, v_f = 0.229051 recalculating with a_f = -30.923292, a = -30.923292 revised dt = 0.000940 actual v_f = 0.229051, a = -30.923292 split time is 0.00094021 tc id = 106, canon_type = 2, mot type = 1 time: 5.305000 primary movement = 2.711764024265e-04 time: 5.305000000000e+00 total movement = 2.711764024265e-04 vel = 2.581254931515e-01 ------------------- tc id 106 done Finishing split-cycle on id 107 tc state : vr = 0.229051, vf = 0.000000, maxvel = 0.310516, current_vel = 0.229051, fs = 1.000000, tc = 0.000060, term = 3 tc result: v = 0.229051, acc = -0.000000,T = 0.003368, P = 0.000014 initial results: dx= 0.003355,dt = 0.029291, a_f = -7.819823, v_f = 0.000000 dt = 0.029291, not at end yet secondary movement = 0.000014 tc id = 107, canon_type = 3, mot type = 2 time: 5.306000 primary movement = 2.290240937271e-04 time: 5.306000000000e+00 total movement = 2.427191127497e-04 vel = 2.290511128023e-01 Finished tc id 106 ------------------- Activate tc id = 107 target_vel = 0.229051 final_vel = 0.000000 length = 0.003368 tc state : vr = 0.229051, vf = 0.000000, maxvel = 0.310516, current_vel = 0.229051, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.229051, acc = 0.000000,T = 0.003368, P = 0.000243 initial results: dx= 0.003126,dt = 0.027291, a_f = -8.392890, v_f = 0.000000 dt = 0.027291, not at end yet tc id = 107, canon_type = 3, mot type = 2 time: 5.307000 primary movement = 2.290147603873e-04 time: 5.307000000000e+00 total movement = 2.290147603873e-04 vel = 2.290511128023e-01 ------------------- tc state : vr = 0.229051, vf = 0.000000, maxvel = 0.310516, current_vel = 0.229051, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.229051, acc = 0.000000,T = 0.003368, P = 0.000472 initial results: dx= 0.002896,dt = 0.025291, a_f = -9.056594, v_f = 0.000000 dt = 0.025291, not at end yet tc id = 107, canon_type = 3, mot type = 2 time: 5.308000 primary movement = 2.290147603873e-04 time: 5.308000000000e+00 total movement = 2.290147603873e-04 vel = 2.290511128023e-01 ------------------- tc state : vr = 0.229051, vf = 0.000000, maxvel = 0.310516, current_vel = 0.229051, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.229051, acc = 0.000000,T = 0.003368, P = 0.000701 initial results: dx= 0.002667,dt = 0.023291, a_f = -9.834281, v_f = 0.000000 dt = 0.023291, not at end yet tc id = 107, canon_type = 3, mot type = 2 time: 5.309000 primary movement = 2.290147603873e-04 time: 5.309000000000e+00 total movement = 2.290147603873e-04 vel = 2.290511128023e-01 ------------------- tc state : vr = 0.229051, vf = 0.000000, maxvel = 0.310516, current_vel = 0.229051, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.229051, acc = 0.000000,T = 0.003368, P = 0.000930 initial results: dx= 0.002438,dt = 0.021291, a_f = -10.758074, v_f = 0.000000 dt = 0.021291, not at end yet tc id = 107, canon_type = 3, mot type = 2 time: 5.310000 primary movement = 2.290147603873e-04 time: 5.310000000000e+00 total movement = 2.290147603873e-04 vel = 2.290511128023e-01 ------------------- tc state : vr = 0.229051, vf = 0.000000, maxvel = 0.310516, current_vel = 0.229051, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.229051, acc = 0.000000,T = 0.003368, P = 0.001159 initial results: dx= 0.002209,dt = 0.019291, a_f = -11.873416, v_f = 0.000000 dt = 0.019291, not at end yet tc id = 107, canon_type = 3, mot type = 2 time: 5.311000 primary movement = 2.290147603873e-04 time: 5.311000000000e+00 total movement = 2.290147603873e-04 vel = 2.290511128023e-01 ------------------- tc state : vr = 0.229051, vf = 0.000000, maxvel = 0.310516, current_vel = 0.229051, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.229051, acc = 0.000000,T = 0.003368, P = 0.001388 initial results: dx= 0.001980,dt = 0.017291, a_f = -13.246772, v_f = 0.000000 dt = 0.017291, not at end yet tc id = 107, canon_type = 3, mot type = 2 time: 5.312000 primary movement = 2.290147603873e-04 time: 5.312000000000e+00 total movement = 2.290147603873e-04 vel = 2.290511128023e-01 ------------------- tc state : vr = 0.229051, vf = 0.000000, maxvel = 0.310516, current_vel = 0.229051, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.229051, acc = 0.000000,T = 0.003368, P = 0.001617 initial results: dx= 0.001751,dt = 0.015291, a_f = -14.979386, v_f = 0.000000 dt = 0.015291, not at end yet tc id = 107, canon_type = 3, mot type = 2 time: 5.313000 primary movement = 2.290147603873e-04 time: 5.313000000000e+00 total movement = 2.290147603873e-04 vel = 2.290511128023e-01 ------------------- tc state : vr = 0.229051, vf = 0.000000, maxvel = 0.310516, current_vel = 0.214214, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.214214, acc = -14.837118,T = 0.003368, P = 0.001839 on final decel initial results: dx= 0.001530,dt = 0.014281, a_f = -15.000000, v_f = 0.000000 dt = 0.014281, not at end yet tc id = 107, canon_type = 3, mot type = 2 time: 5.314000 primary movement = 2.215996201872e-04 time: 5.314000000000e+00 total movement = 2.215996201872e-04 vel = 2.142139945920e-01 ------------------- tc state : vr = 0.229051, vf = 0.000000, maxvel = 0.310516, current_vel = 0.199214, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.199214, acc = -15.000000,T = 0.003368, P = 0.002045 on final decel initial results: dx= 0.001323,dt = 0.013281, a_f = -15.000000, v_f = 0.000000 dt = 0.013281, not at end yet tc id = 107, canon_type = 3, mot type = 2 time: 5.315000 primary movement = 2.066872737878e-04 time: 5.315000000000e+00 total movement = 2.066872737878e-04 vel = 1.992139945920e-01 ------------------- tc state : vr = 0.229051, vf = 0.000000, maxvel = 0.310516, current_vel = 0.184214, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.184214, acc = -15.000000,T = 0.003368, P = 0.002237 on final decel initial results: dx= 0.001131,dt = 0.012281, a_f = -15.000000, v_f = 0.000000 dt = 0.012281, not at end yet tc id = 107, canon_type = 3, mot type = 2 time: 5.316000 primary movement = 1.916926786911e-04 time: 5.316000000000e+00 total movement = 1.916926786911e-04 vel = 1.842139945920e-01 ------------------- tc state : vr = 0.229051, vf = 0.000000, maxvel = 0.310516, current_vel = 0.169214, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.169214, acc = -15.000000,T = 0.003368, P = 0.002414 on final decel initial results: dx= 0.000954,dt = 0.011281, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.011281 dt = 0.011281, not at end yet tc id = 107, canon_type = 3, mot type = 2 time: 5.317000 primary movement = 1.766973007133e-04 time: 5.317000000000e+00 total movement = 1.766973007133e-04 vel = 1.692139945920e-01 ------------------- tc state : vr = 0.229051, vf = 0.000000, maxvel = 0.310516, current_vel = 0.154214, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.154214, acc = -15.000000,T = 0.003368, P = 0.002576 on final decel initial results: dx= 0.000793,dt = 0.010281, a_f = -15.000000, v_f = 0.000000 dt = 0.010281, not at end yet tc id = 107, canon_type = 3, mot type = 2 time: 5.318000 primary movement = 1.617012010960e-04 time: 5.318000000000e+00 total movement = 1.617012010960e-04 vel = 1.542139945920e-01 ------------------- tc state : vr = 0.229051, vf = 0.000000, maxvel = 0.310516, current_vel = 0.139214, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.139214, acc = -15.000000,T = 0.003368, P = 0.002722 on final decel initial results: dx= 0.000646,dt = 0.009281, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.009281 dt = 0.009281, not at end yet tc id = 107, canon_type = 3, mot type = 2 time: 5.319000 primary movement = 1.467044410840e-04 time: 5.319000000000e+00 total movement = 1.467044410840e-04 vel = 1.392139945920e-01 ------------------- tc state : vr = 0.229051, vf = 0.000000, maxvel = 0.310516, current_vel = 0.124214, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.124214, acc = -15.000000,T = 0.003368, P = 0.002854 on final decel initial results: dx= 0.000514,dt = 0.008281, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.008281 dt = 0.008281, not at end yet tc id = 107, canon_type = 3, mot type = 2 time: 5.320000 primary movement = 1.317070819247e-04 time: 5.320000000000e+00 total movement = 1.317070819247e-04 vel = 1.242139945920e-01 ------------------- tc state : vr = 0.229051, vf = 0.000000, maxvel = 0.310516, current_vel = 0.109214, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.109214, acc = -15.000000,T = 0.003368, P = 0.002971 on final decel initial results: dx= 0.000398,dt = 0.007281, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.007281 dt = 0.007281, not at end yet tc id = 107, canon_type = 3, mot type = 2 time: 5.321000 primary movement = 1.167091848679e-04 time: 5.321000000000e+00 total movement = 1.167091848679e-04 vel = 1.092139945920e-01 ------------------- tc state : vr = 0.229051, vf = 0.000000, maxvel = 0.310516, current_vel = 0.094214, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.094214, acc = -15.000000,T = 0.003368, P = 0.003072 on final decel initial results: dx= 0.000296,dt = 0.006281, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.006281 dt = 0.006281, not at end yet tc id = 107, canon_type = 3, mot type = 2 time: 5.322000 primary movement = 1.017108111658e-04 time: 5.322000000000e+00 total movement = 1.017108111658e-04 vel = 9.421399459197e-02 ------------------- tc state : vr = 0.229051, vf = 0.000000, maxvel = 0.310516, current_vel = 0.079214, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.079214, acc = -15.000000,T = 0.003368, P = 0.003159 on final decel initial results: dx= 0.000209,dt = 0.005281, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.005281 dt = 0.005281, not at end yet tc id = 107, canon_type = 3, mot type = 2 time: 5.323000 primary movement = 8.671202207229e-05 time: 5.323000000000e+00 total movement = 8.671202207229e-05 vel = 7.921399459197e-02 ------------------- tc state : vr = 0.229051, vf = 0.000000, maxvel = 0.310516, current_vel = 0.064214, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.064214, acc = -15.000000,T = 0.003368, P = 0.003231 on final decel initial results: dx= 0.000137,dt = 0.004281, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.004281 dt = 0.004281, not at end yet tc id = 107, canon_type = 3, mot type = 2 time: 5.324000 primary movement = 7.171287884312e-05 time: 5.324000000000e+00 total movement = 7.171287884312e-05 vel = 6.421399459197e-02 ------------------- tc state : vr = 0.229051, vf = 0.000000, maxvel = 0.310516, current_vel = 0.049214, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.049214, acc = -15.000000,T = 0.003368, P = 0.003288 on final decel initial results: dx= 0.000081,dt = 0.003281, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.003281 dt = 0.003281, not at end yet tc id = 107, canon_type = 3, mot type = 2 time: 5.325000 primary movement = 5.671344273548e-05 time: 5.325000000000e+00 total movement = 5.671344273548e-05 vel = 4.921399459197e-02 ------------------- tc state : vr = 0.229051, vf = 0.000000, maxvel = 0.310516, current_vel = 0.034214, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.034214, acc = -15.000000,T = 0.003368, P = 0.003329 on final decel initial results: dx= 0.000039,dt = 0.002281, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.002281 dt = 0.002281, not at end yet tc id = 107, canon_type = 3, mot type = 2 time: 5.326000 primary movement = 4.171377500761e-05 time: 5.326000000000e+00 total movement = 4.171377500761e-05 vel = 3.421399459197e-02 ------------------- tc state : vr = 0.229051, vf = 0.000000, maxvel = 0.310516, current_vel = 0.019214, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.019214, acc = -15.000000,T = 0.003368, P = 0.003356 on final decel initial results: dx= 0.000012,dt = 0.001281, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.001281 dt = 0.001281, not at end yet tc id = 107, canon_type = 3, mot type = 2 time: 5.327000 primary movement = 2.671393691890e-05 time: 5.327000000000e+00 total movement = 2.671393691890e-05 vel = 1.921399459197e-02 ------------------- tc state : vr = 0.229051, vf = 0.000000, maxvel = 0.310516, current_vel = 0.004214, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.004214, acc = -15.000000,T = 0.003368, P = 0.003368 on final decel initial results: dx= 0.000001,dt = 0.000281, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.000281 actual v_f = 0.000000, a = -15.000000 split time is 0.000280933 tc id = 107, canon_type = 3, mot type = 2 time: 5.328000 primary movement = 1.171398972934e-05 time: 5.328000000000e+00 total movement = 1.171398972934e-05 vel = 4.213994591970e-03 ------------------- tc id 107 done Finishing split-cycle on id 107 tc state : vr = 9.119312, vf = 0.000000, maxvel = 9.119312, current_vel = 0.011803, fs = 1.000000, tc = 0.000719, term = 2 tc result: v = 0.011803, acc = 16.414763,T = 0.003114, P = 0.000004 secondary movement = 0.000004 tc id = 107, canon_type = 2, mot type = 1 time: 5.329000 primary movement = 5.919250134128e-07 time: 5.329000000000e+00 total movement = 4.835617512002e-06 vel = 1.180332212745e-02 Finished tc id 107 ------------------- Activate tc id = 107 target_vel = 9.119312 final_vel = 0.000000 length = 0.003114 Activate nexttc id 108 tc state : vr = 9.119312, vf = 0.000000, maxvel = 9.119312, current_vel = 0.028218, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.028218, acc = 16.414763,T = 0.003114, P = 0.000024 tc id = 107, canon_type = 2, mot type = 1 time: 5.330000 primary movement = 2.001070362896e-05 time: 5.330000000000e+00 total movement = 2.001070362896e-05 vel = 2.821808513044e-02 ------------------- tc state : vr = 9.119312, vf = 0.000000, maxvel = 9.119312, current_vel = 0.044633, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.044633, acc = 16.414763,T = 0.003114, P = 0.000061 tc id = 107, canon_type = 2, mot type = 1 time: 5.331000 primary movement = 3.642546663193e-05 time: 5.331000000000e+00 total movement = 3.642546663193e-05 vel = 4.463284813343e-02 ------------------- tc state : vr = 9.119312, vf = 0.000000, maxvel = 9.119312, current_vel = 0.061048, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.061048, acc = 16.414763,T = 0.003114, P = 0.000114 tc id = 107, canon_type = 2, mot type = 1 time: 5.332000 primary movement = 5.284022963494e-05 time: 5.332000000000e+00 total movement = 5.284022963494e-05 vel = 6.104761113643e-02 ------------------- tc state : vr = 9.119312, vf = 0.000000, maxvel = 9.119312, current_vel = 0.077462, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.077462, acc = 16.414763,T = 0.003114, P = 0.000183 tc id = 107, canon_type = 2, mot type = 1 time: 5.333000 primary movement = 6.925499263792e-05 time: 5.333000000000e+00 total movement = 6.925499263792e-05 vel = 7.746237413942e-02 ------------------- tc state : vr = 9.119312, vf = 0.000000, maxvel = 9.119312, current_vel = 0.093877, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.093877, acc = 16.414763,T = 0.003114, P = 0.000268 tc id = 107, canon_type = 2, mot type = 1 time: 5.334000 primary movement = 8.566975564094e-05 time: 5.334000000000e+00 total movement = 8.566975564094e-05 vel = 9.387713714242e-02 ------------------- tc state : vr = 9.119312, vf = 0.000000, maxvel = 9.119312, current_vel = 0.110292, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.110292, acc = 16.414763,T = 0.003114, P = 0.000371 tc id = 107, canon_type = 2, mot type = 1 time: 5.335000 primary movement = 1.020845186439e-04 time: 5.335000000000e+00 total movement = 1.020845186439e-04 vel = 1.102919001454e-01 ------------------- tc state : vr = 9.119312, vf = 0.000000, maxvel = 9.119312, current_vel = 0.126707, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.126707, acc = 16.414763,T = 0.003114, P = 0.000489 tc id = 107, canon_type = 2, mot type = 1 time: 5.336000 primary movement = 1.184992816469e-04 time: 5.336000000000e+00 total movement = 1.184992816469e-04 vel = 1.267066631484e-01 ------------------- tc state : vr = 9.119312, vf = 0.000000, maxvel = 9.119312, current_vel = 0.143121, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.143121, acc = 16.414763,T = 0.003114, P = 0.000624 tc id = 107, canon_type = 2, mot type = 1 time: 5.337000 primary movement = 1.349140446499e-04 time: 5.337000000000e+00 total movement = 1.349140446499e-04 vel = 1.431214261514e-01 ------------------- tc state : vr = 9.119312, vf = 0.000000, maxvel = 9.119312, current_vel = 0.159536, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.159536, acc = 16.414763,T = 0.003114, P = 0.000775 tc id = 107, canon_type = 2, mot type = 1 time: 5.338000 primary movement = 1.513288076529e-04 time: 5.338000000000e+00 total movement = 1.513288076529e-04 vel = 1.595361891544e-01 ------------------- tc state : vr = 9.119312, vf = 0.000000, maxvel = 9.119312, current_vel = 0.175951, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.175951, acc = 16.414763,T = 0.003114, P = 0.000943 tc id = 107, canon_type = 2, mot type = 1 time: 5.339000 primary movement = 1.677435706559e-04 time: 5.339000000000e+00 total movement = 1.677435706559e-04 vel = 1.759509521574e-01 ------------------- tc state : vr = 9.119312, vf = 0.000000, maxvel = 9.119312, current_vel = 0.192366, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.192366, acc = 16.414763,T = 0.003114, P = 0.001127 tc id = 107, canon_type = 2, mot type = 1 time: 5.340000 primary movement = 1.841583336589e-04 time: 5.340000000000e+00 total movement = 1.841583336589e-04 vel = 1.923657151604e-01 ------------------- tc state : vr = 9.119312, vf = 0.000000, maxvel = 9.119312, current_vel = 0.208780, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.208780, acc = 16.414763,T = 0.003114, P = 0.001328 tc id = 107, canon_type = 2, mot type = 1 time: 5.341000 primary movement = 2.005730966619e-04 time: 5.341000000000e+00 total movement = 2.005730966619e-04 vel = 2.087804781634e-01 ------------------- tc state : vr = 9.119312, vf = 0.000000, maxvel = 9.119312, current_vel = 0.225195, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.225195, acc = 16.414763,T = 0.003114, P = 0.001545 tc id = 107, canon_type = 2, mot type = 1 time: 5.342000 primary movement = 2.169878596649e-04 time: 5.342000000000e+00 total movement = 2.169878596649e-04 vel = 2.251952411664e-01 ------------------- tc state : vr = 9.119312, vf = 0.000000, maxvel = 9.119312, current_vel = 0.210651, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.210651, acc = -14.544529,T = 0.003114, P = 0.001763 on final decel tc id = 107, canon_type = 2, mot type = 1 tc state : vr = 0.014545, vf = 0.014545, maxvel = 8.356705, current_vel = 0.014545, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.014545, acc = 14.544529,T = 0.006564, P = 0.000007 initial results: dx= 0.006557,dt = 0.034059, a_f = 10.451048, v_f = 0.370500 dt = 0.034059, not at end yet tc id = 107, canon_type = 2, mot type = 1 secondary movement = 0.000007 time: 5.343000 primary movement = 2.179229766994e-04 time: 5.343000000000e+00 total movement = 2.251952411663e-04 vel = 2.251952411664e-01 ------------------- tc state : vr = 9.119312, vf = 0.000000, maxvel = 9.119312, current_vel = 0.194236, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.194236, acc = -16.414763,T = 0.003114, P = 0.001965 on final decel tc id = 107, canon_type = 2, mot type = 1 tc state : vr = 0.030959, vf = 0.030959, maxvel = 8.356705, current_vel = 0.029587, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.029587, acc = 15.042128,T = 0.006564, P = 0.000029 initial results: dx= 0.006535,dt = 0.032668, a_f = 10.435547, v_f = 0.370500 dt = 0.032668, not at end yet tc id = 107, canon_type = 2, mot type = 1 secondary movement = 0.000022 time: 5.344000 primary movement = 2.024433307309e-04 time: 5.344000000000e+00 total movement = 2.245089238349e-04 vel = 2.238226065035e-01 ------------------- tc state : vr = 9.119312, vf = 0.000000, maxvel = 9.119312, current_vel = 0.177821, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.177821, acc = -16.414763,T = 0.003114, P = 0.002151 on final decel tc id = 107, canon_type = 2, mot type = 1 tc state : vr = 0.047374, vf = 0.047374, maxvel = 8.356705, current_vel = 0.044629, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.044629, acc = 15.042128,T = 0.006564, P = 0.000066 initial results: dx= 0.006498,dt = 0.031306, a_f = 10.409240, v_f = 0.370500 dt = 0.031306, not at end yet tc id = 107, canon_type = 2, mot type = 1 secondary movement = 0.000037 time: 5.345000 primary movement = 1.860285677280e-04 time: 5.345000000000e+00 total movement = 2.231362891720e-04 vel = 2.224499718406e-01 ------------------- tc state : vr = 9.119312, vf = 0.000000, maxvel = 9.119312, current_vel = 0.161406, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.161406, acc = -16.414763,T = 0.003114, P = 0.002321 on final decel tc id = 107, canon_type = 2, mot type = 1 tc state : vr = 0.063789, vf = 0.063789, maxvel = 8.356705, current_vel = 0.059671, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.059671, acc = 15.042128,T = 0.006564, P = 0.000119 initial results: dx= 0.006446,dt = 0.029969, a_f = 10.371758, v_f = 0.370500 dt = 0.029969, not at end yet tc id = 107, canon_type = 2, mot type = 1 secondary movement = 0.000052 time: 5.346000 primary movement = 1.696138047250e-04 time: 5.346000000000e+00 total movement = 2.217636545091e-04 vel = 2.210773371777e-01 ------------------- tc state : vr = 9.119312, vf = 0.000000, maxvel = 9.119312, current_vel = 0.144992, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.144992, acc = -16.414763,T = 0.003114, P = 0.002474 on final decel tc id = 107, canon_type = 2, mot type = 1 tc state : vr = 0.080204, vf = 0.080204, maxvel = 8.356705, current_vel = 0.074713, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.074713, acc = 15.042128,T = 0.006564, P = 0.000186 initial results: dx= 0.006379,dt = 0.028654, a_f = 10.322561, v_f = 0.370500 dt = 0.028654, not at end yet tc id = 107, canon_type = 2, mot type = 1 secondary movement = 0.000067 time: 5.347000 primary movement = 1.531990417220e-04 time: 5.347000000000e+00 total movement = 2.203910198462e-04 vel = 2.197047025148e-01 ------------------- tc state : vr = 9.119312, vf = 0.000000, maxvel = 9.119312, current_vel = 0.128577, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.128577, acc = -16.414763,T = 0.003114, P = 0.002611 on final decel tc id = 107, canon_type = 2, mot type = 1 tc state : vr = 0.096618, vf = 0.096618, maxvel = 8.356705, current_vel = 0.089755, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.089755, acc = 15.042128,T = 0.006564, P = 0.000268 initial results: dx= 0.006296,dt = 0.027361, a_f = 10.260921, v_f = 0.370500 dt = 0.027361, not at end yet tc id = 107, canon_type = 2, mot type = 1 secondary movement = 0.000082 time: 5.348000 primary movement = 1.367842787190e-04 time: 5.348000000000e+00 total movement = 2.190183851834e-04 vel = 2.183320678519e-01 ------------------- tc state : vr = 9.119312, vf = 0.000000, maxvel = 9.119312, current_vel = 0.112162, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.112162, acc = -16.414763,T = 0.003114, P = 0.002731 on final decel tc id = 107, canon_type = 2, mot type = 1 tc state : vr = 0.113033, vf = 0.113033, maxvel = 8.356705, current_vel = 0.104797, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.104797, acc = 15.042128,T = 0.006564, P = 0.000365 initial results: dx= 0.006199,dt = 0.026085, a_f = 10.185895, v_f = 0.370500 dt = 0.026085, not at end yet tc id = 107, canon_type = 2, mot type = 1 secondary movement = 0.000097 time: 5.349000 primary movement = 1.203695157160e-04 time: 5.349000000000e+00 total movement = 2.176457505205e-04 vel = 2.169594331890e-01 ------------------- tc state : vr = 9.119312, vf = 0.000000, maxvel = 9.119312, current_vel = 0.095747, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.095747, acc = -16.414763,T = 0.003114, P = 0.002835 on final decel tc id = 107, canon_type = 2, mot type = 1 tc state : vr = 0.129448, vf = 0.129448, maxvel = 8.356705, current_vel = 0.119839, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.119839, acc = 15.042128,T = 0.006564, P = 0.000478 initial results: dx= 0.006087,dt = 0.024827, a_f = 10.096285, v_f = 0.370500 dt = 0.024827, not at end yet tc id = 108, canon_type = 2, mot type = 1 secondary movement = 0.000112 time: 5.350000 primary movement = 1.039547527130e-04 time: 5.350000000000e+00 total movement = 2.162731158575e-04 vel = 2.155867985261e-01 ------------------- tc state : vr = 9.119312, vf = 0.000000, maxvel = 9.119312, current_vel = 0.079333, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.079333, acc = -16.414763,T = 0.003114, P = 0.002923 on final decel tc id = 107, canon_type = 2, mot type = 1 tc state : vr = 0.145863, vf = 0.145863, maxvel = 8.356705, current_vel = 0.134882, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.134882, acc = 15.042128,T = 0.006564, P = 0.000605 initial results: dx= 0.005959,dt = 0.023584, a_f = 9.990587, v_f = 0.370500 dt = 0.023584, not at end yet tc id = 108, canon_type = 2, mot type = 1 secondary movement = 0.000127 time: 5.351000 primary movement = 8.753998971001e-05 time: 5.351000000000e+00 total movement = 2.149004811947e-04 vel = 2.142141638632e-01 ------------------- tc state : vr = 9.119312, vf = 0.000000, maxvel = 9.119312, current_vel = 0.062918, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.062918, acc = -16.414763,T = 0.003114, P = 0.002994 on final decel tc id = 107, canon_type = 2, mot type = 1 tc state : vr = 0.162277, vf = 0.162277, maxvel = 8.356705, current_vel = 0.149924, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.149924, acc = 15.042128,T = 0.006564, P = 0.000747 initial results: dx= 0.005817,dt = 0.022355, a_f = 9.866924, v_f = 0.370500 dt = 0.022355, not at end yet tc id = 108, canon_type = 2, mot type = 1 secondary movement = 0.000142 time: 5.352000 primary movement = 7.112522670700e-05 time: 5.352000000000e+00 total movement = 2.135278465318e-04 vel = 2.128415292003e-01 ------------------- tc state : vr = 9.119312, vf = 0.000000, maxvel = 9.119312, current_vel = 0.046503, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.046503, acc = -16.414763,T = 0.003114, P = 0.003048 on final decel tc id = 107, canon_type = 2, mot type = 1 tc state : vr = 0.178692, vf = 0.178692, maxvel = 8.356705, current_vel = 0.164966, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.164966, acc = 15.042128,T = 0.006564, P = 0.000905 initial results: dx= 0.005660,dt = 0.021139, a_f = 9.722956, v_f = 0.370500 dt = 0.021139, not at end yet tc id = 108, canon_type = 2, mot type = 1 secondary movement = 0.000157 time: 5.353000 primary movement = 5.471046370401e-05 time: 5.353000000000e+00 total movement = 2.121552118689e-04 vel = 2.114688945374e-01 ------------------- tc state : vr = 9.119312, vf = 0.000000, maxvel = 9.119312, current_vel = 0.030088, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.030088, acc = -16.414763,T = 0.003114, P = 0.003087 on final decel tc id = 107, canon_type = 2, mot type = 1 tc state : vr = 0.195107, vf = 0.195107, maxvel = 8.356705, current_vel = 0.180008, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.180008, acc = 15.042128,T = 0.006564, P = 0.001077 initial results: dx= 0.005487,dt = 0.019935, a_f = 9.555749, v_f = 0.370500 dt = 0.019935, not at end yet tc id = 108, canon_type = 2, mot type = 1 secondary movement = 0.000172 time: 5.354000 primary movement = 3.829570070100e-05 time: 5.354000000000e+00 total movement = 2.107825772060e-04 vel = 2.100962598745e-01 ------------------- tc state : vr = 9.119312, vf = 0.000000, maxvel = 9.119312, current_vel = 0.013674, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.013674, acc = -16.414763,T = 0.003114, P = 0.003109 on final decel tc id = 107, canon_type = 2, mot type = 1 tc state : vr = 0.211522, vf = 0.211522, maxvel = 8.356705, current_vel = 0.195050, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.195050, acc = 15.042128,T = 0.006564, P = 0.001265 initial results: dx= 0.005300,dt = 0.018741, a_f = 9.361611, v_f = 0.370500 dt = 0.018741, not at end yet tc id = 108, canon_type = 2, mot type = 1 secondary movement = 0.000188 time: 5.355000 primary movement = 2.188093769803e-05 time: 5.355000000000e+00 total movement = 2.094099425431e-04 vel = 2.087236252116e-01 ------------------- Found newvel = -0.002741, assuming segment is done segment 107 at target in runcycle tc state : vr = 9.119312, vf = 0.000000, maxvel = 9.119312, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.003114, P = 0.003114 tc id = 107, canon_type = 2, mot type = 1 tc state : vr = 0.225195, vf = 0.225195, maxvel = 8.356705, current_vel = 0.210092, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.210092, acc = 15.042128,T = 0.006564, P = 0.001467 initial results: dx= 0.005097,dt = 0.017558, a_f = 9.135851, v_f = 0.370500 dt = 0.017558, not at end yet tc id = 108, canon_type = 2, mot type = 1 secondary movement = 0.000203 time: 5.356000 primary movement = 5.695060569125e-06 time: 5.356000000000e+00 total movement = 2.082661937543e-04 vel = 2.100921973552e-01 Finished tc id 107 ------------------- tc state : vr = 3.125929, vf = 0.370500, maxvel = 8.356705, current_vel = 0.225134, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.225134, acc = 15.042128,T = 0.006564, P = 0.001685 initial results: dx= 0.004879,dt = 0.016384, a_f = 8.872442, v_f = 0.370500 dt = 0.016384, not at end yet tc id = 108, canon_type = 2, mot type = 1 time: 5.357000 primary movement = 2.176132615252e-04 time: 5.357000000000e+00 total movement = 2.176132615252e-04 vel = 2.251343256953e-01 ------------------- tc state : vr = 3.125929, vf = 0.370500, maxvel = 8.356705, current_vel = 0.240176, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.240176, acc = 15.042128,T = 0.006564, P = 0.001918 initial results: dx= 0.004647,dt = 0.015218, a_f = 8.563537, v_f = 0.370500 dt = 0.015218, not at end yet tc id = 108, canon_type = 2, mot type = 1 time: 5.358000 primary movement = 2.326553898654e-04 time: 5.358000000000e+00 total movement = 2.326553898654e-04 vel = 2.401764540354e-01 ------------------- tc state : vr = 3.125929, vf = 0.370500, maxvel = 8.356705, current_vel = 0.255219, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.255219, acc = 15.042128,T = 0.006564, P = 0.002165 initial results: dx= 0.004399,dt = 0.014061, a_f = 8.198749, v_f = 0.370500 dt = 0.014061, not at end yet tc id = 108, canon_type = 2, mot type = 1 time: 5.359000 primary movement = 2.476975182054e-04 time: 5.359000000000e+00 total movement = 2.476975182054e-04 vel = 2.552185823755e-01 ------------------- tc state : vr = 3.125929, vf = 0.370500, maxvel = 8.356705, current_vel = 0.270261, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.270261, acc = 15.042128,T = 0.006564, P = 0.002428 initial results: dx= 0.004136,dt = 0.012911, a_f = 7.764057, v_f = 0.370500 dt = 0.012911, not at end yet tc id = 108, canon_type = 2, mot type = 1 time: 5.360000 primary movement = 2.627396465456e-04 time: 5.360000000000e+00 total movement = 2.627396465456e-04 vel = 2.702607107156e-01 ------------------- tc state : vr = 3.125929, vf = 0.370500, maxvel = 8.356705, current_vel = 0.285303, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.285303, acc = 15.042128,T = 0.006564, P = 0.002706 initial results: dx= 0.003859,dt = 0.011767, a_f = 7.240100, v_f = 0.370500 dt = 0.011767, not at end yet tc id = 108, canon_type = 2, mot type = 1 time: 5.361000 primary movement = 2.777817748856e-04 time: 5.361000000000e+00 total movement = 2.777817748856e-04 vel = 2.853028390557e-01 ------------------- tc state : vr = 3.125929, vf = 0.370500, maxvel = 8.356705, current_vel = 0.300345, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.300345, acc = 15.042128,T = 0.006564, P = 0.002999 initial results: dx= 0.003566,dt = 0.010631, a_f = 6.599384, v_f = 0.370500 dt = 0.010631, not at end yet tc id = 108, canon_type = 2, mot type = 1 time: 5.362000 primary movement = 2.928239032257e-04 time: 5.362000000000e+00 total movement = 2.928239032257e-04 vel = 3.003449673958e-01 ------------------- tc state : vr = 3.125929, vf = 0.370500, maxvel = 8.356705, current_vel = 0.315387, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.315387, acc = 15.042128,T = 0.006564, P = 0.003307 initial results: dx= 0.003258,dt = 0.009500, a_f = 5.801550, v_f = 0.370500 dt = 0.009500, not at end yet tc id = 108, canon_type = 2, mot type = 1 time: 5.363000 primary movement = 3.078660315658e-04 time: 5.363000000000e+00 total movement = 3.078660315658e-04 vel = 3.153870957359e-01 ------------------- tc state : vr = 3.125929, vf = 0.370500, maxvel = 8.356705, current_vel = 0.330429, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.330429, acc = 15.042128,T = 0.006564, P = 0.003629 initial results: dx= 0.002935,dt = 0.008374, a_f = 4.784887, v_f = 0.370500 dt = 0.008374, not at end yet tc id = 108, canon_type = 2, mot type = 1 time: 5.364000 primary movement = 3.229081599060e-04 time: 5.364000000000e+00 total movement = 3.229081599060e-04 vel = 3.304292240760e-01 ------------------- tc state : vr = 3.125929, vf = 0.370500, maxvel = 8.356705, current_vel = 0.345471, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.345471, acc = 15.042128,T = 0.006564, P = 0.003967 initial results: dx= 0.002597,dt = 0.007254, a_f = 3.450104, v_f = 0.370500 dt = 0.007254, not at end yet tc id = 108, canon_type = 2, mot type = 1 time: 5.365000 primary movement = 3.379502882460e-04 time: 5.365000000000e+00 total movement = 3.379502882460e-04 vel = 3.454713524161e-01 ------------------- tc state : vr = 3.125929, vf = 0.370500, maxvel = 8.356705, current_vel = 0.360513, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.360513, acc = 15.042128,T = 0.006564, P = 0.004320 initial results: dx= 0.002244,dt = 0.006139, a_f = 1.626629, v_f = 0.370500 dt = 0.006139, not at end yet tc id = 108, canon_type = 2, mot type = 1 time: 5.366000 primary movement = 3.529924165861e-04 time: 5.366000000000e+00 total movement = 3.529924165861e-04 vel = 3.605134807562e-01 ------------------- tc state : vr = 3.125929, vf = 0.370500, maxvel = 8.356705, current_vel = 0.375556, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.375556, acc = 15.042128,T = 0.006564, P = 0.004688 initial results: dx= 0.001876,dt = 0.005029, a_f = -1.005262, v_f = 0.370500 dt = 0.005029, not at end yet tc id = 108, canon_type = 2, mot type = 1 time: 5.367000 primary movement = 3.680345449262e-04 time: 5.367000000000e+00 total movement = 3.680345449262e-04 vel = 3.755556090963e-01 ------------------- tc state : vr = 3.125929, vf = 0.370500, maxvel = 8.356705, current_vel = 0.390598, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.390598, acc = 15.042128,T = 0.006564, P = 0.005072 initial results: dx= 0.001493,dt = 0.003923, a_f = -5.123006, v_f = 0.370500 dt = 0.003923, not at end yet tc id = 108, canon_type = 2, mot type = 1 time: 5.368000 primary movement = 3.830766732663e-04 time: 5.368000000000e+00 total movement = 3.830766732663e-04 vel = 3.905977374364e-01 ------------------- tc state : vr = 3.125929, vf = 0.370500, maxvel = 8.356705, current_vel = 0.405640, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.405640, acc = 15.042128,T = 0.006564, P = 0.005470 initial results: dx= 0.001095,dt = 0.002821, a_f = -12.456087, v_f = 0.370500 dt = 0.002821, not at end yet tc id = 108, canon_type = 2, mot type = 1 time: 5.369000 primary movement = 3.981188016064e-04 time: 5.369000000000e+00 total movement = 3.981188016064e-04 vel = 4.056398657765e-01 ------------------- tc state : vr = 3.125929, vf = 0.370500, maxvel = 8.356705, current_vel = 0.397647, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.397647, acc = -7.993212,T = 0.006564, P = 0.005871 on final decel initial results: dx= 0.000693,dt = 0.001805, a_f = -15.042128, v_f = 0.370500 recalculating with a_f = -15.042128, a = -15.042128 revised dt = 0.001805 dt = 0.001805, not at end yet tc id = 108, canon_type = 2, mot type = 1 time: 5.370000 primary movement = 4.016432599253e-04 time: 5.370000000000e+00 total movement = 4.016432599253e-04 vel = 3.976466540742e-01 ------------------- tc state : vr = 3.125929, vf = 0.370500, maxvel = 8.356705, current_vel = 0.382605, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.382605, acc = -15.042128,T = 0.006564, P = 0.006261 on final decel initial results: dx= 0.000303,dt = 0.000805, a_f = -15.042128, v_f = 0.370500 recalculating with a_f = -15.042128, a = -15.042128 revised dt = 0.000805 actual v_f = 0.370500, a = -15.042128 split time is 0.000804702 tc id = 108, canon_type = 2, mot type = 1 time: 5.371000 primary movement = 3.901255899041e-04 time: 5.371000000000e+00 total movement = 3.901255899041e-04 vel = 3.826045257341e-01 ------------------- tc id 108 done Finishing split-cycle on id 109 tc state : vr = 0.370500, vf = 0.370500, maxvel = 0.370500, current_vel = 0.370500, fs = 1.000000, tc = 0.000195, term = 3 tc result: v = 0.370500, acc = -0.000000,T = 0.002845, P = 0.000072 initial results: dx= 0.002773,dt = 0.007484, a_f = 0.000000, v_f = 0.370500 dt = 0.007484, not at end yet secondary movement = 0.000072 tc id = 109, canon_type = 3, mot type = 2 time: 5.372000 primary movement = 3.030124223293e-04 time: 5.372000000000e+00 total movement = 3.753697591437e-04 vel = 3.705000939562e-01 Finished tc id 108 ------------------- Activate tc id = 109 target_vel = 0.370500 final_vel = 0.370500 length = 0.002845 tc state : vr = 0.370500, vf = 0.370500, maxvel = 0.370500, current_vel = 0.370500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.370500, acc = 0.000000,T = 0.002845, P = 0.000443 initial results: dx= 0.002402,dt = 0.006484, a_f = 0.000000, v_f = 0.370500 dt = 0.006484, not at end yet tc id = 109, canon_type = 3, mot type = 2 time: 5.373000 primary movement = 3.704241877101e-04 time: 5.373000000000e+00 total movement = 3.704241877101e-04 vel = 3.705000939562e-01 ------------------- tc state : vr = 0.370500, vf = 0.370500, maxvel = 0.370500, current_vel = 0.370500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.370500, acc = 0.000000,T = 0.002845, P = 0.000813 initial results: dx= 0.002032,dt = 0.005484, a_f = 0.000000, v_f = 0.370500 dt = 0.005484, not at end yet tc id = 109, canon_type = 3, mot type = 2 time: 5.374000 primary movement = 3.704241877101e-04 time: 5.374000000000e+00 total movement = 3.704241877101e-04 vel = 3.705000939562e-01 ------------------- tc state : vr = 0.370500, vf = 0.370500, maxvel = 0.370500, current_vel = 0.370500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.370500, acc = 0.000000,T = 0.002845, P = 0.001184 initial results: dx= 0.001661,dt = 0.004484, a_f = 0.000000, v_f = 0.370500 dt = 0.004484, not at end yet tc id = 109, canon_type = 3, mot type = 2 time: 5.375000 primary movement = 3.704241877101e-04 time: 5.375000000000e+00 total movement = 3.704241877101e-04 vel = 3.705000939562e-01 ------------------- tc state : vr = 0.370500, vf = 0.370500, maxvel = 0.370500, current_vel = 0.370500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.370500, acc = 0.000000,T = 0.002845, P = 0.001554 initial results: dx= 0.001291,dt = 0.003484, a_f = 0.000000, v_f = 0.370500 dt = 0.003484, not at end yet tc id = 109, canon_type = 3, mot type = 2 time: 5.376000 primary movement = 3.704241877101e-04 time: 5.376000000000e+00 total movement = 3.704241877101e-04 vel = 3.705000939562e-01 ------------------- tc state : vr = 0.370500, vf = 0.370500, maxvel = 0.370500, current_vel = 0.370500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.370500, acc = 0.000000,T = 0.002845, P = 0.001925 initial results: dx= 0.000920,dt = 0.002484, a_f = 0.000000, v_f = 0.370500 dt = 0.002484, not at end yet tc id = 109, canon_type = 3, mot type = 2 time: 5.377000 primary movement = 3.704241877101e-04 time: 5.377000000000e+00 total movement = 3.704241877101e-04 vel = 3.705000939562e-01 ------------------- tc state : vr = 0.370500, vf = 0.370500, maxvel = 0.370500, current_vel = 0.370500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.370500, acc = 0.000000,T = 0.002845, P = 0.002295 initial results: dx= 0.000550,dt = 0.001484, a_f = 0.000000, v_f = 0.370500 dt = 0.001484, not at end yet tc id = 109, canon_type = 3, mot type = 2 time: 5.378000 primary movement = 3.704241877101e-04 time: 5.378000000000e+00 total movement = 3.704241877101e-04 vel = 3.705000939562e-01 ------------------- tc state : vr = 0.370500, vf = 0.370500, maxvel = 0.370500, current_vel = 0.370500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.370500, acc = 0.000000,T = 0.002845, P = 0.002666 initial results: dx= 0.000179,dt = 0.000484, a_f = 0.000000, v_f = 0.370500 actual v_f = 0.370500, a = 0.000000 split time is 0.000484117 tc id = 109, canon_type = 3, mot type = 2 time: 5.379000 primary movement = 3.704241877101e-04 time: 5.379000000000e+00 total movement = 3.704241877101e-04 vel = 3.705000939562e-01 ------------------- tc id 109 done Finishing split-cycle on id 109 tc state : vr = 0.370500, vf = 0.344934, maxvel = 9.316913, current_vel = 0.370500, fs = 1.000000, tc = 0.000516, term = 3 tc result: v = 0.370500, acc = 0.000000,T = 0.000724, P = 0.000191 initial results: dx= 0.000533,dt = 0.001491, a_f = -17.151291, v_f = 0.344934 dt = 0.001491, not at end yet secondary movement = 0.000191 tc id = 109, canon_type = 2, mot type = 1 time: 5.380000 primary movement = 1.793569348091e-04 time: 5.380000000000e+00 total movement = 3.704914810431e-04 vel = 3.705000939562e-01 Finished tc id 109 ------------------- Activate tc id = 109 target_vel = 0.370500 final_vel = 0.344934 length = 0.000724 tc state : vr = 0.370500, vf = 0.344934, maxvel = 9.316913, current_vel = 0.360858, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.360858, acc = -9.641834,T = 0.000724, P = 0.000557 on final decel initial results: dx= 0.000168,dt = 0.000475, a_f = -33.541020, v_f = 0.344934 recalculating with a_f = -33.541020, a = -33.541020 revised dt = 0.000475 actual v_f = 0.344934, a = -33.541020 split time is 0.000474778 tc id = 109, canon_type = 2, mot type = 1 time: 5.381000 primary movement = 3.656791767973e-04 time: 5.381000000000e+00 total movement = 3.656791767973e-04 vel = 3.608582596383e-01 ------------------- tc id 109 done Finishing split-cycle on id 110 tc state : vr = 0.344934, vf = 0.344934, maxvel = 0.344934, current_vel = 0.344934, fs = 1.000000, tc = 0.000525, term = 3 tc result: v = 0.344934, acc = 0.000000,T = 0.004247, P = 0.000181 initial results: dx= 0.004065,dt = 0.011786, a_f = 0.000000, v_f = 0.344934 dt = 0.011786, not at end yet secondary movement = 0.000181 tc id = 110, canon_type = 3, mot type = 2 time: 5.382000 primary movement = 1.675471191646e-04 time: 5.382000000000e+00 total movement = 3.487022249404e-04 vel = 3.449337343790e-01 Finished tc id 109 ------------------- Activate tc id = 110 target_vel = 0.344934 final_vel = 0.344934 length = 0.004247 tc state : vr = 0.344934, vf = 0.344934, maxvel = 0.344934, current_vel = 0.344934, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.344934, acc = 0.000000,T = 0.004247, P = 0.000526 initial results: dx= 0.003720,dt = 0.010786, a_f = 0.000000, v_f = 0.344934 dt = 0.010786, not at end yet tc id = 110, canon_type = 3, mot type = 2 time: 5.383000 primary movement = 3.448522027607e-04 time: 5.383000000000e+00 total movement = 3.448522027607e-04 vel = 3.449337343790e-01 ------------------- tc state : vr = 0.344934, vf = 0.344934, maxvel = 0.344934, current_vel = 0.344934, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.344934, acc = 0.000000,T = 0.004247, P = 0.000871 initial results: dx= 0.003376,dt = 0.009786, a_f = 0.000000, v_f = 0.344934 dt = 0.009786, not at end yet tc id = 110, canon_type = 3, mot type = 2 time: 5.384000 primary movement = 3.448522027607e-04 time: 5.384000000000e+00 total movement = 3.448522027607e-04 vel = 3.449337343790e-01 ------------------- tc state : vr = 0.344934, vf = 0.344934, maxvel = 0.344934, current_vel = 0.344934, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.344934, acc = 0.000000,T = 0.004247, P = 0.001216 initial results: dx= 0.003031,dt = 0.008786, a_f = 0.000000, v_f = 0.344934 dt = 0.008786, not at end yet tc id = 110, canon_type = 3, mot type = 2 time: 5.385000 primary movement = 3.448522027607e-04 time: 5.385000000000e+00 total movement = 3.448522027607e-04 vel = 3.449337343790e-01 ------------------- tc state : vr = 0.344934, vf = 0.344934, maxvel = 0.344934, current_vel = 0.344934, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.344934, acc = 0.000000,T = 0.004247, P = 0.001561 initial results: dx= 0.002686,dt = 0.007786, a_f = 0.000000, v_f = 0.344934 dt = 0.007786, not at end yet tc id = 110, canon_type = 3, mot type = 2 time: 5.386000 primary movement = 3.448522027607e-04 time: 5.386000000000e+00 total movement = 3.448522027607e-04 vel = 3.449337343790e-01 ------------------- tc state : vr = 0.344934, vf = 0.344934, maxvel = 0.344934, current_vel = 0.344934, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.344934, acc = 0.000000,T = 0.004247, P = 0.001906 initial results: dx= 0.002341,dt = 0.006786, a_f = 0.000000, v_f = 0.344934 dt = 0.006786, not at end yet tc id = 110, canon_type = 3, mot type = 2 time: 5.387000 primary movement = 3.448522027607e-04 time: 5.387000000000e+00 total movement = 3.448522027607e-04 vel = 3.449337343790e-01 ------------------- tc state : vr = 0.344934, vf = 0.344934, maxvel = 0.344934, current_vel = 0.344934, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.344934, acc = 0.000000,T = 0.004247, P = 0.002251 initial results: dx= 0.001996,dt = 0.005786, a_f = 0.000000, v_f = 0.344934 dt = 0.005786, not at end yet tc id = 110, canon_type = 3, mot type = 2 time: 5.388000 primary movement = 3.448522027607e-04 time: 5.388000000000e+00 total movement = 3.448522027607e-04 vel = 3.449337343790e-01 ------------------- tc state : vr = 0.344934, vf = 0.344934, maxvel = 0.344934, current_vel = 0.344934, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.344934, acc = 0.000000,T = 0.004247, P = 0.002596 initial results: dx= 0.001651,dt = 0.004786, a_f = 0.000000, v_f = 0.344934 dt = 0.004786, not at end yet tc id = 110, canon_type = 3, mot type = 2 time: 5.389000 primary movement = 3.448522027607e-04 time: 5.389000000000e+00 total movement = 3.448522027607e-04 vel = 3.449337343790e-01 ------------------- tc state : vr = 0.344934, vf = 0.344934, maxvel = 0.344934, current_vel = 0.344934, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.344934, acc = 0.000000,T = 0.004247, P = 0.002941 initial results: dx= 0.001306,dt = 0.003786, a_f = 0.000000, v_f = 0.344934 dt = 0.003786, not at end yet tc id = 110, canon_type = 3, mot type = 2 time: 5.390000 primary movement = 3.448522027607e-04 time: 5.390000000000e+00 total movement = 3.448522027607e-04 vel = 3.449337343790e-01 ------------------- tc state : vr = 0.344934, vf = 0.344934, maxvel = 0.344934, current_vel = 0.344934, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.344934, acc = 0.000000,T = 0.004247, P = 0.003286 initial results: dx= 0.000961,dt = 0.002786, a_f = 0.000000, v_f = 0.344934 dt = 0.002786, not at end yet tc id = 110, canon_type = 3, mot type = 2 time: 5.391000 primary movement = 3.448522027607e-04 time: 5.391000000000e+00 total movement = 3.448522027607e-04 vel = 3.449337343790e-01 ------------------- tc state : vr = 0.344934, vf = 0.344934, maxvel = 0.344934, current_vel = 0.344934, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.344934, acc = 0.000000,T = 0.004247, P = 0.003631 initial results: dx= 0.000616,dt = 0.001786, a_f = 0.000000, v_f = 0.344934 dt = 0.001786, not at end yet tc id = 110, canon_type = 3, mot type = 2 time: 5.392000 primary movement = 3.448522027607e-04 time: 5.392000000000e+00 total movement = 3.448522027607e-04 vel = 3.449337343790e-01 ------------------- tc state : vr = 0.344934, vf = 0.344934, maxvel = 0.344934, current_vel = 0.344934, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.344934, acc = 0.000000,T = 0.004247, P = 0.003975 initial results: dx= 0.000271,dt = 0.000786, a_f = 0.000000, v_f = 0.344934 actual v_f = 0.344934, a = 0.000000 split time is 0.000786018 tc id = 110, canon_type = 3, mot type = 2 time: 5.393000 primary movement = 3.448522027607e-04 time: 5.393000000000e+00 total movement = 3.448522027607e-04 vel = 3.449337343790e-01 ------------------- tc id 110 done Finishing split-cycle on id 110 tc state : vr = 0.344934, vf = 0.294117, maxvel = 9.316913, current_vel = 0.344934, fs = 1.000000, tc = 0.000214, term = 3 tc result: v = 0.344934, acc = 0.000000,T = 0.001290, P = 0.000074 initial results: dx= 0.001216,dt = 0.003805, a_f = -13.356055, v_f = 0.294117 dt = 0.003805, not at end yet secondary movement = 0.000074 tc id = 110, canon_type = 2, mot type = 1 time: 5.394000 primary movement = 2.710844578914e-04 time: 5.394000000000e+00 total movement = 3.448941398698e-04 vel = 3.449337343790e-01 Finished tc id 110 ------------------- Activate tc id = 110 target_vel = 0.344934 final_vel = 0.294117 length = 0.001290 tc state : vr = 0.344934, vf = 0.294117, maxvel = 9.316913, current_vel = 0.344934, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.344934, acc = 0.000000,T = 0.001290, P = 0.000419 initial results: dx= 0.000871,dt = 0.002725, a_f = -18.646588, v_f = 0.294117 dt = 0.002725, not at end yet tc id = 110, canon_type = 2, mot type = 1 time: 5.395000 primary movement = 3.449337343790e-04 time: 5.395000000000e+00 total movement = 3.449337343790e-04 vel = 3.449337343790e-01 ------------------- tc state : vr = 0.344934, vf = 0.294117, maxvel = 9.316913, current_vel = 0.344934, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.344934, acc = 0.000000,T = 0.001290, P = 0.000764 initial results: dx= 0.000526,dt = 0.001646, a_f = -30.877707, v_f = 0.294117 dt = 0.001646, not at end yet tc id = 110, canon_type = 2, mot type = 1 time: 5.396000 primary movement = 3.449337343790e-04 time: 5.396000000000e+00 total movement = 3.449337343790e-04 vel = 3.449337343790e-01 ------------------- tc state : vr = 0.344934, vf = 0.294117, maxvel = 9.316913, current_vel = 0.315633, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.315633, acc = -29.300645,T = 0.001290, P = 0.001094 on final decel initial results: dx= 0.000196,dt = 0.000641, a_f = -33.541020, v_f = 0.294117 recalculating with a_f = -33.541020, a = -33.541020 revised dt = 0.000641 actual v_f = 0.294117, a = -33.541020 split time is 0.000641493 tc id = 110, canon_type = 2, mot type = 1 time: 5.397000 primary movement = 3.302834119966e-04 time: 5.397000000000e+00 total movement = 3.302834119966e-04 vel = 3.156330896142e-01 ------------------- tc id 110 done Finishing split-cycle on id 111 tc state : vr = 0.294117, vf = 0.000000, maxvel = 0.354474, current_vel = 0.294117, fs = 1.000000, tc = 0.000359, term = 3 tc result: v = 0.294117, acc = -0.000000,T = 0.005554, P = 0.000105 initial results: dx= 0.005449,dt = 0.037053, a_f = -7.937755, v_f = 0.000000 dt = 0.037053, not at end yet secondary movement = 0.000105 tc id = 111, canon_type = 3, mot type = 2 time: 5.398000 primary movement = 1.955750155645e-04 time: 5.398000000000e+00 total movement = 3.010159639327e-04 vel = 2.941167733645e-01 Finished tc id 110 ------------------- Activate tc id = 111 target_vel = 0.294117 final_vel = 0.000000 length = 0.005554 tc state : vr = 0.294117, vf = 0.000000, maxvel = 0.354474, current_vel = 0.294117, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.294117, acc = 0.000000,T = 0.005554, P = 0.000400 initial results: dx= 0.005155,dt = 0.035053, a_f = -8.390656, v_f = 0.000000 dt = 0.035053, not at end yet tc id = 111, canon_type = 3, mot type = 2 time: 5.399000 primary movement = 2.940714528238e-04 time: 5.399000000000e+00 total movement = 2.940714528238e-04 vel = 2.941167733645e-01 ------------------- tc state : vr = 0.294117, vf = 0.000000, maxvel = 0.354474, current_vel = 0.294117, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.294117, acc = 0.000000,T = 0.005554, P = 0.000694 initial results: dx= 0.004861,dt = 0.033053, a_f = -8.898367, v_f = 0.000000 dt = 0.033053, not at end yet tc id = 111, canon_type = 3, mot type = 2 time: 5.400000 primary movement = 2.940714528238e-04 time: 5.400000000000e+00 total movement = 2.940714528238e-04 vel = 2.941167733645e-01 ------------------- tc state : vr = 0.294117, vf = 0.000000, maxvel = 0.354474, current_vel = 0.294117, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.294117, acc = 0.000000,T = 0.005554, P = 0.000988 initial results: dx= 0.004567,dt = 0.031053, a_f = -9.471478, v_f = 0.000000 dt = 0.031053, not at end yet tc id = 111, canon_type = 3, mot type = 2 time: 5.401000 primary movement = 2.940714528238e-04 time: 5.401000000000e+00 total movement = 2.940714528238e-04 vel = 2.941167733645e-01 ------------------- tc state : vr = 0.294117, vf = 0.000000, maxvel = 0.354474, current_vel = 0.294117, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.294117, acc = 0.000000,T = 0.005554, P = 0.001282 initial results: dx= 0.004272,dt = 0.029053, a_f = -10.123494, v_f = 0.000000 dt = 0.029053, not at end yet tc id = 111, canon_type = 3, mot type = 2 time: 5.402000 primary movement = 2.940714528238e-04 time: 5.402000000000e+00 total movement = 2.940714528238e-04 vel = 2.941167733645e-01 ------------------- tc state : vr = 0.294117, vf = 0.000000, maxvel = 0.354474, current_vel = 0.294117, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.294117, acc = 0.000000,T = 0.005554, P = 0.001576 initial results: dx= 0.003978,dt = 0.027053, a_f = -10.871916, v_f = 0.000000 dt = 0.027053, not at end yet tc id = 111, canon_type = 3, mot type = 2 time: 5.403000 primary movement = 2.940714528238e-04 time: 5.403000000000e+00 total movement = 2.940714528238e-04 vel = 2.941167733645e-01 ------------------- tc state : vr = 0.294117, vf = 0.000000, maxvel = 0.354474, current_vel = 0.294117, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.294117, acc = 0.000000,T = 0.005554, P = 0.001870 initial results: dx= 0.003684,dt = 0.025053, a_f = -11.739833, v_f = 0.000000 dt = 0.025053, not at end yet tc id = 111, canon_type = 3, mot type = 2 time: 5.404000 primary movement = 2.940714528238e-04 time: 5.404000000000e+00 total movement = 2.940714528238e-04 vel = 2.941167733645e-01 ------------------- tc state : vr = 0.294117, vf = 0.000000, maxvel = 0.354474, current_vel = 0.294117, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.294117, acc = 0.000000,T = 0.005554, P = 0.002164 initial results: dx= 0.003390,dt = 0.023053, a_f = -12.758346, v_f = 0.000000 dt = 0.023053, not at end yet tc id = 111, canon_type = 3, mot type = 2 time: 5.405000 primary movement = 2.940714528238e-04 time: 5.405000000000e+00 total movement = 2.940714528238e-04 vel = 2.941167733645e-01 ------------------- tc state : vr = 0.294117, vf = 0.000000, maxvel = 0.354474, current_vel = 0.294117, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.294117, acc = 0.000000,T = 0.005554, P = 0.002458 initial results: dx= 0.003096,dt = 0.021053, a_f = -13.970374, v_f = 0.000000 dt = 0.021053, not at end yet tc id = 111, canon_type = 3, mot type = 2 time: 5.406000 primary movement = 2.940714528238e-04 time: 5.406000000000e+00 total movement = 2.940714528238e-04 vel = 2.941167733645e-01 ------------------- tc state : vr = 0.294117, vf = 0.000000, maxvel = 0.354474, current_vel = 0.290031, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.290031, acc = -4.085887,T = 0.005554, P = 0.002750 on final decel initial results: dx= 0.002804,dt = 0.019335, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.019335 dt = 0.019335, not at end yet tc id = 111, canon_type = 3, mot type = 2 time: 5.407000 primary movement = 2.920294473795e-04 time: 5.407000000000e+00 total movement = 2.920294473795e-04 vel = 2.900308868355e-01 ------------------- tc state : vr = 0.294117, vf = 0.000000, maxvel = 0.354474, current_vel = 0.275031, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.275031, acc = -15.000000,T = 0.005554, P = 0.003033 on final decel initial results: dx= 0.002521,dt = 0.018335, a_f = -15.000000, v_f = 0.000000 dt = 0.018335, not at end yet tc id = 111, canon_type = 3, mot type = 2 time: 5.408000 primary movement = 2.824907137626e-04 time: 5.408000000000e+00 total movement = 2.824907137626e-04 vel = 2.750308868355e-01 ------------------- tc state : vr = 0.294117, vf = 0.000000, maxvel = 0.354474, current_vel = 0.260031, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.260031, acc = -15.000000,T = 0.005554, P = 0.003301 on final decel initial results: dx= 0.002254,dt = 0.017335, a_f = -15.000000, v_f = 0.000000 dt = 0.017335, not at end yet tc id = 111, canon_type = 3, mot type = 2 time: 5.409000 primary movement = 2.674967784662e-04 time: 5.409000000000e+00 total movement = 2.674967784662e-04 vel = 2.600308868355e-01 ------------------- tc state : vr = 0.294117, vf = 0.000000, maxvel = 0.354474, current_vel = 0.245031, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.245031, acc = -15.000000,T = 0.005554, P = 0.003553 on final decel initial results: dx= 0.002001,dt = 0.016335, a_f = -15.000000, v_f = 0.000000 dt = 0.016335, not at end yet tc id = 111, canon_type = 3, mot type = 2 time: 5.410000 primary movement = 2.525021998779e-04 time: 5.410000000000e+00 total movement = 2.525021998779e-04 vel = 2.450308868355e-01 ------------------- tc state : vr = 0.294117, vf = 0.000000, maxvel = 0.354474, current_vel = 0.230031, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.230031, acc = -15.000000,T = 0.005554, P = 0.003791 on final decel initial results: dx= 0.001764,dt = 0.015335, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.015335 dt = 0.015335, not at end yet tc id = 111, canon_type = 3, mot type = 2 time: 5.411000 primary movement = 2.375070140577e-04 time: 5.411000000000e+00 total movement = 2.375070140577e-04 vel = 2.300308868355e-01 ------------------- tc state : vr = 0.294117, vf = 0.000000, maxvel = 0.354474, current_vel = 0.215031, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.215031, acc = -15.000000,T = 0.005554, P = 0.004013 on final decel initial results: dx= 0.001541,dt = 0.014335, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.014335 dt = 0.014335, not at end yet tc id = 111, canon_type = 3, mot type = 2 time: 5.412000 primary movement = 2.225112570667e-04 time: 5.412000000000e+00 total movement = 2.225112570667e-04 vel = 2.150308868355e-01 ------------------- tc state : vr = 0.294117, vf = 0.000000, maxvel = 0.354474, current_vel = 0.200031, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.200031, acc = -15.000000,T = 0.005554, P = 0.004221 on final decel initial results: dx= 0.001334,dt = 0.013335, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.013335 dt = 0.013335, not at end yet tc id = 111, canon_type = 3, mot type = 2 time: 5.413000 primary movement = 2.075149649678e-04 time: 5.413000000000e+00 total movement = 2.075149649678e-04 vel = 2.000308868355e-01 ------------------- tc state : vr = 0.294117, vf = 0.000000, maxvel = 0.354474, current_vel = 0.185031, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.185031, acc = -15.000000,T = 0.005554, P = 0.004413 on final decel initial results: dx= 0.001141,dt = 0.012335, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.012335 dt = 0.012335, not at end yet tc id = 111, canon_type = 3, mot type = 2 time: 5.414000 primary movement = 1.925181738248e-04 time: 5.414000000000e+00 total movement = 1.925181738248e-04 vel = 1.850308868355e-01 ------------------- tc state : vr = 0.294117, vf = 0.000000, maxvel = 0.354474, current_vel = 0.170031, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.170031, acc = -15.000000,T = 0.005554, P = 0.004591 on final decel initial results: dx= 0.000964,dt = 0.011335, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.011335 dt = 0.011335, not at end yet tc id = 111, canon_type = 3, mot type = 2 time: 5.415000 primary movement = 1.775209197030e-04 time: 5.415000000000e+00 total movement = 1.775209197030e-04 vel = 1.700308868355e-01 ------------------- tc state : vr = 0.294117, vf = 0.000000, maxvel = 0.354474, current_vel = 0.155031, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.155031, acc = -15.000000,T = 0.005554, P = 0.004753 on final decel initial results: dx= 0.000801,dt = 0.010335, a_f = -15.000000, v_f = 0.000000 dt = 0.010335, not at end yet tc id = 111, canon_type = 3, mot type = 2 time: 5.416000 primary movement = 1.625232386685e-04 time: 5.416000000000e+00 total movement = 1.625232386685e-04 vel = 1.550308868355e-01 ------------------- tc state : vr = 0.294117, vf = 0.000000, maxvel = 0.354474, current_vel = 0.140031, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.140031, acc = -15.000000,T = 0.005554, P = 0.004901 on final decel initial results: dx= 0.000654,dt = 0.009335, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.009335 dt = 0.009335, not at end yet tc id = 111, canon_type = 3, mot type = 2 time: 5.417000 primary movement = 1.475251667886e-04 time: 5.417000000000e+00 total movement = 1.475251667886e-04 vel = 1.400308868355e-01 ------------------- tc state : vr = 0.294117, vf = 0.000000, maxvel = 0.354474, current_vel = 0.125031, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.125031, acc = -15.000000,T = 0.005554, P = 0.005033 on final decel initial results: dx= 0.000521,dt = 0.008335, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.008335 dt = 0.008335, not at end yet tc id = 111, canon_type = 3, mot type = 2 time: 5.418000 primary movement = 1.325267401317e-04 time: 5.418000000000e+00 total movement = 1.325267401317e-04 vel = 1.250308868355e-01 ------------------- tc state : vr = 0.294117, vf = 0.000000, maxvel = 0.354474, current_vel = 0.110031, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.110031, acc = -15.000000,T = 0.005554, P = 0.005151 on final decel initial results: dx= 0.000404,dt = 0.007335, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.007335 dt = 0.007335, not at end yet tc id = 111, canon_type = 3, mot type = 2 time: 5.419000 primary movement = 1.175279947667e-04 time: 5.419000000000e+00 total movement = 1.175279947667e-04 vel = 1.100308868355e-01 ------------------- tc state : vr = 0.294117, vf = 0.000000, maxvel = 0.354474, current_vel = 0.095031, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.095031, acc = -15.000000,T = 0.005554, P = 0.005253 on final decel initial results: dx= 0.000301,dt = 0.006335, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.006335 dt = 0.006335, not at end yet tc id = 111, canon_type = 3, mot type = 2 time: 5.420000 primary movement = 1.025289667636e-04 time: 5.420000000000e+00 total movement = 1.025289667636e-04 vel = 9.503088683551e-02 ------------------- tc state : vr = 0.294117, vf = 0.000000, maxvel = 0.354474, current_vel = 0.080031, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.080031, acc = -15.000000,T = 0.005554, P = 0.005341 on final decel initial results: dx= 0.000213,dt = 0.005335, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.005335 dt = 0.005335, not at end yet tc id = 111, canon_type = 3, mot type = 2 time: 5.421000 primary movement = 8.752969219293e-05 time: 5.421000000000e+00 total movement = 8.752969219293e-05 vel = 8.003088683551e-02 ------------------- tc state : vr = 0.294117, vf = 0.000000, maxvel = 0.354474, current_vel = 0.065031, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.065031, acc = -15.000000,T = 0.005554, P = 0.005413 on final decel initial results: dx= 0.000141,dt = 0.004335, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.004335 dt = 0.004335, not at end yet tc id = 111, canon_type = 3, mot type = 2 time: 5.422000 primary movement = 7.253020712574e-05 time: 5.422000000000e+00 total movement = 7.253020712574e-05 vel = 6.503088683551e-02 ------------------- tc state : vr = 0.294117, vf = 0.000000, maxvel = 0.354474, current_vel = 0.050031, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.050031, acc = -15.000000,T = 0.005554, P = 0.005471 on final decel initial results: dx= 0.000083,dt = 0.003335, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.003335 dt = 0.003335, not at end yet tc id = 111, canon_type = 3, mot type = 2 time: 5.423000 primary movement = 5.753054763364e-05 time: 5.423000000000e+00 total movement = 5.753054763364e-05 vel = 5.003088683551e-02 ------------------- tc state : vr = 0.294117, vf = 0.000000, maxvel = 0.354474, current_vel = 0.035031, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.035031, acc = -15.000000,T = 0.005554, P = 0.005513 on final decel initial results: dx= 0.000041,dt = 0.002335, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.002335 dt = 0.002335, not at end yet tc id = 111, canon_type = 3, mot type = 2 time: 5.424000 primary movement = 4.253074978879e-05 time: 5.424000000000e+00 total movement = 4.253074978879e-05 vel = 3.503088683551e-02 ------------------- tc state : vr = 0.294117, vf = 0.000000, maxvel = 0.354474, current_vel = 0.020031, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.020031, acc = -15.000000,T = 0.005554, P = 0.005541 on final decel initial results: dx= 0.000013,dt = 0.001335, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.001335 dt = 0.001335, not at end yet tc id = 111, canon_type = 3, mot type = 2 time: 5.425000 primary movement = 2.753084966347e-05 time: 5.425000000000e+00 total movement = 2.753084966347e-05 vel = 2.003088683551e-02 ------------------- tc state : vr = 0.294117, vf = 0.000000, maxvel = 0.354474, current_vel = 0.005031, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.005031, acc = -15.000000,T = 0.005554, P = 0.005554 on final decel initial results: dx= 0.000001,dt = 0.000335, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.000335 actual v_f = 0.000000, a = -15.000000 split time is 0.000335392 tc id = 111, canon_type = 3, mot type = 2 time: 5.426000 primary movement = 1.253088333041e-05 time: 5.426000000000e+00 total movement = 1.253088333041e-05 vel = 5.030886835512e-03 ------------------- tc id 111 done Finishing split-cycle on id 111 tc state : vr = 10.759141, vf = 0.000000, maxvel = 10.759141, current_vel = 0.012871, fs = 1.000000, tc = 0.000665, term = 2 tc result: v = 0.012871, acc = 19.366530,T = 0.004618, P = 0.000004 secondary movement = 0.000004 tc id = 111, canon_type = 2, mot type = 1 time: 5.427000 primary movement = 8.436607439856e-07 time: 5.427000000000e+00 total movement = 5.120794907001e-06 vel = 1.287114981828e-02 Finished tc id 111 ------------------- Activate tc id = 111 target_vel = 10.759141 final_vel = 0.000000 length = 0.004618 Activate nexttc id 112 tc state : vr = 10.759141, vf = 0.000000, maxvel = 10.759141, current_vel = 0.032238, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.032238, acc = 19.366530,T = 0.004618, P = 0.000027 tc id = 111, canon_type = 2, mot type = 1 time: 5.428000 primary movement = 2.255441502171e-05 time: 5.428000000000e+00 total movement = 2.255441502171e-05 vel = 3.223768022514e-02 ------------------- tc state : vr = 10.759141, vf = 0.000000, maxvel = 10.759141, current_vel = 0.051604, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.051604, acc = 19.366530,T = 0.004618, P = 0.000069 tc id = 111, canon_type = 2, mot type = 1 time: 5.429000 primary movement = 4.192094542858e-05 time: 5.429000000000e+00 total movement = 4.192094542858e-05 vel = 5.160421063201e-02 ------------------- tc state : vr = 10.759141, vf = 0.000000, maxvel = 10.759141, current_vel = 0.070971, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.070971, acc = 19.366530,T = 0.004618, P = 0.000130 tc id = 111, canon_type = 2, mot type = 1 time: 5.430000 primary movement = 6.128747583543e-05 time: 5.430000000000e+00 total movement = 6.128747583543e-05 vel = 7.097074103887e-02 ------------------- tc state : vr = 10.759141, vf = 0.000000, maxvel = 10.759141, current_vel = 0.090337, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.090337, acc = 19.366530,T = 0.004618, P = 0.000211 tc id = 111, canon_type = 2, mot type = 1 time: 5.431000 primary movement = 8.065400624230e-05 time: 5.431000000000e+00 total movement = 8.065400624230e-05 vel = 9.033727144574e-02 ------------------- tc state : vr = 10.759141, vf = 0.000000, maxvel = 10.759141, current_vel = 0.109704, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.109704, acc = 19.366530,T = 0.004618, P = 0.000311 tc id = 111, canon_type = 2, mot type = 1 time: 5.432000 primary movement = 1.000205366492e-04 time: 5.432000000000e+00 total movement = 1.000205366492e-04 vel = 1.097038018526e-01 ------------------- tc state : vr = 10.759141, vf = 0.000000, maxvel = 10.759141, current_vel = 0.129070, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.129070, acc = 19.366530,T = 0.004618, P = 0.000430 tc id = 111, canon_type = 2, mot type = 1 time: 5.433000 primary movement = 1.193870670560e-04 time: 5.433000000000e+00 total movement = 1.193870670560e-04 vel = 1.290703322595e-01 ------------------- tc state : vr = 10.759141, vf = 0.000000, maxvel = 10.759141, current_vel = 0.148437, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.148437, acc = 19.366530,T = 0.004618, P = 0.000569 tc id = 111, canon_type = 2, mot type = 1 time: 5.434000 primary movement = 1.387535974629e-04 time: 5.434000000000e+00 total movement = 1.387535974629e-04 vel = 1.484368626663e-01 ------------------- tc state : vr = 10.759141, vf = 0.000000, maxvel = 10.759141, current_vel = 0.167803, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.167803, acc = 19.366530,T = 0.004618, P = 0.000727 tc id = 111, canon_type = 2, mot type = 1 time: 5.435000 primary movement = 1.581201278698e-04 time: 5.435000000000e+00 total movement = 1.581201278698e-04 vel = 1.678033930732e-01 ------------------- tc state : vr = 10.759141, vf = 0.000000, maxvel = 10.759141, current_vel = 0.187170, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.187170, acc = 19.366530,T = 0.004618, P = 0.000904 tc id = 111, canon_type = 2, mot type = 1 time: 5.436000 primary movement = 1.774866582766e-04 time: 5.436000000000e+00 total movement = 1.774866582766e-04 vel = 1.871699234801e-01 ------------------- tc state : vr = 10.759141, vf = 0.000000, maxvel = 10.759141, current_vel = 0.206536, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.206536, acc = 19.366530,T = 0.004618, P = 0.001101 tc id = 111, canon_type = 2, mot type = 1 time: 5.437000 primary movement = 1.968531886835e-04 time: 5.437000000000e+00 total movement = 1.968531886835e-04 vel = 2.065364538869e-01 ------------------- tc state : vr = 10.759141, vf = 0.000000, maxvel = 10.759141, current_vel = 0.225903, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.225903, acc = 19.366530,T = 0.004618, P = 0.001318 tc id = 111, canon_type = 2, mot type = 1 time: 5.438000 primary movement = 2.162197190903e-04 time: 5.438000000000e+00 total movement = 2.162197190903e-04 vel = 2.259029842938e-01 ------------------- tc state : vr = 10.759141, vf = 0.000000, maxvel = 10.759141, current_vel = 0.245270, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.245270, acc = 19.366530,T = 0.004618, P = 0.001553 tc id = 111, canon_type = 2, mot type = 1 time: 5.439000 primary movement = 2.355862494972e-04 time: 5.439000000000e+00 total movement = 2.355862494972e-04 vel = 2.452695147007e-01 ------------------- tc state : vr = 10.759141, vf = 0.000000, maxvel = 10.759141, current_vel = 0.264636, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.264636, acc = 19.366530,T = 0.004618, P = 0.001808 tc id = 111, canon_type = 2, mot type = 1 time: 5.440000 primary movement = 2.549527799041e-04 time: 5.440000000000e+00 total movement = 2.549527799041e-04 vel = 2.646360451075e-01 ------------------- tc state : vr = 10.759141, vf = 0.000000, maxvel = 10.759141, current_vel = 0.284003, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.284003, acc = 19.366530,T = 0.004618, P = 0.002082 tc id = 111, canon_type = 2, mot type = 1 time: 5.441000 primary movement = 2.743193103110e-04 time: 5.441000000000e+00 total movement = 2.743193103110e-04 vel = 2.840025755144e-01 ------------------- tc state : vr = 10.759141, vf = 0.000000, maxvel = 10.759141, current_vel = 0.294938, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.294938, acc = 10.935001,T = 0.004618, P = 0.002372 tc id = 111, canon_type = 2, mot type = 1 time: 5.442000 primary movement = 2.894700761153e-04 time: 5.442000000000e+00 total movement = 2.894700761153e-04 vel = 2.949375767163e-01 ------------------- tc state : vr = 10.759141, vf = 0.000000, maxvel = 10.759141, current_vel = 0.275571, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.275571, acc = -19.366530,T = 0.004618, P = 0.002657 on final decel tc id = 111, canon_type = 2, mot type = 1 tc state : vr = 0.019367, vf = 0.019367, maxvel = 8.384582, current_vel = 0.015092, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.015092, acc = 15.092309,T = 0.016481, P = 0.000008 initial results: dx= 0.016474,dt = 0.101601, a_f = 2.894606, v_f = 0.309187 dt = 0.101601, not at end yet tc id = 111, canon_type = 2, mot type = 1 secondary movement = 0.000008 time: 5.443000 primary movement = 2.852543115129e-04 time: 5.443000000000e+00 total movement = 2.928004657947e-04 vel = 2.906633548730e-01 ------------------- tc state : vr = 10.759141, vf = 0.000000, maxvel = 10.759141, current_vel = 0.256205, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.256205, acc = -19.366530,T = 0.004618, P = 0.002923 on final decel tc id = 111, canon_type = 2, mot type = 1 tc state : vr = 0.038733, vf = 0.038733, maxvel = 8.384582, current_vel = 0.030185, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.030185, acc = 15.092309,T = 0.016481, P = 0.000030 initial results: dx= 0.016451,dt = 0.096949, a_f = 2.877821, v_f = 0.309187 dt = 0.096949, not at end yet tc id = 111, canon_type = 2, mot type = 1 secondary movement = 0.000023 time: 5.444000 primary movement = 2.658877811060e-04 time: 5.444000000000e+00 total movement = 2.885262439513e-04 vel = 2.863891330297e-01 ------------------- tc state : vr = 10.759141, vf = 0.000000, maxvel = 10.759141, current_vel = 0.236838, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.236838, acc = -19.366530,T = 0.004618, P = 0.003170 on final decel tc id = 111, canon_type = 2, mot type = 1 tc state : vr = 0.058100, vf = 0.058100, maxvel = 8.384582, current_vel = 0.045277, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.045277, acc = 15.092309,T = 0.016481, P = 0.000068 initial results: dx= 0.016413,dt = 0.092608, a_f = 2.849742, v_f = 0.309187 dt = 0.092608, not at end yet tc id = 111, canon_type = 2, mot type = 1 secondary movement = 0.000038 time: 5.445000 primary movement = 2.465212506991e-04 time: 5.445000000000e+00 total movement = 2.842520221080e-04 vel = 2.821149111864e-01 ------------------- tc state : vr = 10.759141, vf = 0.000000, maxvel = 10.759141, current_vel = 0.217471, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.217471, acc = -19.366530,T = 0.004618, P = 0.003397 on final decel tc id = 111, canon_type = 2, mot type = 1 tc state : vr = 0.077466, vf = 0.077466, maxvel = 8.384582, current_vel = 0.060369, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.060369, acc = 15.092309,T = 0.016481, P = 0.000121 initial results: dx= 0.016360,dt = 0.088540, a_f = 2.810214, v_f = 0.309187 dt = 0.088540, not at end yet tc id = 111, canon_type = 2, mot type = 1 secondary movement = 0.000053 time: 5.446000 primary movement = 2.271547202923e-04 time: 5.446000000000e+00 total movement = 2.799778002648e-04 vel = 2.778406893431e-01 ------------------- tc state : vr = 10.759141, vf = 0.000000, maxvel = 10.759141, current_vel = 0.198105, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.198105, acc = -19.366530,T = 0.004618, P = 0.003604 on final decel tc id = 111, canon_type = 2, mot type = 1 tc state : vr = 0.096833, vf = 0.096833, maxvel = 8.384582, current_vel = 0.075462, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.075462, acc = 15.092309,T = 0.016481, P = 0.000189 initial results: dx= 0.016292,dt = 0.084713, a_f = 2.759016, v_f = 0.309187 dt = 0.084713, not at end yet tc id = 111, canon_type = 2, mot type = 1 secondary movement = 0.000068 time: 5.447000 primary movement = 2.077881898854e-04 time: 5.447000000000e+00 total movement = 2.757035784214e-04 vel = 2.735664674998e-01 ------------------- tc state : vr = 10.759141, vf = 0.000000, maxvel = 10.759141, current_vel = 0.178738, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.178738, acc = -19.366530,T = 0.004618, P = 0.003793 on final decel tc id = 111, canon_type = 2, mot type = 1 tc state : vr = 0.116199, vf = 0.116199, maxvel = 8.384582, current_vel = 0.090554, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.090554, acc = 15.092309,T = 0.016481, P = 0.000272 initial results: dx= 0.016209,dt = 0.081100, a_f = 2.695858, v_f = 0.309187 dt = 0.081100, not at end yet tc id = 111, canon_type = 2, mot type = 1 secondary movement = 0.000083 time: 5.448000 primary movement = 1.884216594786e-04 time: 5.448000000000e+00 total movement = 2.714293565781e-04 vel = 2.692922456565e-01 ------------------- tc state : vr = 10.759141, vf = 0.000000, maxvel = 10.759141, current_vel = 0.159372, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.159372, acc = -19.366530,T = 0.004618, P = 0.003962 on final decel tc id = 111, canon_type = 2, mot type = 1 tc state : vr = 0.135566, vf = 0.135566, maxvel = 8.384582, current_vel = 0.105646, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.105646, acc = 15.092309,T = 0.016481, P = 0.000370 initial results: dx= 0.016111,dt = 0.077676, a_f = 2.620377, v_f = 0.309187 dt = 0.077676, not at end yet tc id = 111, canon_type = 2, mot type = 1 secondary movement = 0.000098 time: 5.449000 primary movement = 1.690551290717e-04 time: 5.449000000000e+00 total movement = 2.671551347348e-04 vel = 2.650180238132e-01 ------------------- tc state : vr = 10.759141, vf = 0.000000, maxvel = 10.759141, current_vel = 0.140005, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.140005, acc = -19.366530,T = 0.004618, P = 0.004112 on final decel tc id = 111, canon_type = 2, mot type = 1 tc state : vr = 0.154932, vf = 0.154932, maxvel = 8.384582, current_vel = 0.120738, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.120738, acc = 15.092309,T = 0.016481, P = 0.000483 initial results: dx= 0.015998,dt = 0.074423, a_f = 2.532134, v_f = 0.309187 dt = 0.074423, not at end yet tc id = 111, canon_type = 2, mot type = 1 secondary movement = 0.000113 time: 5.450000 primary movement = 1.496885986648e-04 time: 5.450000000000e+00 total movement = 2.628809128915e-04 vel = 2.607438019699e-01 ------------------- tc state : vr = 10.759141, vf = 0.000000, maxvel = 10.759141, current_vel = 0.120639, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.120639, acc = -19.366530,T = 0.004618, P = 0.004242 on final decel tc id = 111, canon_type = 2, mot type = 1 tc state : vr = 0.174299, vf = 0.174299, maxvel = 8.384582, current_vel = 0.135831, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.135831, acc = 15.092309,T = 0.016481, P = 0.000611 initial results: dx= 0.015870,dt = 0.071322, a_f = 2.430603, v_f = 0.309187 dt = 0.071322, not at end yet tc id = 112, canon_type = 2, mot type = 1 secondary movement = 0.000128 time: 5.451000 primary movement = 1.303220682579e-04 time: 5.451000000000e+00 total movement = 2.586066910482e-04 vel = 2.564695801266e-01 ------------------- tc state : vr = 10.759141, vf = 0.000000, maxvel = 10.759141, current_vel = 0.101272, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.101272, acc = -19.366530,T = 0.004618, P = 0.004353 on final decel tc id = 111, canon_type = 2, mot type = 1 tc state : vr = 0.193665, vf = 0.193665, maxvel = 8.384582, current_vel = 0.150923, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.150923, acc = 15.092309,T = 0.016481, P = 0.000755 initial results: dx= 0.015726,dt = 0.068360, a_f = 2.315167, v_f = 0.309187 dt = 0.068360, not at end yet tc id = 112, canon_type = 2, mot type = 1 secondary movement = 0.000143 time: 5.452000 primary movement = 1.109555378511e-04 time: 5.452000000000e+00 total movement = 2.543324692049e-04 vel = 2.521953582833e-01 ------------------- tc state : vr = 10.759141, vf = 0.000000, maxvel = 10.759141, current_vel = 0.081906, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.081906, acc = -19.366530,T = 0.004618, P = 0.004445 on final decel tc id = 111, canon_type = 2, mot type = 1 tc state : vr = 0.213032, vf = 0.213032, maxvel = 8.384582, current_vel = 0.166015, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.166015, acc = 15.092309,T = 0.016481, P = 0.000913 initial results: dx= 0.015568,dt = 0.065522, a_f = 2.185107, v_f = 0.309187 dt = 0.065522, not at end yet tc id = 112, canon_type = 2, mot type = 1 secondary movement = 0.000158 time: 5.453000 primary movement = 9.158900744424e-05 time: 5.453000000000e+00 total movement = 2.500582473617e-04 vel = 2.479211364400e-01 ------------------- tc state : vr = 10.759141, vf = 0.000000, maxvel = 10.759141, current_vel = 0.062539, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.062539, acc = -19.366530,T = 0.004618, P = 0.004517 on final decel tc id = 111, canon_type = 2, mot type = 1 tc state : vr = 0.232398, vf = 0.232398, maxvel = 8.384582, current_vel = 0.181108, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.181108, acc = 15.092309,T = 0.016481, P = 0.001087 initial results: dx= 0.015394,dt = 0.062797, a_f = 2.039587, v_f = 0.309187 dt = 0.062797, not at end yet tc id = 112, canon_type = 2, mot type = 1 secondary movement = 0.000174 time: 5.454000 primary movement = 7.222247703736e-05 time: 5.454000000000e+00 total movement = 2.457840255183e-04 vel = 2.436469145967e-01 ------------------- tc state : vr = 10.759141, vf = 0.000000, maxvel = 10.759141, current_vel = 0.043173, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.043173, acc = -19.366530,T = 0.004618, P = 0.004570 on final decel tc id = 111, canon_type = 2, mot type = 1 tc state : vr = 0.251765, vf = 0.251765, maxvel = 8.384582, current_vel = 0.196200, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.196200, acc = 15.092309,T = 0.016481, P = 0.001275 initial results: dx= 0.015206,dt = 0.060175, a_f = 1.877646, v_f = 0.309187 dt = 0.060175, not at end yet tc id = 112, canon_type = 2, mot type = 1 secondary movement = 0.000189 time: 5.455000 primary movement = 5.285594663049e-05 time: 5.455000000000e+00 total movement = 2.415098036750e-04 vel = 2.393726927534e-01 ------------------- tc state : vr = 10.759141, vf = 0.000000, maxvel = 10.759141, current_vel = 0.023806, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.023806, acc = -19.366530,T = 0.004618, P = 0.004603 on final decel tc id = 111, canon_type = 2, mot type = 1 tc state : vr = 0.271131, vf = 0.271131, maxvel = 8.384582, current_vel = 0.211292, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.211292, acc = 15.092309,T = 0.016481, P = 0.001479 initial results: dx= 0.015002,dt = 0.057647, a_f = 1.698174, v_f = 0.309187 dt = 0.057647, not at end yet tc id = 112, canon_type = 2, mot type = 1 secondary movement = 0.000204 time: 5.456000 primary movement = 3.348941622364e-05 time: 5.456000000000e+00 total movement = 2.372355818317e-04 vel = 2.350984709101e-01 ------------------- tc state : vr = 10.759141, vf = 0.000000, maxvel = 10.759141, current_vel = 0.004440, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.004440, acc = -19.366530,T = 0.004618, P = 0.004617 on final decel tc id = 111, canon_type = 2, mot type = 1 tc state : vr = 0.290498, vf = 0.290498, maxvel = 8.384582, current_vel = 0.226385, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.226385, acc = 15.092309,T = 0.016481, P = 0.001698 initial results: dx= 0.014783,dt = 0.055205, a_f = 1.499898, v_f = 0.309187 dt = 0.055205, not at end yet tc id = 112, canon_type = 2, mot type = 1 secondary movement = 0.000219 time: 5.457000 primary movement = 1.412288581677e-05 time: 5.457000000000e+00 total movement = 2.329613599884e-04 vel = 2.308242490668e-01 ------------------- Found newvel = -0.004440, assuming segment is done segment 111 at target in runcycle tc state : vr = 10.759141, vf = 0.000000, maxvel = 10.759141, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.004618, P = 0.004618 tc id = 111, canon_type = 2, mot type = 1 tc state : vr = 0.294938, vf = 0.294938, maxvel = 8.384582, current_vel = 0.241477, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.241477, acc = 15.092309,T = 0.016481, P = 0.001932 initial results: dx= 0.014549,dt = 0.052843, a_f = 1.281352, v_f = 0.309187 dt = 0.052843, not at end yet tc id = 112, canon_type = 2, mot type = 1 secondary movement = 0.000234 time: 5.458000 primary movement = 5.088735766344e-07 time: 5.458000000000e+00 total movement = 2.344396563118e-04 vel = 2.414769370170e-01 Finished tc id 111 ------------------- tc state : vr = 7.848134, vf = 0.309187, maxvel = 8.384582, current_vel = 0.256569, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.256569, acc = 15.092309,T = 0.016481, P = 0.002181 initial results: dx= 0.014300,dt = 0.050553, a_f = 1.040850, v_f = 0.309187 dt = 0.050553, not at end yet tc id = 112, canon_type = 2, mot type = 1 time: 5.459000 primary movement = 2.490230912988e-04 time: 5.459000000000e+00 total movement = 2.490230912988e-04 vel = 2.565692455806e-01 ------------------- tc state : vr = 7.848134, vf = 0.309187, maxvel = 8.384582, current_vel = 0.271662, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.271662, acc = 15.092309,T = 0.016481, P = 0.002445 initial results: dx= 0.014036,dt = 0.048330, a_f = 0.776446, v_f = 0.309187 dt = 0.048330, not at end yet tc id = 112, canon_type = 2, mot type = 1 time: 5.460000 primary movement = 2.641153998623e-04 time: 5.460000000000e+00 total movement = 2.641153998623e-04 vel = 2.716615541441e-01 ------------------- tc state : vr = 7.848134, vf = 0.309187, maxvel = 8.384582, current_vel = 0.286754, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.286754, acc = 15.092309,T = 0.016481, P = 0.002724 initial results: dx= 0.013757,dt = 0.046169, a_f = 0.485894, v_f = 0.309187 dt = 0.046169, not at end yet tc id = 112, canon_type = 2, mot type = 1 time: 5.461000 primary movement = 2.792077084259e-04 time: 5.461000000000e+00 total movement = 2.792077084259e-04 vel = 2.867538627077e-01 ------------------- tc state : vr = 7.848134, vf = 0.309187, maxvel = 8.384582, current_vel = 0.301846, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.301846, acc = 15.092309,T = 0.016481, P = 0.003018 initial results: dx= 0.013463,dt = 0.044065, a_f = 0.166590, v_f = 0.309187 dt = 0.044065, not at end yet tc id = 112, canon_type = 2, mot type = 1 time: 5.462000 primary movement = 2.943000169895e-04 time: 5.462000000000e+00 total movement = 2.943000169895e-04 vel = 3.018461712712e-01 ------------------- tc state : vr = 7.848134, vf = 0.309187, maxvel = 8.384582, current_vel = 0.316938, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.316938, acc = 15.092309,T = 0.016481, P = 0.003328 initial results: dx= 0.013153,dt = 0.042015, a_f = -0.184495, v_f = 0.309187 dt = 0.042015, not at end yet tc id = 112, canon_type = 2, mot type = 1 time: 5.463000 primary movement = 3.093923255530e-04 time: 5.463000000000e+00 total movement = 3.093923255530e-04 vel = 3.169384798348e-01 ------------------- tc state : vr = 7.848134, vf = 0.309187, maxvel = 8.384582, current_vel = 0.332031, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.332031, acc = 15.092309,T = 0.016481, P = 0.003652 initial results: dx= 0.012829,dt = 0.040014, a_f = -0.570900, v_f = 0.309187 dt = 0.040014, not at end yet tc id = 112, canon_type = 2, mot type = 1 time: 5.464000 primary movement = 3.244846341166e-04 time: 5.464000000000e+00 total movement = 3.244846341166e-04 vel = 3.320307883984e-01 ------------------- tc state : vr = 7.848134, vf = 0.309187, maxvel = 8.384582, current_vel = 0.347123, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.347123, acc = 15.092309,T = 0.016481, P = 0.003992 initial results: dx= 0.012489,dt = 0.038059, a_f = -0.996779, v_f = 0.309187 dt = 0.038059, not at end yet tc id = 112, canon_type = 2, mot type = 1 time: 5.465000 primary movement = 3.395769426802e-04 time: 5.465000000000e+00 total movement = 3.395769426802e-04 vel = 3.471230969619e-01 ------------------- tc state : vr = 7.848134, vf = 0.309187, maxvel = 8.384582, current_vel = 0.362215, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.362215, acc = 15.092309,T = 0.016481, P = 0.004347 initial results: dx= 0.012134,dt = 0.036147, a_f = -1.467033, v_f = 0.309187 dt = 0.036147, not at end yet tc id = 112, canon_type = 2, mot type = 1 time: 5.466000 primary movement = 3.546692512437e-04 time: 5.466000000000e+00 total movement = 3.546692512437e-04 vel = 3.622154055255e-01 ------------------- tc state : vr = 7.848134, vf = 0.309187, maxvel = 8.384582, current_vel = 0.377308, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.377308, acc = 15.092309,T = 0.016481, P = 0.004716 initial results: dx= 0.011765,dt = 0.034275, a_f = -1.987488, v_f = 0.309187 dt = 0.034275, not at end yet tc id = 112, canon_type = 2, mot type = 1 time: 5.467000 primary movement = 3.697615598073e-04 time: 5.467000000000e+00 total movement = 3.697615598073e-04 vel = 3.773077140891e-01 ------------------- tc state : vr = 7.848134, vf = 0.309187, maxvel = 8.384582, current_vel = 0.392400, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.392400, acc = 15.092309,T = 0.016481, P = 0.005101 initial results: dx= 0.011380,dt = 0.032440, a_f = -2.565106, v_f = 0.309187 dt = 0.032440, not at end yet tc id = 112, canon_type = 2, mot type = 1 time: 5.468000 primary movement = 3.848538683708e-04 time: 5.468000000000e+00 total movement = 3.848538683708e-04 vel = 3.924000226526e-01 ------------------- tc state : vr = 7.848134, vf = 0.309187, maxvel = 8.384582, current_vel = 0.407492, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.407492, acc = 15.092309,T = 0.016481, P = 0.005501 initial results: dx= 0.010980,dt = 0.030641, a_f = -3.208281, v_f = 0.309187 dt = 0.030641, not at end yet tc id = 112, canon_type = 2, mot type = 1 time: 5.469000 primary movement = 3.999461769344e-04 time: 5.469000000000e+00 total movement = 3.999461769344e-04 vel = 4.074923312162e-01 ------------------- tc state : vr = 7.848134, vf = 0.309187, maxvel = 8.384582, current_vel = 0.422585, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.422585, acc = 15.092309,T = 0.016481, P = 0.005916 initial results: dx= 0.010565,dt = 0.028875, a_f = -3.927213, v_f = 0.309187 dt = 0.028875, not at end yet tc id = 112, canon_type = 2, mot type = 1 time: 5.470000 primary movement = 4.150384854980e-04 time: 5.470000000000e+00 total movement = 4.150384854980e-04 vel = 4.225846397797e-01 ------------------- tc state : vr = 7.848134, vf = 0.309187, maxvel = 8.384582, current_vel = 0.437677, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.437677, acc = 15.092309,T = 0.016481, P = 0.006346 initial results: dx= 0.010135,dt = 0.027140, a_f = -4.734423, v_f = 0.309187 dt = 0.027140, not at end yet tc id = 112, canon_type = 2, mot type = 1 time: 5.471000 primary movement = 4.301307940615e-04 time: 5.471000000000e+00 total movement = 4.301307940615e-04 vel = 4.376769483433e-01 ------------------- tc state : vr = 7.848134, vf = 0.309187, maxvel = 8.384582, current_vel = 0.452769, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.452769, acc = 15.092309,T = 0.016481, P = 0.006792 initial results: dx= 0.009690,dt = 0.025433, a_f = -5.645438, v_f = 0.309187 dt = 0.025433, not at end yet tc id = 112, canon_type = 2, mot type = 1 time: 5.472000 primary movement = 4.452231026251e-04 time: 5.472000000000e+00 total movement = 4.452231026251e-04 vel = 4.527692569069e-01 ------------------- tc state : vr = 7.848134, vf = 0.309187, maxvel = 8.384582, current_vel = 0.467862, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.467862, acc = 15.092309,T = 0.016481, P = 0.007252 initial results: dx= 0.009229,dt = 0.023755, a_f = -6.679751, v_f = 0.309187 dt = 0.023755, not at end yet tc id = 112, canon_type = 2, mot type = 1 time: 5.473000 primary movement = 4.603154111887e-04 time: 5.473000000000e+00 total movement = 4.603154111887e-04 vel = 4.678615654704e-01 ------------------- tc state : vr = 7.848134, vf = 0.309187, maxvel = 8.384582, current_vel = 0.482954, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.482954, acc = 15.092309,T = 0.016481, P = 0.007727 initial results: dx= 0.008754,dt = 0.022102, a_f = -7.862161, v_f = 0.309187 dt = 0.022102, not at end yet tc id = 112, canon_type = 2, mot type = 1 time: 5.474000 primary movement = 4.754077197522e-04 time: 5.474000000000e+00 total movement = 4.754077197522e-04 vel = 4.829538740340e-01 ------------------- tc state : vr = 7.848134, vf = 0.309187, maxvel = 8.384582, current_vel = 0.498046, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.498046, acc = 15.092309,T = 0.016481, P = 0.008218 initial results: dx= 0.008263,dt = 0.020473, a_f = -9.224709, v_f = 0.309187 dt = 0.020473, not at end yet tc id = 112, canon_type = 2, mot type = 1 time: 5.475000 primary movement = 4.905000283158e-04 time: 5.475000000000e+00 total movement = 4.905000283158e-04 vel = 4.980461825976e-01 ------------------- tc state : vr = 7.848134, vf = 0.309187, maxvel = 8.384582, current_vel = 0.513138, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.513138, acc = 15.092309,T = 0.016481, P = 0.008723 initial results: dx= 0.007758,dt = 0.018868, a_f = -10.809516, v_f = 0.309187 dt = 0.018868, not at end yet tc id = 112, canon_type = 2, mot type = 1 time: 5.476000 primary movement = 5.055923368794e-04 time: 5.476000000000e+00 total movement = 5.055923368794e-04 vel = 5.131384911611e-01 ------------------- tc state : vr = 7.848134, vf = 0.309187, maxvel = 8.384582, current_vel = 0.528231, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.528231, acc = 15.092309,T = 0.016481, P = 0.009244 initial results: dx= 0.007237,dt = 0.017284, a_f = -12.673079, v_f = 0.309187 dt = 0.017284, not at end yet tc id = 112, canon_type = 2, mot type = 1 time: 5.477000 primary movement = 5.206846454429e-04 time: 5.477000000000e+00 total movement = 5.206846454429e-04 vel = 5.282307997247e-01 ------------------- tc state : vr = 7.848134, vf = 0.309187, maxvel = 8.384582, current_vel = 0.543323, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.543323, acc = 15.092309,T = 0.016481, P = 0.009780 initial results: dx= 0.006701,dt = 0.015721, a_f = -14.892966, v_f = 0.309187 dt = 0.015721, not at end yet tc id = 112, canon_type = 2, mot type = 1 time: 5.478000 primary movement = 5.357769540065e-04 time: 5.478000000000e+00 total movement = 5.357769540065e-04 vel = 5.433231082882e-01 ------------------- tc state : vr = 7.848134, vf = 0.309187, maxvel = 8.384582, current_vel = 0.530718, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.530718, acc = -12.604795,T = 0.016481, P = 0.010317 on final decel initial results: dx= 0.006164,dt = 0.014678, a_f = -15.092309, v_f = 0.309187 dt = 0.014678, not at end yet tc id = 112, canon_type = 2, mot type = 1 time: 5.479000 primary movement = 5.370207109859e-04 time: 5.479000000000e+00 total movement = 5.370207109859e-04 vel = 5.307183136837e-01 ------------------- tc state : vr = 7.848134, vf = 0.309187, maxvel = 8.384582, current_vel = 0.515626, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.515626, acc = -15.092309,T = 0.016481, P = 0.010840 on final decel initial results: dx= 0.005641,dt = 0.013678, a_f = -15.092309, v_f = 0.309187 recalculating with a_f = -15.092309, a = -15.092309 revised dt = 0.013678 dt = 0.013678, not at end yet tc id = 112, canon_type = 2, mot type = 1 time: 5.480000 primary movement = 5.231721594019e-04 time: 5.480000000000e+00 total movement = 5.231721594019e-04 vel = 5.156260051201e-01 ------------------- tc state : vr = 7.848134, vf = 0.309187, maxvel = 8.384582, current_vel = 0.500534, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.500534, acc = -15.092309,T = 0.016481, P = 0.011348 on final decel initial results: dx= 0.005133,dt = 0.012678, a_f = -15.092309, v_f = 0.309187 recalculating with a_f = -15.092309, a = -15.092309 revised dt = 0.012678 dt = 0.012678, not at end yet tc id = 112, canon_type = 2, mot type = 1 time: 5.481000 primary movement = 5.080798508383e-04 time: 5.481000000000e+00 total movement = 5.080798508383e-04 vel = 5.005336965565e-01 ------------------- tc state : vr = 7.848134, vf = 0.309187, maxvel = 8.384582, current_vel = 0.485441, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.485441, acc = -15.092309,T = 0.016481, P = 0.011841 on final decel initial results: dx= 0.004640,dt = 0.011678, a_f = -15.092309, v_f = 0.309187 recalculating with a_f = -15.092309, a = -15.092309 revised dt = 0.011678 dt = 0.011678, not at end yet tc id = 112, canon_type = 2, mot type = 1 time: 5.482000 primary movement = 4.929875422748e-04 time: 5.482000000000e+00 total movement = 4.929875422748e-04 vel = 4.854413879930e-01 ------------------- tc state : vr = 7.848134, vf = 0.309187, maxvel = 8.384582, current_vel = 0.470349, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.470349, acc = -15.092309,T = 0.016481, P = 0.012319 on final decel initial results: dx= 0.004162,dt = 0.010678, a_f = -15.092309, v_f = 0.309187 recalculating with a_f = -15.092309, a = -15.092309 revised dt = 0.010678 dt = 0.010678, not at end yet tc id = 112, canon_type = 2, mot type = 1 time: 5.483000 primary movement = 4.778952337112e-04 time: 5.483000000000e+00 total movement = 4.778952337112e-04 vel = 4.703490794294e-01 ------------------- tc state : vr = 7.848134, vf = 0.309187, maxvel = 8.384582, current_vel = 0.455257, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.455257, acc = -15.092309,T = 0.016481, P = 0.012782 on final decel initial results: dx= 0.003699,dt = 0.009678, a_f = -15.092309, v_f = 0.309187 recalculating with a_f = -15.092309, a = -15.092309 revised dt = 0.009678 dt = 0.009678, not at end yet tc id = 112, canon_type = 2, mot type = 1 time: 5.484000 primary movement = 4.628029251476e-04 time: 5.484000000000e+00 total movement = 4.628029251476e-04 vel = 4.552567708659e-01 ------------------- tc state : vr = 7.848134, vf = 0.309187, maxvel = 8.384582, current_vel = 0.440164, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.440164, acc = -15.092309,T = 0.016481, P = 0.013229 on final decel initial results: dx= 0.003252,dt = 0.008678, a_f = -15.092309, v_f = 0.309187 recalculating with a_f = -15.092309, a = -15.092309 revised dt = 0.008678 dt = 0.008678, not at end yet tc id = 112, canon_type = 2, mot type = 1 time: 5.485000 primary movement = 4.477106165841e-04 time: 5.485000000000e+00 total movement = 4.477106165841e-04 vel = 4.401644623023e-01 ------------------- tc state : vr = 7.848134, vf = 0.309187, maxvel = 8.384582, current_vel = 0.425072, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.425072, acc = -15.092309,T = 0.016481, P = 0.013662 on final decel initial results: dx= 0.002819,dt = 0.007678, a_f = -15.092309, v_f = 0.309187 recalculating with a_f = -15.092309, a = -15.092309 revised dt = 0.007678 dt = 0.007678, not at end yet tc id = 112, canon_type = 2, mot type = 1 time: 5.486000 primary movement = 4.326183080205e-04 time: 5.486000000000e+00 total movement = 4.326183080205e-04 vel = 4.250721537387e-01 ------------------- tc state : vr = 7.848134, vf = 0.309187, maxvel = 8.384582, current_vel = 0.409980, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.409980, acc = -15.092309,T = 0.016481, P = 0.014080 on final decel initial results: dx= 0.002401,dt = 0.006678, a_f = -15.092309, v_f = 0.309187 recalculating with a_f = -15.092309, a = -15.092309 revised dt = 0.006678 dt = 0.006678, not at end yet tc id = 112, canon_type = 2, mot type = 1 time: 5.487000 primary movement = 4.175259994569e-04 time: 5.487000000000e+00 total movement = 4.175259994569e-04 vel = 4.099798451752e-01 ------------------- tc state : vr = 7.848134, vf = 0.309187, maxvel = 8.384582, current_vel = 0.394888, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.394888, acc = -15.092309,T = 0.016481, P = 0.014482 on final decel initial results: dx= 0.001999,dt = 0.005678, a_f = -15.092309, v_f = 0.309187 recalculating with a_f = -15.092309, a = -15.092309 revised dt = 0.005678 dt = 0.005678, not at end yet tc id = 112, canon_type = 2, mot type = 1 time: 5.488000 primary movement = 4.024336908934e-04 time: 5.488000000000e+00 total movement = 4.024336908934e-04 vel = 3.948875366116e-01 ------------------- tc state : vr = 7.848134, vf = 0.309187, maxvel = 8.384582, current_vel = 0.379795, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.379795, acc = -15.092309,T = 0.016481, P = 0.014869 on final decel initial results: dx= 0.001612,dt = 0.004678, a_f = -15.092309, v_f = 0.309187 recalculating with a_f = -15.092309, a = -15.092309 revised dt = 0.004678 dt = 0.004678, not at end yet tc id = 112, canon_type = 2, mot type = 1 time: 5.489000 primary movement = 3.873413823298e-04 time: 5.489000000000e+00 total movement = 3.873413823298e-04 vel = 3.797952280480e-01 ------------------- tc state : vr = 7.848134, vf = 0.309187, maxvel = 8.384582, current_vel = 0.364703, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.364703, acc = -15.092309,T = 0.016481, P = 0.015242 on final decel initial results: dx= 0.001239,dt = 0.003678, a_f = -15.092309, v_f = 0.309187 recalculating with a_f = -15.092309, a = -15.092309 revised dt = 0.003678 dt = 0.003678, not at end yet tc id = 112, canon_type = 2, mot type = 1 time: 5.490000 primary movement = 3.722490737663e-04 time: 5.490000000000e+00 total movement = 3.722490737663e-04 vel = 3.647029194845e-01 ------------------- tc state : vr = 7.848134, vf = 0.309187, maxvel = 8.384582, current_vel = 0.349611, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.349611, acc = -15.092309,T = 0.016481, P = 0.015599 on final decel initial results: dx= 0.000882,dt = 0.002678, a_f = -15.092309, v_f = 0.309187 recalculating with a_f = -15.092309, a = -15.092309 revised dt = 0.002678 dt = 0.002678, not at end yet tc id = 112, canon_type = 2, mot type = 1 time: 5.491000 primary movement = 3.571567652027e-04 time: 5.491000000000e+00 total movement = 3.571567652027e-04 vel = 3.496106109209e-01 ------------------- tc state : vr = 7.848134, vf = 0.309187, maxvel = 8.384582, current_vel = 0.334518, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.334518, acc = -15.092309,T = 0.016481, P = 0.015941 on final decel initial results: dx= 0.000540,dt = 0.001678, a_f = -15.092309, v_f = 0.309187 recalculating with a_f = -15.092309, a = -15.092309 revised dt = 0.001678 dt = 0.001678, not at end yet tc id = 112, canon_type = 2, mot type = 1 time: 5.492000 primary movement = 3.420644566391e-04 time: 5.492000000000e+00 total movement = 3.420644566391e-04 vel = 3.345183023574e-01 ------------------- tc state : vr = 7.848134, vf = 0.309187, maxvel = 8.384582, current_vel = 0.319426, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.319426, acc = -15.092309,T = 0.016481, P = 0.016268 on final decel initial results: dx= 0.000213,dt = 0.000678, a_f = -15.092309, v_f = 0.309187 recalculating with a_f = -15.092309, a = -15.092309 revised dt = 0.000678 actual v_f = 0.309187, a = -15.092309 split time is 0.000678427 tc id = 112, canon_type = 2, mot type = 1 time: 5.493000 primary movement = 3.269721480756e-04 time: 5.493000000000e+00 total movement = 3.269721480756e-04 vel = 3.194259937938e-01 ------------------- tc id 112 done Finishing split-cycle on id 113 tc state : vr = 0.400302, vf = 0.000000, maxvel = 0.400302, current_vel = 0.304363, fs = 1.000000, tc = 0.000322, term = 3 tc result: v = 0.304363, acc = -15.000000,T = 0.003187, P = 0.000099 on final decel initial results: dx= 0.003088,dt = 0.020291, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.020291 dt = 0.020291, not at end yet secondary movement = 0.000099 tc id = 113, canon_type = 3, mot type = 2 time: 5.494000 primary movement = 2.132340032272e-04 time: 5.494000000000e+00 total movement = 3.118835607170e-04 vel = 3.043633691715e-01 Finished tc id 112 ------------------- Activate tc id = 113 target_vel = 0.400302 final_vel = 0.000000 length = 0.003187 tc state : vr = 0.400302, vf = 0.000000, maxvel = 0.400302, current_vel = 0.289363, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.289363, acc = -15.000000,T = 0.003187, P = 0.000396 on final decel initial results: dx= 0.002791,dt = 0.019291, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.019291 dt = 0.019291, not at end yet tc id = 113, canon_type = 3, mot type = 2 time: 5.495000 primary movement = 2.968347143090e-04 time: 5.495000000000e+00 total movement = 2.968347143090e-04 vel = 2.893633691715e-01 ------------------- tc state : vr = 0.400302, vf = 0.000000, maxvel = 0.400302, current_vel = 0.274363, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.274363, acc = -15.000000,T = 0.003187, P = 0.000677 on final decel initial results: dx= 0.002509,dt = 0.018291, a_f = -15.000000, v_f = 0.000000 dt = 0.018291, not at end yet tc id = 113, canon_type = 3, mot type = 2 time: 5.496000 primary movement = 2.818388421028e-04 time: 5.496000000000e+00 total movement = 2.818388421028e-04 vel = 2.743633691715e-01 ------------------- tc state : vr = 0.400302, vf = 0.000000, maxvel = 0.400302, current_vel = 0.259363, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.259363, acc = -15.000000,T = 0.003187, P = 0.000944 on final decel initial results: dx= 0.002242,dt = 0.017291, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.017291 dt = 0.017291, not at end yet tc id = 113, canon_type = 3, mot type = 2 time: 5.497000 primary movement = 2.668425531465e-04 time: 5.497000000000e+00 total movement = 2.668425531465e-04 vel = 2.593633691715e-01 ------------------- tc state : vr = 0.400302, vf = 0.000000, maxvel = 0.400302, current_vel = 0.244363, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.244363, acc = -15.000000,T = 0.003187, P = 0.001196 on final decel initial results: dx= 0.001990,dt = 0.016291, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.016291 dt = 0.016291, not at end yet tc id = 113, canon_type = 3, mot type = 2 time: 5.498000 primary movement = 2.518458696150e-04 time: 5.498000000000e+00 total movement = 2.518458696150e-04 vel = 2.443633691715e-01 ------------------- tc state : vr = 0.400302, vf = 0.000000, maxvel = 0.400302, current_vel = 0.229363, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.229363, acc = -15.000000,T = 0.003187, P = 0.001433 on final decel initial results: dx= 0.001754,dt = 0.015291, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.015291 dt = 0.015291, not at end yet tc id = 113, canon_type = 3, mot type = 2 time: 5.499000 primary movement = 2.368488136835e-04 time: 5.499000000000e+00 total movement = 2.368488136835e-04 vel = 2.293633691715e-01 ------------------- tc state : vr = 0.400302, vf = 0.000000, maxvel = 0.400302, current_vel = 0.214363, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.214363, acc = -15.000000,T = 0.003187, P = 0.001655 on final decel initial results: dx= 0.001532,dt = 0.014291, a_f = -15.000000, v_f = 0.000000 dt = 0.014291, not at end yet tc id = 113, canon_type = 3, mot type = 2 time: 5.500000 primary movement = 2.218514075280e-04 time: 5.500000000000e+00 total movement = 2.218514075280e-04 vel = 2.143633691715e-01 ------------------- tc state : vr = 0.400302, vf = 0.000000, maxvel = 0.400302, current_vel = 0.199363, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.199363, acc = -15.000000,T = 0.003187, P = 0.001862 on final decel initial results: dx= 0.001325,dt = 0.013291, a_f = -15.000000, v_f = 0.000000 dt = 0.013291, not at end yet tc id = 113, canon_type = 3, mot type = 2 time: 5.501000 primary movement = 2.068536733247e-04 time: 5.501000000000e+00 total movement = 2.068536733247e-04 vel = 1.993633691715e-01 ------------------- tc state : vr = 0.400302, vf = 0.000000, maxvel = 0.400302, current_vel = 0.184363, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.184363, acc = -15.000000,T = 0.003187, P = 0.002054 on final decel initial results: dx= 0.001133,dt = 0.012291, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.012291 dt = 0.012291, not at end yet tc id = 113, canon_type = 3, mot type = 2 time: 5.502000 primary movement = 1.918556332507e-04 time: 5.502000000000e+00 total movement = 1.918556332507e-04 vel = 1.843633691715e-01 ------------------- tc state : vr = 0.400302, vf = 0.000000, maxvel = 0.400302, current_vel = 0.169363, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.169363, acc = -15.000000,T = 0.003187, P = 0.002230 on final decel initial results: dx= 0.000956,dt = 0.011291, a_f = -15.000000, v_f = 0.000000 dt = 0.011291, not at end yet tc id = 113, canon_type = 3, mot type = 2 time: 5.503000 primary movement = 1.768573094831e-04 time: 5.503000000000e+00 total movement = 1.768573094831e-04 vel = 1.693633691715e-01 ------------------- tc state : vr = 0.400302, vf = 0.000000, maxvel = 0.400302, current_vel = 0.154363, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.154363, acc = -15.000000,T = 0.003187, P = 0.002392 on final decel initial results: dx= 0.000794,dt = 0.010291, a_f = -15.000000, v_f = 0.000000 dt = 0.010291, not at end yet tc id = 113, canon_type = 3, mot type = 2 time: 5.504000 primary movement = 1.618587241999e-04 time: 5.504000000000e+00 total movement = 1.618587241999e-04 vel = 1.543633691715e-01 ------------------- tc state : vr = 0.400302, vf = 0.000000, maxvel = 0.400302, current_vel = 0.139363, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.139363, acc = -15.000000,T = 0.003187, P = 0.002539 on final decel initial results: dx= 0.000647,dt = 0.009291, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.009291 dt = 0.009291, not at end yet tc id = 113, canon_type = 3, mot type = 2 time: 5.505000 primary movement = 1.468598995791e-04 time: 5.505000000000e+00 total movement = 1.468598995791e-04 vel = 1.393633691715e-01 ------------------- tc state : vr = 0.400302, vf = 0.000000, maxvel = 0.400302, current_vel = 0.124363, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.124363, acc = -15.000000,T = 0.003187, P = 0.002671 on final decel initial results: dx= 0.000516,dt = 0.008291, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.008291 dt = 0.008291, not at end yet tc id = 113, canon_type = 3, mot type = 2 time: 5.506000 primary movement = 1.318608577992e-04 time: 5.506000000000e+00 total movement = 1.318608577992e-04 vel = 1.243633691715e-01 ------------------- tc state : vr = 0.400302, vf = 0.000000, maxvel = 0.400302, current_vel = 0.109363, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.109363, acc = -15.000000,T = 0.003187, P = 0.002788 on final decel initial results: dx= 0.000399,dt = 0.007291, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.007291 dt = 0.007291, not at end yet tc id = 113, canon_type = 3, mot type = 2 time: 5.507000 primary movement = 1.168616210390e-04 time: 5.507000000000e+00 total movement = 1.168616210390e-04 vel = 1.093633691715e-01 ------------------- tc state : vr = 0.400302, vf = 0.000000, maxvel = 0.400302, current_vel = 0.094363, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.094363, acc = -15.000000,T = 0.003187, P = 0.002890 on final decel initial results: dx= 0.000297,dt = 0.006291, a_f = -15.000000, v_f = 0.000000 dt = 0.006291, not at end yet tc id = 113, canon_type = 3, mot type = 2 time: 5.508000 primary movement = 1.018622114777e-04 time: 5.508000000000e+00 total movement = 1.018622114777e-04 vel = 9.436336917146e-02 ------------------- tc state : vr = 0.400302, vf = 0.000000, maxvel = 0.400302, current_vel = 0.079363, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.079363, acc = -15.000000,T = 0.003187, P = 0.002977 on final decel initial results: dx= 0.000210,dt = 0.005291, a_f = -15.000000, v_f = 0.000000 dt = 0.005291, not at end yet tc id = 113, canon_type = 3, mot type = 2 time: 5.509000 primary movement = 8.686265129451e-05 time: 5.509000000000e+00 total movement = 8.686265129451e-05 vel = 7.936336917146e-02 ------------------- tc state : vr = 0.400302, vf = 0.000000, maxvel = 0.400302, current_vel = 0.064363, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.064363, acc = -15.000000,T = 0.003187, P = 0.003048 on final decel initial results: dx= 0.000138,dt = 0.004291, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.004291 dt = 0.004291, not at end yet tc id = 113, canon_type = 3, mot type = 2 time: 5.510000 primary movement = 7.186296266913e-05 time: 5.510000000000e+00 total movement = 7.186296266913e-05 vel = 6.436336917146e-02 ------------------- tc state : vr = 0.400302, vf = 0.000000, maxvel = 0.400302, current_vel = 0.049363, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.049363, acc = -15.000000,T = 0.003187, P = 0.003105 on final decel initial results: dx= 0.000081,dt = 0.003291, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.003291 dt = 0.003291, not at end yet tc id = 113, canon_type = 3, mot type = 2 time: 5.511000 primary movement = 5.686316778123e-05 time: 5.511000000000e+00 total movement = 5.686316778123e-05 vel = 4.936336917146e-02 ------------------- tc state : vr = 0.400302, vf = 0.000000, maxvel = 0.400302, current_vel = 0.034363, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.034363, acc = -15.000000,T = 0.003187, P = 0.003147 on final decel initial results: dx= 0.000039,dt = 0.002291, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.002291 dt = 0.002291, not at end yet tc id = 113, canon_type = 3, mot type = 2 time: 5.512000 primary movement = 4.186328881081e-05 time: 5.512000000000e+00 total movement = 4.186328881081e-05 vel = 3.436336917146e-02 ------------------- tc state : vr = 0.400302, vf = 0.000000, maxvel = 0.400302, current_vel = 0.019363, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.019363, acc = -15.000000,T = 0.003187, P = 0.003174 on final decel initial results: dx= 0.000012,dt = 0.001291, a_f = -15.000000, v_f = 0.000000 dt = 0.001291, not at end yet tc id = 113, canon_type = 3, mot type = 2 time: 5.513000 primary movement = 2.686334793794e-05 time: 5.513000000000e+00 total movement = 2.686334793794e-05 vel = 1.936336917146e-02 ------------------- tc state : vr = 0.400302, vf = 0.000000, maxvel = 0.400302, current_vel = 0.004363, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.004363, acc = -15.000000,T = 0.003187, P = 0.003186 on final decel initial results: dx= 0.000001,dt = 0.000291, a_f = -15.000000, v_f = 0.000000 actual v_f = 0.000000, a = -15.000000 split time is 0.000290891 tc id = 113, canon_type = 3, mot type = 2 time: 5.514000 primary movement = 1.186336734264e-05 time: 5.514000000000e+00 total movement = 1.186336734264e-05 vel = 4.363369171457e-03 ------------------- tc id 113 done Finishing split-cycle on id 113 tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.013138, fs = 1.000000, tc = 0.000709, term = 2 tc result: v = 0.013138, acc = 18.527429,T = 0.003311, P = 0.000005 secondary movement = 0.000005 tc id = 113, canon_type = 2, mot type = 1 time: 5.515000 primary movement = 6.346330172698e-07 time: 5.515000000000e+00 total movement = 5.292754558141e-06 vel = 1.313796149164e-02 Finished tc id 113 ------------------- Activate tc id = 113 target_vel = 10.292975 final_vel = 0.000000 length = 0.003311 Activate nexttc id 114 tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.031665, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.031665, acc = 18.527429,T = 0.003311, P = 0.000027 tc id = 113, canon_type = 2, mot type = 1 time: 5.516000 primary movement = 2.240167598691e-05 time: 5.516000000000e+00 total movement = 2.240167598691e-05 vel = 3.166539048219e-02 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.050193, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.050193, acc = 18.527429,T = 0.003311, P = 0.000068 tc id = 113, canon_type = 2, mot type = 1 time: 5.517000 primary movement = 4.092910497747e-05 time: 5.517000000000e+00 total movement = 4.092910497747e-05 vel = 5.019281947274e-02 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.068720, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.068720, acc = 18.527429,T = 0.003311, P = 0.000127 tc id = 113, canon_type = 2, mot type = 1 time: 5.518000 primary movement = 5.945653396802e-05 time: 5.518000000000e+00 total movement = 5.945653396802e-05 vel = 6.872024846330e-02 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.087248, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.087248, acc = 18.527429,T = 0.003311, P = 0.000205 tc id = 113, canon_type = 2, mot type = 1 time: 5.519000 primary movement = 7.798396295857e-05 time: 5.519000000000e+00 total movement = 7.798396295857e-05 vel = 8.724767745385e-02 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.105775, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.105775, acc = 18.527429,T = 0.003311, P = 0.000302 tc id = 113, canon_type = 2, mot type = 1 time: 5.520000 primary movement = 9.651139194915e-05 time: 5.520000000000e+00 total movement = 9.651139194915e-05 vel = 1.057751064444e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.124303, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.124303, acc = 18.527429,T = 0.003311, P = 0.000417 tc id = 113, canon_type = 2, mot type = 1 time: 5.521000 primary movement = 1.150388209397e-04 time: 5.521000000000e+00 total movement = 1.150388209397e-04 vel = 1.243025354350e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.142830, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.142830, acc = 18.527429,T = 0.003311, P = 0.000551 tc id = 113, canon_type = 2, mot type = 1 time: 5.522000 primary movement = 1.335662499302e-04 time: 5.522000000000e+00 total movement = 1.335662499302e-04 vel = 1.428299644255e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.161357, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.161357, acc = 18.527429,T = 0.003311, P = 0.000703 tc id = 113, canon_type = 2, mot type = 1 time: 5.523000 primary movement = 1.520936789208e-04 time: 5.523000000000e+00 total movement = 1.520936789208e-04 vel = 1.613573934161e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.179885, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.179885, acc = 18.527429,T = 0.003311, P = 0.000873 tc id = 113, canon_type = 2, mot type = 1 time: 5.524000 primary movement = 1.706211079113e-04 time: 5.524000000000e+00 total movement = 1.706211079113e-04 vel = 1.798848224066e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.198412, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.198412, acc = 18.527429,T = 0.003311, P = 0.001062 tc id = 113, canon_type = 2, mot type = 1 time: 5.525000 primary movement = 1.891485369019e-04 time: 5.525000000000e+00 total movement = 1.891485369019e-04 vel = 1.984122513972e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.216940, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.216940, acc = 18.527429,T = 0.003311, P = 0.001270 tc id = 113, canon_type = 2, mot type = 1 time: 5.526000 primary movement = 2.076759658924e-04 time: 5.526000000000e+00 total movement = 2.076759658924e-04 vel = 2.169396803877e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.235467, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.235467, acc = 18.527429,T = 0.003311, P = 0.001496 tc id = 113, canon_type = 2, mot type = 1 time: 5.527000 primary movement = 2.262033948830e-04 time: 5.527000000000e+00 total movement = 2.262033948830e-04 vel = 2.354671093783e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.241666, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.241666, acc = 6.198539,T = 0.003311, P = 0.001735 tc id = 113, canon_type = 2, mot type = 1 time: 5.528000 primary movement = 2.385663788716e-04 time: 5.528000000000e+00 total movement = 2.385663788716e-04 vel = 2.416656483648e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.223138, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.223138, acc = -18.527429,T = 0.003311, P = 0.001967 on final decel tc id = 113, canon_type = 2, mot type = 1 tc state : vr = 0.018527, vf = 0.000000, maxvel = 8.856851, current_vel = 0.015942, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.015942, acc = 15.942396,T = 0.010628, P = 0.000008 tc id = 113, canon_type = 2, mot type = 1 secondary movement = 0.000008 time: 5.529000 primary movement = 2.324019338696e-04 time: 5.529000000000e+00 total movement = 2.403731320229e-04 vel = 2.390806156810e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.204611, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.204611, acc = -18.527429,T = 0.003311, P = 0.002181 on final decel tc id = 113, canon_type = 2, mot type = 1 tc state : vr = 0.037055, vf = 0.000000, maxvel = 8.856851, current_vel = 0.031885, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.031885, acc = 15.942396,T = 0.010628, P = 0.000032 tc id = 113, canon_type = 2, mot type = 1 secondary movement = 0.000024 time: 5.530000 primary movement = 2.138745048790e-04 time: 5.530000000000e+00 total movement = 2.377880993391e-04 vel = 2.364955829971e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.186083, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.186083, acc = -18.527429,T = 0.003311, P = 0.002376 on final decel tc id = 113, canon_type = 2, mot type = 1 tc state : vr = 0.055582, vf = 0.000000, maxvel = 8.856851, current_vel = 0.047827, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.047827, acc = 15.942396,T = 0.010628, P = 0.000072 tc id = 113, canon_type = 2, mot type = 1 secondary movement = 0.000040 time: 5.531000 primary movement = 1.953470758885e-04 time: 5.531000000000e+00 total movement = 2.352030666552e-04 vel = 2.339105503133e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.167556, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.167556, acc = -18.527429,T = 0.003311, P = 0.002553 on final decel tc id = 113, canon_type = 2, mot type = 1 tc state : vr = 0.074110, vf = 0.000000, maxvel = 8.856851, current_vel = 0.063770, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.063770, acc = 15.942396,T = 0.010628, P = 0.000128 tc id = 113, canon_type = 2, mot type = 1 secondary movement = 0.000056 time: 5.532000 primary movement = 1.768196468979e-04 time: 5.532000000000e+00 total movement = 2.326180339714e-04 vel = 2.313255176294e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.149029, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.149029, acc = -18.527429,T = 0.003311, P = 0.002712 on final decel tc id = 113, canon_type = 2, mot type = 1 tc state : vr = 0.092637, vf = 0.000000, maxvel = 8.856851, current_vel = 0.079712, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.079712, acc = 15.942396,T = 0.010628, P = 0.000199 tc id = 113, canon_type = 2, mot type = 1 secondary movement = 0.000072 time: 5.533000 primary movement = 1.582922179073e-04 time: 5.533000000000e+00 total movement = 2.300330012875e-04 vel = 2.287404849456e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.130501, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.130501, acc = -18.527429,T = 0.003311, P = 0.002851 on final decel tc id = 113, canon_type = 2, mot type = 1 tc state : vr = 0.111165, vf = 0.000000, maxvel = 8.856851, current_vel = 0.095654, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.095654, acc = 15.942396,T = 0.010628, P = 0.000287 tc id = 113, canon_type = 2, mot type = 1 secondary movement = 0.000088 time: 5.534000 primary movement = 1.397647889168e-04 time: 5.534000000000e+00 total movement = 2.274479686036e-04 vel = 2.261554522617e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.111974, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.111974, acc = -18.527429,T = 0.003311, P = 0.002973 on final decel tc id = 113, canon_type = 2, mot type = 1 tc state : vr = 0.129692, vf = 0.000000, maxvel = 8.856851, current_vel = 0.111597, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.111597, acc = 15.942396,T = 0.010628, P = 0.000391 tc id = 113, canon_type = 2, mot type = 1 secondary movement = 0.000104 time: 5.535000 primary movement = 1.212373599263e-04 time: 5.535000000000e+00 total movement = 2.248629359198e-04 vel = 2.235704195779e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.093446, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.093446, acc = -18.527429,T = 0.003311, P = 0.003075 on final decel tc id = 113, canon_type = 2, mot type = 1 tc state : vr = 0.148219, vf = 0.000000, maxvel = 8.856851, current_vel = 0.127539, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.127539, acc = 15.942396,T = 0.010628, P = 0.000510 tc id = 114, canon_type = 2, mot type = 1 secondary movement = 0.000120 time: 5.536000 primary movement = 1.027099309357e-04 time: 5.536000000000e+00 total movement = 2.222779032360e-04 vel = 2.209853868940e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.074919, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.074919, acc = -18.527429,T = 0.003311, P = 0.003159 on final decel tc id = 113, canon_type = 2, mot type = 1 tc state : vr = 0.166747, vf = 0.000000, maxvel = 8.856851, current_vel = 0.143482, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.143482, acc = 15.942396,T = 0.010628, P = 0.000646 tc id = 114, canon_type = 2, mot type = 1 secondary movement = 0.000136 time: 5.537000 primary movement = 8.418250194513e-05 time: 5.537000000000e+00 total movement = 2.196928705521e-04 vel = 2.184003542102e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.056391, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.056391, acc = -18.527429,T = 0.003311, P = 0.003225 on final decel tc id = 113, canon_type = 2, mot type = 1 tc state : vr = 0.185274, vf = 0.000000, maxvel = 8.856851, current_vel = 0.159424, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.159424, acc = 15.942396,T = 0.010628, P = 0.000797 tc id = 114, canon_type = 2, mot type = 1 secondary movement = 0.000151 time: 5.538000 primary movement = 6.565507295459e-05 time: 5.538000000000e+00 total movement = 2.171078378683e-04 vel = 2.158153215263e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.037864, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.037864, acc = -18.527429,T = 0.003311, P = 0.003272 on final decel tc id = 113, canon_type = 2, mot type = 1 tc state : vr = 0.203802, vf = 0.000000, maxvel = 8.856851, current_vel = 0.175366, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.175366, acc = 15.942396,T = 0.010628, P = 0.000965 tc id = 114, canon_type = 2, mot type = 1 secondary movement = 0.000167 time: 5.539000 primary movement = 4.712764396403e-05 time: 5.539000000000e+00 total movement = 2.145228051844e-04 vel = 2.132302888425e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.019337, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.019337, acc = -18.527429,T = 0.003311, P = 0.003301 on final decel tc id = 113, canon_type = 2, mot type = 1 tc state : vr = 0.222329, vf = 0.000000, maxvel = 8.856851, current_vel = 0.191309, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.191309, acc = 15.942396,T = 0.010628, P = 0.001148 tc id = 114, canon_type = 2, mot type = 1 secondary movement = 0.000183 time: 5.540000 primary movement = 2.860021497347e-05 time: 5.540000000000e+00 total movement = 2.119377725005e-04 vel = 2.106452561586e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.000809, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000809, acc = -18.527429,T = 0.003311, P = 0.003311 on final decel tc id = 113, canon_type = 2, mot type = 1 tc state : vr = 0.240857, vf = 0.000000, maxvel = 8.856851, current_vel = 0.207251, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.207251, acc = 15.942396,T = 0.010628, P = 0.001347 tc id = 114, canon_type = 2, mot type = 1 secondary movement = 0.000199 time: 5.541000 primary movement = 1.007278598293e-05 time: 5.541000000000e+00 total movement = 2.093527398167e-04 vel = 2.080602234748e-01 ------------------- Found newvel = -0.000809, assuming segment is done segment 113 at target in runcycle tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.003311, P = 0.003311 tc id = 113, canon_type = 2, mot type = 1 tc state : vr = 0.241666, vf = 0.000000, maxvel = 8.856851, current_vel = 0.223194, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.223194, acc = 15.942396,T = 0.010628, P = 0.001562 tc id = 114, canon_type = 2, mot type = 1 secondary movement = 0.000215 time: 5.542000 primary movement = 1.766561007030e-08 time: 5.542000000000e+00 total movement = 2.152400157506e-04 vel = 2.231935482939e-01 Finished tc id 113 ------------------- Activate nexttc id 115 tc state : vr = 8.856851, vf = 0.000000, maxvel = 8.856851, current_vel = 0.239136, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.239136, acc = 15.942396,T = 0.010628, P = 0.001794 tc id = 114, canon_type = 2, mot type = 1 time: 5.543000 primary movement = 2.311647464472e-04 time: 5.543000000000e+00 total movement = 2.311647464472e-04 vel = 2.391359446006e-01 ------------------- tc state : vr = 8.856851, vf = 0.000000, maxvel = 8.856851, current_vel = 0.255078, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.255078, acc = 15.942396,T = 0.010628, P = 0.002041 tc id = 114, canon_type = 2, mot type = 1 time: 5.544000 primary movement = 2.471071427539e-04 time: 5.544000000000e+00 total movement = 2.471071427539e-04 vel = 2.550783409073e-01 ------------------- tc state : vr = 8.856851, vf = 0.000000, maxvel = 8.856851, current_vel = 0.271021, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.271021, acc = 15.942396,T = 0.010628, P = 0.002304 tc id = 114, canon_type = 2, mot type = 1 time: 5.545000 primary movement = 2.630495390606e-04 time: 5.545000000000e+00 total movement = 2.630495390606e-04 vel = 2.710207372140e-01 ------------------- tc state : vr = 8.856851, vf = 0.000000, maxvel = 8.856851, current_vel = 0.286963, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.286963, acc = 15.942396,T = 0.010628, P = 0.002583 tc id = 114, canon_type = 2, mot type = 1 time: 5.546000 primary movement = 2.789919353673e-04 time: 5.546000000000e+00 total movement = 2.789919353673e-04 vel = 2.869631335207e-01 ------------------- tc state : vr = 8.856851, vf = 0.000000, maxvel = 8.856851, current_vel = 0.302906, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.302906, acc = 15.942396,T = 0.010628, P = 0.002878 tc id = 114, canon_type = 2, mot type = 1 time: 5.547000 primary movement = 2.949343316740e-04 time: 5.547000000000e+00 total movement = 2.949343316740e-04 vel = 3.029055298274e-01 ------------------- tc state : vr = 8.856851, vf = 0.000000, maxvel = 8.856851, current_vel = 0.318848, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.318848, acc = 15.942396,T = 0.010628, P = 0.003188 tc id = 114, canon_type = 2, mot type = 1 time: 5.548000 primary movement = 3.108767279807e-04 time: 5.548000000000e+00 total movement = 3.108767279807e-04 vel = 3.188479261341e-01 ------------------- tc state : vr = 8.856851, vf = 0.000000, maxvel = 8.856851, current_vel = 0.334790, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.334790, acc = 15.942396,T = 0.010628, P = 0.003515 tc id = 114, canon_type = 2, mot type = 1 time: 5.549000 primary movement = 3.268191242874e-04 time: 5.549000000000e+00 total movement = 3.268191242874e-04 vel = 3.347903224408e-01 ------------------- tc state : vr = 8.856851, vf = 0.000000, maxvel = 8.856851, current_vel = 0.350733, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.350733, acc = 15.942396,T = 0.010628, P = 0.003858 tc id = 114, canon_type = 2, mot type = 1 time: 5.550000 primary movement = 3.427615205941e-04 time: 5.550000000000e+00 total movement = 3.427615205941e-04 vel = 3.507327187475e-01 ------------------- tc state : vr = 8.856851, vf = 0.000000, maxvel = 8.856851, current_vel = 0.366675, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.366675, acc = 15.942396,T = 0.010628, P = 0.004217 tc id = 114, canon_type = 2, mot type = 1 time: 5.551000 primary movement = 3.587039169008e-04 time: 5.551000000000e+00 total movement = 3.587039169008e-04 vel = 3.666751150542e-01 ------------------- tc state : vr = 8.856851, vf = 0.000000, maxvel = 8.856851, current_vel = 0.382618, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.382618, acc = 15.942396,T = 0.010628, P = 0.004591 tc id = 114, canon_type = 2, mot type = 1 time: 5.552000 primary movement = 3.746463132075e-04 time: 5.552000000000e+00 total movement = 3.746463132075e-04 vel = 3.826175113609e-01 ------------------- tc state : vr = 8.856851, vf = 0.000000, maxvel = 8.856851, current_vel = 0.398560, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.398560, acc = 15.942396,T = 0.010628, P = 0.004982 tc id = 114, canon_type = 2, mot type = 1 time: 5.553000 primary movement = 3.905887095143e-04 time: 5.553000000000e+00 total movement = 3.905887095143e-04 vel = 3.985599076676e-01 ------------------- tc state : vr = 8.856851, vf = 0.000000, maxvel = 8.856851, current_vel = 0.408850, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.408850, acc = 10.289647,T = 0.010628, P = 0.005386 tc id = 114, canon_type = 2, mot type = 1 time: 5.554000 primary movement = 4.037047311782e-04 time: 5.554000000000e+00 total movement = 4.037047311782e-04 vel = 4.088495546889e-01 ------------------- tc state : vr = 8.856851, vf = 0.000000, maxvel = 8.856851, current_vel = 0.392907, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.392907, acc = -15.942396,T = 0.010628, P = 0.005787 on final decel tc id = 114, canon_type = 2, mot type = 1 time: 5.555000 primary movement = 4.008783565356e-04 time: 5.555000000000e+00 total movement = 4.008783565356e-04 vel = 3.929071583822e-01 ------------------- tc state : vr = 8.856851, vf = 0.000000, maxvel = 8.856851, current_vel = 0.376965, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.376965, acc = -15.942396,T = 0.010628, P = 0.006172 on final decel tc id = 114, canon_type = 2, mot type = 1 time: 5.556000 primary movement = 3.849359602289e-04 time: 5.556000000000e+00 total movement = 3.849359602289e-04 vel = 3.769647620755e-01 ------------------- tc state : vr = 8.856851, vf = 0.000000, maxvel = 8.856851, current_vel = 0.361022, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.361022, acc = -15.942396,T = 0.010628, P = 0.006541 on final decel tc id = 114, canon_type = 2, mot type = 1 time: 5.557000 primary movement = 3.689935639222e-04 time: 5.557000000000e+00 total movement = 3.689935639222e-04 vel = 3.610223657688e-01 ------------------- tc state : vr = 8.856851, vf = 0.000000, maxvel = 8.856851, current_vel = 0.345080, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.345080, acc = -15.942396,T = 0.010628, P = 0.006894 on final decel tc id = 114, canon_type = 2, mot type = 1 time: 5.558000 primary movement = 3.530511676154e-04 time: 5.558000000000e+00 total movement = 3.530511676154e-04 vel = 3.450799694621e-01 ------------------- tc state : vr = 8.856851, vf = 0.000000, maxvel = 8.856851, current_vel = 0.329138, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.329138, acc = -15.942396,T = 0.010628, P = 0.007231 on final decel tc id = 114, canon_type = 2, mot type = 1 time: 5.559000 primary movement = 3.371087713088e-04 time: 5.559000000000e+00 total movement = 3.371087713088e-04 vel = 3.291375731554e-01 ------------------- tc state : vr = 8.856851, vf = 0.000000, maxvel = 8.856851, current_vel = 0.313195, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.313195, acc = -15.942396,T = 0.010628, P = 0.007552 on final decel tc id = 114, canon_type = 2, mot type = 1 time: 5.560000 primary movement = 3.211663750020e-04 time: 5.560000000000e+00 total movement = 3.211663750020e-04 vel = 3.131951768487e-01 ------------------- tc state : vr = 8.856851, vf = 0.000000, maxvel = 8.856851, current_vel = 0.297253, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.297253, acc = -15.942396,T = 0.010628, P = 0.007857 on final decel tc id = 114, canon_type = 2, mot type = 1 time: 5.561000 primary movement = 3.052239786953e-04 time: 5.561000000000e+00 total movement = 3.052239786953e-04 vel = 2.972527805420e-01 ------------------- tc state : vr = 8.856851, vf = 0.000000, maxvel = 8.856851, current_vel = 0.281310, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.281310, acc = -15.942396,T = 0.010628, P = 0.008146 on final decel tc id = 114, canon_type = 2, mot type = 1 time: 5.562000 primary movement = 2.892815823887e-04 time: 5.562000000000e+00 total movement = 2.892815823887e-04 vel = 2.813103842353e-01 ------------------- tc state : vr = 8.856851, vf = 0.000000, maxvel = 8.856851, current_vel = 0.265368, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.265368, acc = -15.942396,T = 0.010628, P = 0.008420 on final decel tc id = 114, canon_type = 2, mot type = 1 time: 5.563000 primary movement = 2.733391860819e-04 time: 5.563000000000e+00 total movement = 2.733391860819e-04 vel = 2.653679879286e-01 ------------------- tc state : vr = 8.856851, vf = 0.000000, maxvel = 8.856851, current_vel = 0.249426, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.249426, acc = -15.942396,T = 0.010628, P = 0.008677 on final decel tc id = 114, canon_type = 2, mot type = 1 time: 5.564000 primary movement = 2.573967897752e-04 time: 5.564000000000e+00 total movement = 2.573967897752e-04 vel = 2.494255916219e-01 ------------------- tc state : vr = 8.856851, vf = 0.000000, maxvel = 8.856851, current_vel = 0.233483, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.233483, acc = -15.942396,T = 0.010628, P = 0.008919 on final decel tc id = 114, canon_type = 2, mot type = 1 time: 5.565000 primary movement = 2.414543934686e-04 time: 5.565000000000e+00 total movement = 2.414543934686e-04 vel = 2.334831953152e-01 ------------------- tc state : vr = 8.856851, vf = 0.000000, maxvel = 8.856851, current_vel = 0.217541, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.217541, acc = -15.942396,T = 0.010628, P = 0.009144 on final decel tc id = 114, canon_type = 2, mot type = 1 time: 5.566000 primary movement = 2.255119971618e-04 time: 5.566000000000e+00 total movement = 2.255119971618e-04 vel = 2.175407990085e-01 ------------------- tc state : vr = 8.856851, vf = 0.000000, maxvel = 8.856851, current_vel = 0.201598, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.201598, acc = -15.942396,T = 0.010628, P = 0.009354 on final decel tc id = 114, canon_type = 2, mot type = 1 time: 5.567000 primary movement = 2.095696008551e-04 time: 5.567000000000e+00 total movement = 2.095696008551e-04 vel = 2.015984027018e-01 ------------------- tc state : vr = 8.856851, vf = 0.000000, maxvel = 8.856851, current_vel = 0.185656, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.185656, acc = -15.942396,T = 0.010628, P = 0.009547 on final decel tc id = 114, canon_type = 2, mot type = 1 time: 5.568000 primary movement = 1.936272045484e-04 time: 5.568000000000e+00 total movement = 1.936272045484e-04 vel = 1.856560063951e-01 ------------------- tc state : vr = 8.856851, vf = 0.000000, maxvel = 8.856851, current_vel = 0.169714, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.169714, acc = -15.942396,T = 0.010628, P = 0.009725 on final decel tc id = 114, canon_type = 2, mot type = 1 time: 5.569000 primary movement = 1.776848082417e-04 time: 5.569000000000e+00 total movement = 1.776848082417e-04 vel = 1.697136100884e-01 ------------------- tc state : vr = 8.856851, vf = 0.000000, maxvel = 8.856851, current_vel = 0.153771, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.153771, acc = -15.942396,T = 0.010628, P = 0.009887 on final decel tc id = 114, canon_type = 2, mot type = 1 time: 5.570000 primary movement = 1.617424119350e-04 time: 5.570000000000e+00 total movement = 1.617424119350e-04 vel = 1.537712137817e-01 ------------------- tc state : vr = 8.856851, vf = 0.000000, maxvel = 8.856851, current_vel = 0.137829, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.137829, acc = -15.942396,T = 0.010628, P = 0.010032 on final decel tc id = 114, canon_type = 2, mot type = 1 time: 5.571000 primary movement = 1.458000156283e-04 time: 5.571000000000e+00 total movement = 1.458000156283e-04 vel = 1.378288174750e-01 ------------------- tc state : vr = 8.856851, vf = 0.000000, maxvel = 8.856851, current_vel = 0.121886, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.121886, acc = -15.942396,T = 0.010628, P = 0.010162 on final decel tc id = 114, canon_type = 2, mot type = 1 time: 5.572000 primary movement = 1.298576193216e-04 time: 5.572000000000e+00 total movement = 1.298576193216e-04 vel = 1.218864211683e-01 ------------------- tc state : vr = 8.856851, vf = 0.000000, maxvel = 8.856851, current_vel = 0.105944, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.105944, acc = -15.942396,T = 0.010628, P = 0.010276 on final decel tc id = 114, canon_type = 2, mot type = 1 tc state : vr = 0.015942, vf = 0.015942, maxvel = 10.513602, current_vel = 0.015942, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.015942, acc = 15.942396,T = 0.001035, P = 0.000008 initial results: dx= 0.001027,dt = 0.009606, a_f = 18.947623, v_f = 0.197948 recalculating with a_f = 18.947623, a = 18.924484 revised dt = 0.009611 dt = 0.009611, not at end yet tc id = 114, canon_type = 2, mot type = 1 secondary movement = 0.000008 time: 5.573000 primary movement = 1.139152230149e-04 time: 5.573000000000e+00 total movement = 1.218864211683e-04 vel = 1.218864211683e-01 ------------------- tc state : vr = 8.856851, vf = 0.000000, maxvel = 8.856851, current_vel = 0.090002, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.090002, acc = -15.942396,T = 0.010628, P = 0.010374 on final decel tc id = 114, canon_type = 2, mot type = 1 tc state : vr = 0.031885, vf = 0.031885, maxvel = 10.513602, current_vel = 0.031885, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.031885, acc = 15.942396,T = 0.001035, P = 0.000032 initial results: dx= 0.001003,dt = 0.008731, a_f = 19.019248, v_f = 0.197948 recalculating with a_f = 19.019248, a = 18.924484 revised dt = 0.008750 dt = 0.008750, not at end yet tc id = 114, canon_type = 2, mot type = 1 secondary movement = 0.000024 time: 5.574000 primary movement = 9.797282670819e-05 time: 5.574000000000e+00 total movement = 1.218864211682e-04 vel = 1.218864211683e-01 ------------------- tc state : vr = 8.856851, vf = 0.000000, maxvel = 8.856851, current_vel = 0.074059, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.074059, acc = -15.942396,T = 0.010628, P = 0.010456 on final decel tc id = 114, canon_type = 2, mot type = 1 tc state : vr = 0.047827, vf = 0.047827, maxvel = 10.513602, current_vel = 0.047827, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.047827, acc = 15.942396,T = 0.001035, P = 0.000072 initial results: dx= 0.000964,dt = 0.007841, a_f = 19.146522, v_f = 0.197948 recalculating with a_f = 19.146522, a = 18.924484 revised dt = 0.007875 dt = 0.007875, not at end yet tc id = 114, canon_type = 2, mot type = 1 secondary movement = 0.000040 time: 5.575000 primary movement = 8.203043040151e-05 time: 5.575000000000e+00 total movement = 1.218864211683e-04 vel = 1.218864211683e-01 ------------------- tc state : vr = 8.856851, vf = 0.000000, maxvel = 8.856851, current_vel = 0.058117, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.058117, acc = -15.942396,T = 0.010628, P = 0.010522 on final decel tc id = 114, canon_type = 2, mot type = 1 tc state : vr = 0.063770, vf = 0.063770, maxvel = 10.513602, current_vel = 0.063770, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.063770, acc = 15.942396,T = 0.001035, P = 0.000128 initial results: dx= 0.000908,dt = 0.006937, a_f = 19.343483, v_f = 0.197948 recalculating with a_f = 19.343483, a = 18.924484 revised dt = 0.006988 dt = 0.006988, not at end yet tc id = 115, canon_type = 2, mot type = 1 secondary movement = 0.000056 time: 5.576000 primary movement = 6.608803409478e-05 time: 5.576000000000e+00 total movement = 1.218864211682e-04 vel = 1.218864211683e-01 ------------------- tc state : vr = 8.856851, vf = 0.000000, maxvel = 8.856851, current_vel = 0.042174, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.042174, acc = -15.942396,T = 0.010628, P = 0.010572 on final decel tc id = 114, canon_type = 2, mot type = 1 tc state : vr = 0.079712, vf = 0.079712, maxvel = 10.513602, current_vel = 0.079712, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.079712, acc = 15.942396,T = 0.001035, P = 0.000199 initial results: dx= 0.000836,dt = 0.006022, a_f = 19.635354, v_f = 0.197948 recalculating with a_f = 19.635354, a = 18.924484 revised dt = 0.006088 dt = 0.006088, not at end yet tc id = 115, canon_type = 2, mot type = 1 secondary movement = 0.000072 time: 5.577000 primary movement = 5.014563778809e-05 time: 5.577000000000e+00 total movement = 1.218864211683e-04 vel = 1.218864211683e-01 ------------------- tc state : vr = 8.856851, vf = 0.000000, maxvel = 8.856851, current_vel = 0.026232, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.026232, acc = -15.942396,T = 0.010628, P = 0.010607 on final decel tc id = 114, canon_type = 2, mot type = 1 tc state : vr = 0.095654, vf = 0.095654, maxvel = 10.513602, current_vel = 0.095654, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.095654, acc = 15.942396,T = 0.001035, P = 0.000287 initial results: dx= 0.000748,dt = 0.005097, a_f = 20.068086, v_f = 0.197948 recalculating with a_f = 20.068086, a = 18.924484 revised dt = 0.005174 dt = 0.005174, not at end yet tc id = 115, canon_type = 2, mot type = 1 secondary movement = 0.000088 time: 5.578000 primary movement = 3.420324148137e-05 time: 5.578000000000e+00 total movement = 1.218864211682e-04 vel = 1.218864211683e-01 ------------------- tc state : vr = 8.856851, vf = 0.000000, maxvel = 8.856851, current_vel = 0.010290, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.010290, acc = -15.942396,T = 0.010628, P = 0.010625 on final decel tc id = 114, canon_type = 2, mot type = 1 tc state : vr = 0.111597, vf = 0.111597, maxvel = 10.513602, current_vel = 0.111597, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.111597, acc = 15.942396,T = 0.001035, P = 0.000391 initial results: dx= 0.000645,dt = 0.004165, a_f = 20.731260, v_f = 0.197948 recalculating with a_f = 20.731260, a = 18.924484 revised dt = 0.004247 dt = 0.004247, not at end yet tc id = 115, canon_type = 2, mot type = 1 secondary movement = 0.000104 time: 5.579000 primary movement = 1.826084517468e-05 time: 5.579000000000e+00 total movement = 1.218864211683e-04 vel = 1.218864211683e-01 ------------------- Found newvel = -0.005653, assuming segment is done segment 114 at target in runcycle tc state : vr = 8.856851, vf = 0.000000, maxvel = 8.856851, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.010628, P = 0.010628 tc id = 114, canon_type = 2, mot type = 1 tc state : vr = 0.121886, vf = 0.121886, maxvel = 10.513602, current_vel = 0.121886, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.121886, acc = 10.289647,T = 0.001035, P = 0.000507 initial results: dx= 0.000528,dt = 0.003301, a_f = 23.040240, v_f = 0.197948 recalculating with a_f = 23.040240, a = 18.924484 revised dt = 0.003422 dt = 0.003422, not at end yet tc id = 115, canon_type = 2, mot type = 1 secondary movement = 0.000117 time: 5.580000 primary movement = 3.320606067833e-06 time: 5.580000000000e+00 total movement = 1.200622037254e-04 vel = 1.218864211683e-01 Finished tc id 114 ------------------- tc state : vr = 0.492979, vf = 0.197948, maxvel = 10.513602, current_vel = 0.140811, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.140811, acc = 18.924484,T = 0.001035, P = 0.000639 initial results: dx= 0.000397,dt = 0.002341, a_f = 24.403401, v_f = 0.197948 recalculating with a_f = 24.403401, a = 18.924484 revised dt = 0.002422 dt = 0.002422, not at end yet tc id = 115, canon_type = 2, mot type = 1 time: 5.581000 primary movement = 1.313486631684e-04 time: 5.581000000000e+00 total movement = 1.313486631684e-04 vel = 1.408109051685e-01 ------------------- tc state : vr = 0.492979, vf = 0.197948, maxvel = 10.513602, current_vel = 0.159735, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.159735, acc = 18.924484,T = 0.001035, P = 0.000789 initial results: dx= 0.000246,dt = 0.001377, a_f = 27.746154, v_f = 0.197948 recalculating with a_f = 27.746154, a = 18.924484 revised dt = 0.001422 dt = 0.001422, not at end yet tc id = 115, canon_type = 2, mot type = 1 time: 5.582000 primary movement = 1.502731471686e-04 time: 5.582000000000e+00 total movement = 1.502731471686e-04 vel = 1.597353891687e-01 ------------------- tc state : vr = 0.492979, vf = 0.197948, maxvel = 10.513602, current_vel = 0.178660, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.178660, acc = 18.924484,T = 0.001035, P = 0.000958 initial results: dx= 0.000077,dt = 0.000409, a_f = 47.103855, v_f = 0.197948 recalculating with a_f = 47.103855, a = 18.924484 revised dt = 0.000422 actual v_f = 0.186649, a = 18.924484 split time is 0.000422145 tc id = 115, canon_type = 2, mot type = 1 time: 5.583000 primary movement = 1.691976311688e-04 time: 5.583000000000e+00 total movement = 1.691976311688e-04 vel = 1.786598731689e-01 ------------------- tc id 115 done Finishing split-cycle on id 116 tc state : vr = 0.412198, vf = 0.412198, maxvel = 0.436805, current_vel = 0.195317, fs = 1.000000, tc = 0.000578, term = 3 tc result: v = 0.195317, acc = 15.000000,T = 0.004357, P = 0.000110 initial results: dx= 0.004247,dt = 0.013982, a_f = 15.511599, v_f = 0.412198 recalculating with a_f = 15.511599, a = 15.000000 revised dt = 0.014105 dt = 0.014105, not at end yet secondary movement = 0.000110 tc id = 116, canon_type = 3, mot type = 2 time: 5.584000 primary movement = 7.710656367494e-05 time: 5.584000000000e+00 total movement = 1.874658514513e-04 vel = 1.953165736140e-01 Finished tc id 115 ------------------- Activate tc id = 116 target_vel = 0.412198 final_vel = 0.412198 length = 0.004357 tc state : vr = 0.412198, vf = 0.412198, maxvel = 0.436805, current_vel = 0.210317, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.210317, acc = 15.000000,T = 0.004357, P = 0.000313 initial results: dx= 0.004044,dt = 0.012993, a_f = 15.537255, v_f = 0.412198 recalculating with a_f = 15.537255, a = 15.000000 revised dt = 0.013105 dt = 0.013105, not at end yet tc id = 116, canon_type = 3, mot type = 2 time: 5.585000 primary movement = 2.028101282254e-04 time: 5.585000000000e+00 total movement = 2.028101282254e-04 vel = 2.103165736140e-01 ------------------- tc state : vr = 0.412198, vf = 0.412198, maxvel = 0.436805, current_vel = 0.225317, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.225317, acc = 15.000000,T = 0.004357, P = 0.000531 initial results: dx= 0.003826,dt = 0.012004, a_f = 15.567838, v_f = 0.412198 recalculating with a_f = 15.567838, a = 15.000000 revised dt = 0.012105 dt = 0.012105, not at end yet tc id = 116, canon_type = 3, mot type = 2 time: 5.586000 primary movement = 2.178085897907e-04 time: 5.586000000000e+00 total movement = 2.178085897907e-04 vel = 2.253165736140e-01 ------------------- tc state : vr = 0.412198, vf = 0.412198, maxvel = 0.436805, current_vel = 0.240317, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.240317, acc = 15.000000,T = 0.004357, P = 0.000764 initial results: dx= 0.003594,dt = 0.011015, a_f = 15.604625, v_f = 0.412198 recalculating with a_f = 15.604625, a = 15.000000 revised dt = 0.011105 dt = 0.011105, not at end yet tc id = 116, canon_type = 3, mot type = 2 time: 5.587000 primary movement = 2.328068241858e-04 time: 5.587000000000e+00 total movement = 2.328068241858e-04 vel = 2.403165736140e-01 ------------------- tc state : vr = 0.412198, vf = 0.412198, maxvel = 0.436805, current_vel = 0.255317, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.255317, acc = 15.000000,T = 0.004357, P = 0.001012 initial results: dx= 0.003346,dt = 0.010025, a_f = 15.649408, v_f = 0.412198 recalculating with a_f = 15.649408, a = 15.000000 revised dt = 0.010105 dt = 0.010105, not at end yet tc id = 116, canon_type = 3, mot type = 2 time: 5.588000 primary movement = 2.478048157675e-04 time: 5.588000000000e+00 total movement = 2.478048157675e-04 vel = 2.553165736140e-01 ------------------- tc state : vr = 0.412198, vf = 0.412198, maxvel = 0.436805, current_vel = 0.270317, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.270317, acc = 15.000000,T = 0.004357, P = 0.001274 initial results: dx= 0.003083,dt = 0.009034, a_f = 15.704768, v_f = 0.412198 recalculating with a_f = 15.704768, a = 15.000000 revised dt = 0.009105 dt = 0.009105, not at end yet tc id = 116, canon_type = 3, mot type = 2 time: 5.589000 primary movement = 2.628025488934e-04 time: 5.589000000000e+00 total movement = 2.628025488934e-04 vel = 2.703165736140e-01 ------------------- tc state : vr = 0.412198, vf = 0.412198, maxvel = 0.436805, current_vel = 0.285317, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.285317, acc = 15.000000,T = 0.004357, P = 0.001552 initial results: dx= 0.002805,dt = 0.008043, a_f = 15.774565, v_f = 0.412198 recalculating with a_f = 15.774565, a = 15.000000 revised dt = 0.008105 dt = 0.008105, not at end yet tc id = 116, canon_type = 3, mot type = 2 time: 5.590000 primary movement = 2.778000079211e-04 time: 5.590000000000e+00 total movement = 2.778000079211e-04 vel = 2.853165736140e-01 ------------------- tc state : vr = 0.412198, vf = 0.412198, maxvel = 0.436805, current_vel = 0.300317, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.300317, acc = 15.000000,T = 0.004357, P = 0.001845 initial results: dx= 0.002512,dt = 0.007052, a_f = 15.864840, v_f = 0.412198 recalculating with a_f = 15.864840, a = 15.000000 revised dt = 0.007105 dt = 0.007105, not at end yet tc id = 116, canon_type = 3, mot type = 2 time: 5.591000 primary movement = 2.927971772084e-04 time: 5.591000000000e+00 total movement = 2.927971772084e-04 vel = 3.003165736140e-01 ------------------- tc state : vr = 0.412198, vf = 0.412198, maxvel = 0.436805, current_vel = 0.315317, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.315317, acc = 15.000000,T = 0.004357, P = 0.002153 initial results: dx= 0.002205,dt = 0.006061, a_f = 15.985594, v_f = 0.412198 recalculating with a_f = 15.985594, a = 15.000000 revised dt = 0.006105 dt = 0.006105, not at end yet tc id = 116, canon_type = 3, mot type = 2 time: 5.592000 primary movement = 3.077940411137e-04 time: 5.592000000000e+00 total movement = 3.077940411137e-04 vel = 3.153165736140e-01 ------------------- tc state : vr = 0.412198, vf = 0.412198, maxvel = 0.436805, current_vel = 0.330317, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.330317, acc = 15.000000,T = 0.004357, P = 0.002476 initial results: dx= 0.001882,dt = 0.005069, a_f = 16.154674, v_f = 0.412198 recalculating with a_f = 16.154674, a = 15.000000 revised dt = 0.005105 dt = 0.005105, not at end yet tc id = 116, canon_type = 3, mot type = 2 time: 5.593000 primary movement = 3.227905839955e-04 time: 5.593000000000e+00 total movement = 3.227905839955e-04 vel = 3.303165736140e-01 ------------------- tc state : vr = 0.412198, vf = 0.412198, maxvel = 0.436805, current_vel = 0.345317, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.345317, acc = 15.000000,T = 0.004357, P = 0.002814 initial results: dx= 0.001544,dt = 0.004076, a_f = 16.407318, v_f = 0.412198 recalculating with a_f = 16.407318, a = 15.000000 revised dt = 0.004105 dt = 0.004105, not at end yet tc id = 116, canon_type = 3, mot type = 2 time: 5.594000 primary movement = 3.377867902126e-04 time: 5.594000000000e+00 total movement = 3.377867902126e-04 vel = 3.453165736140e-01 ------------------- tc state : vr = 0.412198, vf = 0.412198, maxvel = 0.436805, current_vel = 0.360317, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.360317, acc = 15.000000,T = 0.004357, P = 0.003166 initial results: dx= 0.001191,dt = 0.003084, a_f = 16.824173, v_f = 0.412198 recalculating with a_f = 16.824173, a = 15.000000 revised dt = 0.003105 dt = 0.003105, not at end yet tc id = 116, canon_type = 3, mot type = 2 time: 5.595000 primary movement = 3.527826441243e-04 time: 5.595000000000e+00 total movement = 3.527826441243e-04 vel = 3.603165736140e-01 ------------------- tc state : vr = 0.412198, vf = 0.412198, maxvel = 0.436805, current_vel = 0.375317, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.375317, acc = 15.000000,T = 0.004357, P = 0.003534 initial results: dx= 0.000823,dt = 0.002091, a_f = 17.639132, v_f = 0.412198 recalculating with a_f = 17.639132, a = 15.000000 revised dt = 0.002105 dt = 0.002105, not at end yet tc id = 116, canon_type = 3, mot type = 2 time: 5.596000 primary movement = 3.677781300902e-04 time: 5.596000000000e+00 total movement = 3.677781300902e-04 vel = 3.753165736140e-01 ------------------- tc state : vr = 0.412198, vf = 0.412198, maxvel = 0.436805, current_vel = 0.390317, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.390317, acc = 15.000000,T = 0.004357, P = 0.003917 initial results: dx= 0.000440,dt = 0.001098, a_f = 19.932723, v_f = 0.412198 recalculating with a_f = 19.932723, a = 15.000000 revised dt = 0.001105 dt = 0.001105, not at end yet tc id = 116, canon_type = 3, mot type = 2 time: 5.597000 primary movement = 3.827732324702e-04 time: 5.597000000000e+00 total movement = 3.827732324702e-04 vel = 3.903165736140e-01 ------------------- tc state : vr = 0.412198, vf = 0.412198, maxvel = 0.436805, current_vel = 0.405317, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.405317, acc = 15.000000,T = 0.004357, P = 0.004315 initial results: dx= 0.000043,dt = 0.000104, a_f = 65.917449, v_f = 0.412198 recalculating with a_f = 65.917449, a = 15.000000 revised dt = 0.000105 actual v_f = 0.406893, a = 15.000000 split time is 0.00010508 tc id = 116, canon_type = 3, mot type = 2 time: 5.598000 primary movement = 3.977679356248e-04 time: 5.598000000000e+00 total movement = 3.977679356248e-04 vel = 4.053165736140e-01 ------------------- tc id 116 done Finishing split-cycle on id 116 tc state : vr = 0.507164, vf = 0.507164, maxvel = 8.784069, current_vel = 0.435193, fs = 1.000000, tc = 0.000895, term = 3 tc result: v = 0.435193, acc = 31.622777,T = 0.001380, P = 0.000377 initial results: dx= 0.001004,dt = 0.002130, a_f = 33.787655, v_f = 0.507164 recalculating with a_f = 33.787655, a = 31.622777 revised dt = 0.002140 dt = 0.002140, not at end yet secondary movement = 0.000377 tc id = 116, canon_type = 2, mot type = 1 time: 5.599000 primary movement = 4.267321800284e-05 time: 5.599000000000e+00 total movement = 4.194729606052e-04 vel = 4.351926370645e-01 Finished tc id 116 ------------------- Activate tc id = 116 target_vel = 0.507164 final_vel = 0.507164 length = 0.001380 tc state : vr = 0.507164, vf = 0.507164, maxvel = 8.784069, current_vel = 0.466815, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.466815, acc = 31.622777,T = 0.001380, P = 0.000828 initial results: dx= 0.000553,dt = 0.001135, a_f = 35.554322, v_f = 0.507164 recalculating with a_f = 35.554322, a = 31.622777 revised dt = 0.001140 dt = 0.001140, not at end yet tc id = 116, canon_type = 2, mot type = 1 time: 5.600000 primary movement = 4.510040253653e-04 time: 5.600000000000e+00 total movement = 4.510040253653e-04 vel = 4.668154136662e-01 ------------------- tc state : vr = 0.507164, vf = 0.507164, maxvel = 8.784069, current_vel = 0.498438, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.498438, acc = 31.622777,T = 0.001380, P = 0.001310 initial results: dx= 0.000070,dt = 0.000139, a_f = 62.647524, v_f = 0.507164 recalculating with a_f = 62.647524, a = 31.622777 revised dt = 0.000140 actual v_f = 0.502862, a = 31.622777 split time is 0.000139888 tc id = 116, canon_type = 2, mot type = 1 time: 5.601000 primary movement = 4.826268019670e-04 time: 5.601000000000e+00 total movement = 4.826268019670e-04 vel = 4.984381902679e-01 ------------------- tc id 116 done Finishing split-cycle on id 117 tc state : vr = 0.646345, vf = 0.646345, maxvel = 0.657364, current_vel = 0.515764, fs = 1.000000, tc = 0.000860, term = 3 tc result: v = 0.515764, acc = 15.000000,T = 0.005352, P = 0.000438 initial results: dx= 0.004913,dt = 0.008456, a_f = 15.442214, v_f = 0.646345 recalculating with a_f = 15.442214, a = 15.000000 revised dt = 0.008481 dt = 0.008481, not at end yet secondary movement = 0.000438 tc id = 117, canon_type = 3, mot type = 2 time: 5.602000 primary movement = 7.003487875175e-05 time: 5.602000000000e+00 total movement = 5.080882117194e-04 vel = 5.157635155760e-01 Finished tc id 116 ------------------- Activate tc id = 117 target_vel = 0.646345 final_vel = 0.646345 length = 0.005352 tc state : vr = 0.646345, vf = 0.646345, maxvel = 0.657364, current_vel = 0.530764, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.530764, acc = 15.000000,T = 0.005352, P = 0.000961 initial results: dx= 0.004390,dt = 0.007459, a_f = 15.494921, v_f = 0.646345 recalculating with a_f = 15.494921, a = 15.000000 revised dt = 0.007481 dt = 0.007481, not at end yet tc id = 117, canon_type = 3, mot type = 2 time: 5.603000 primary movement = 5.232419369625e-04 time: 5.603000000000e+00 total movement = 5.232419369625e-04 vel = 5.307635155760e-01 ------------------- tc state : vr = 0.646345, vf = 0.646345, maxvel = 0.657364, current_vel = 0.545764, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.545764, acc = 15.000000,T = 0.005352, P = 0.001500 initial results: dx= 0.003852,dt = 0.006462, a_f = 15.564080, v_f = 0.646345 recalculating with a_f = 15.564080, a = 15.000000 revised dt = 0.006481 dt = 0.006481, not at end yet tc id = 117, canon_type = 3, mot type = 2 time: 5.604000 primary movement = 5.382400275407e-04 time: 5.604000000000e+00 total movement = 5.382400275407e-04 vel = 5.457635155760e-01 ------------------- tc state : vr = 0.646345, vf = 0.646345, maxvel = 0.657364, current_vel = 0.560764, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.560764, acc = 15.000000,T = 0.005352, P = 0.002053 initial results: dx= 0.003299,dt = 0.005465, a_f = 15.658689, v_f = 0.646345 recalculating with a_f = 15.658689, a = 15.000000 revised dt = 0.005481 dt = 0.005481, not at end yet tc id = 117, canon_type = 3, mot type = 2 time: 5.605000 primary movement = 5.532380086787e-04 time: 5.605000000000e+00 total movement = 5.532380086787e-04 vel = 5.607635155760e-01 ------------------- tc state : vr = 0.646345, vf = 0.646345, maxvel = 0.657364, current_vel = 0.575764, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.575764, acc = 15.000000,T = 0.005352, P = 0.002621 initial results: dx= 0.002730,dt = 0.004468, a_f = 15.795776, v_f = 0.646345 recalculating with a_f = 15.795776, a = 15.000000 revised dt = 0.004481 dt = 0.004481, not at end yet tc id = 117, canon_type = 3, mot type = 2 time: 5.606000 primary movement = 5.682358773267e-04 time: 5.606000000000e+00 total movement = 5.682358773267e-04 vel = 5.757635155760e-01 ------------------- tc state : vr = 0.646345, vf = 0.646345, maxvel = 0.657364, current_vel = 0.590764, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.590764, acc = 15.000000,T = 0.005352, P = 0.003204 initial results: dx= 0.002147,dt = 0.003471, a_f = 16.011943, v_f = 0.646345 recalculating with a_f = 16.011943, a = 15.000000 revised dt = 0.003481 dt = 0.003481, not at end yet tc id = 117, canon_type = 3, mot type = 2 time: 5.607000 primary movement = 5.832336304354e-04 time: 5.607000000000e+00 total movement = 5.832336304354e-04 vel = 5.907635155760e-01 ------------------- tc state : vr = 0.646345, vf = 0.646345, maxvel = 0.657364, current_vel = 0.605764, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.605764, acc = 15.000000,T = 0.005352, P = 0.003803 initial results: dx= 0.001549,dt = 0.002474, a_f = 16.402805, v_f = 0.646345 recalculating with a_f = 16.402805, a = 15.000000 revised dt = 0.002481 dt = 0.002481, not at end yet tc id = 117, canon_type = 3, mot type = 2 time: 5.608000 primary movement = 5.982312649553e-04 time: 5.608000000000e+00 total movement = 5.982312649553e-04 vel = 6.057635155760e-01 ------------------- tc state : vr = 0.646345, vf = 0.646345, maxvel = 0.657364, current_vel = 0.620764, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.620764, acc = 15.000000,T = 0.005352, P = 0.004416 initial results: dx= 0.000936,dt = 0.001477, a_f = 17.322268, v_f = 0.646345 recalculating with a_f = 17.322268, a = 15.000000 revised dt = 0.001481 dt = 0.001481, not at end yet tc id = 117, canon_type = 3, mot type = 2 time: 5.609000 primary movement = 6.132287778369e-04 time: 5.609000000000e+00 total movement = 6.132287778369e-04 vel = 6.207635155760e-01 ------------------- tc state : vr = 0.646345, vf = 0.646345, maxvel = 0.657364, current_vel = 0.635764, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.635764, acc = 15.000000,T = 0.005352, P = 0.005044 initial results: dx= 0.000307,dt = 0.000479, a_f = 22.068825, v_f = 0.646345 recalculating with a_f = 22.068825, a = 15.000000 revised dt = 0.000481 actual v_f = 0.642975, a = 15.000000 split time is 0.000480755 tc id = 117, canon_type = 3, mot type = 2 time: 5.610000 primary movement = 6.282261660306e-04 time: 5.610000000000e+00 total movement = 6.282261660306e-04 vel = 6.357635155760e-01 ------------------- tc id 117 done Finishing split-cycle on id 117 tc state : vr = 4.945718, vf = 0.646244, maxvel = 8.333300, current_vel = 0.658552, fs = 1.000000, tc = 0.000519, term = 3 tc result: v = 0.658552, acc = 30.000000,T = 0.010386, P = 0.000338 initial results: dx= 0.010048,dt = 0.015402, a_f = -0.799129, v_f = 0.646244 dt = 0.015402, not at end yet secondary movement = 0.000338 tc id = 117, canon_type = 2, mot type = 1 time: 5.611000 primary movement = 3.073754883806e-04 time: 5.611000000000e+00 total movement = 6.452812575266e-04 vel = 6.585521921319e-01 Finished tc id 117 ------------------- Activate tc id = 117 target_vel = 4.945718 final_vel = 0.646244 length = 0.010386 tc state : vr = 4.945718, vf = 0.646244, maxvel = 8.333300, current_vel = 0.688552, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.688552, acc = 30.000000,T = 0.010386, P = 0.001011 initial results: dx= 0.009375,dt = 0.014046, a_f = -3.012015, v_f = 0.646244 dt = 0.014046, not at end yet tc id = 117, canon_type = 2, mot type = 1 time: 5.612000 primary movement = 6.735521921319e-04 time: 5.612000000000e+00 total movement = 6.735521921319e-04 vel = 6.885521921319e-01 ------------------- tc state : vr = 4.945718, vf = 0.646244, maxvel = 8.333300, current_vel = 0.718552, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.718552, acc = 30.000000,T = 0.010386, P = 0.001715 initial results: dx= 0.008671,dt = 0.012707, a_f = -5.690562, v_f = 0.646244 dt = 0.012707, not at end yet tc id = 117, canon_type = 2, mot type = 1 time: 5.613000 primary movement = 7.035521921319e-04 time: 5.613000000000e+00 total movement = 7.035521921319e-04 vel = 7.185521921319e-01 ------------------- tc state : vr = 4.945718, vf = 0.646244, maxvel = 8.333300, current_vel = 0.748552, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.748552, acc = 30.000000,T = 0.010386, P = 0.002449 initial results: dx= 0.007937,dt = 0.011382, a_f = -8.988965, v_f = 0.646244 dt = 0.011382, not at end yet tc id = 117, canon_type = 2, mot type = 1 time: 5.614000 primary movement = 7.335521921319e-04 time: 5.614000000000e+00 total movement = 7.335521921319e-04 vel = 7.485521921319e-01 ------------------- tc state : vr = 4.945718, vf = 0.646244, maxvel = 8.333300, current_vel = 0.778552, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.778552, acc = 30.000000,T = 0.010386, P = 0.003212 initial results: dx= 0.007174,dt = 0.010070, a_f = -13.138748, v_f = 0.646244 dt = 0.010070, not at end yet tc id = 117, canon_type = 2, mot type = 1 time: 5.615000 primary movement = 7.635521921319e-04 time: 5.615000000000e+00 total movement = 7.635521921319e-04 vel = 7.785521921319e-01 ------------------- tc state : vr = 4.945718, vf = 0.646244, maxvel = 8.333300, current_vel = 0.808552, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.808552, acc = 30.000000,T = 0.010386, P = 0.004006 initial results: dx= 0.006380,dt = 0.008771, a_f = -18.504111, v_f = 0.646244 dt = 0.008771, not at end yet tc id = 117, canon_type = 2, mot type = 1 time: 5.616000 primary movement = 7.935521921319e-04 time: 5.616000000000e+00 total movement = 7.935521921319e-04 vel = 8.085521921319e-01 ------------------- tc state : vr = 4.945718, vf = 0.646244, maxvel = 8.333300, current_vel = 0.838552, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.838552, acc = 30.000000,T = 0.010386, P = 0.004829 initial results: dx= 0.005557,dt = 0.007485, a_f = -25.692734, v_f = 0.646244 dt = 0.007485, not at end yet tc id = 117, canon_type = 2, mot type = 1 time: 5.617000 primary movement = 8.235521921319e-04 time: 5.617000000000e+00 total movement = 8.235521921319e-04 vel = 8.385521921319e-01 ------------------- tc state : vr = 4.945718, vf = 0.646244, maxvel = 8.333300, current_vel = 0.837119, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.837119, acc = -1.432862,T = 0.010386, P = 0.005667 on final decel initial results: dx= 0.004719,dt = 0.006363, a_f = -30.000000, v_f = 0.646244 recalculating with a_f = -30.000000, a = -30.000000 revised dt = 0.006363 dt = 0.006363, not at end yet tc id = 117, canon_type = 2, mot type = 1 time: 5.618000 primary movement = 8.378357613243e-04 time: 5.618000000000e+00 total movement = 8.378357613243e-04 vel = 8.371193305167e-01 ------------------- tc state : vr = 4.945718, vf = 0.646244, maxvel = 8.333300, current_vel = 0.807119, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.807119, acc = -30.000000,T = 0.010386, P = 0.006489 on final decel initial results: dx= 0.003897,dt = 0.005363, a_f = -30.000000, v_f = 0.646244 dt = 0.005363, not at end yet tc id = 117, canon_type = 2, mot type = 1 time: 5.619000 primary movement = 8.221193305167e-04 time: 5.619000000000e+00 total movement = 8.221193305167e-04 vel = 8.071193305167e-01 ------------------- tc state : vr = 4.945718, vf = 0.646244, maxvel = 8.333300, current_vel = 0.777119, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.777119, acc = -30.000000,T = 0.010386, P = 0.007281 on final decel initial results: dx= 0.003105,dt = 0.004363, a_f = -30.000000, v_f = 0.646244 dt = 0.004363, not at end yet tc id = 117, canon_type = 2, mot type = 1 time: 5.620000 primary movement = 7.921193305167e-04 time: 5.620000000000e+00 total movement = 7.921193305167e-04 vel = 7.771193305167e-01 ------------------- tc state : vr = 4.945718, vf = 0.646244, maxvel = 8.333300, current_vel = 0.747119, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.747119, acc = -30.000000,T = 0.010386, P = 0.008043 on final decel initial results: dx= 0.002343,dt = 0.003363, a_f = -30.000000, v_f = 0.646244 recalculating with a_f = -30.000000, a = -30.000000 revised dt = 0.003363 dt = 0.003363, not at end yet tc id = 117, canon_type = 2, mot type = 1 time: 5.621000 primary movement = 7.621193305167e-04 time: 5.621000000000e+00 total movement = 7.621193305167e-04 vel = 7.471193305167e-01 ------------------- tc state : vr = 4.945718, vf = 0.646244, maxvel = 8.333300, current_vel = 0.717119, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.717119, acc = -30.000000,T = 0.010386, P = 0.008776 on final decel initial results: dx= 0.001610,dt = 0.002363, a_f = -30.000000, v_f = 0.646244 recalculating with a_f = -30.000000, a = -30.000000 revised dt = 0.002363 dt = 0.002363, not at end yet tc id = 117, canon_type = 2, mot type = 1 time: 5.622000 primary movement = 7.321193305167e-04 time: 5.622000000000e+00 total movement = 7.321193305167e-04 vel = 7.171193305167e-01 ------------------- tc state : vr = 4.945718, vf = 0.646244, maxvel = 8.333300, current_vel = 0.687119, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.687119, acc = -30.000000,T = 0.010386, P = 0.009478 on final decel initial results: dx= 0.000908,dt = 0.001363, a_f = -30.000000, v_f = 0.646244 dt = 0.001363, not at end yet tc id = 117, canon_type = 2, mot type = 1 time: 5.623000 primary movement = 7.021193305167e-04 time: 5.623000000000e+00 total movement = 7.021193305167e-04 vel = 6.871193305167e-01 ------------------- tc state : vr = 4.945718, vf = 0.646244, maxvel = 8.333300, current_vel = 0.657119, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.657119, acc = -30.000000,T = 0.010386, P = 0.010150 on final decel initial results: dx= 0.000236,dt = 0.000363, a_f = -30.000000, v_f = 0.646244 recalculating with a_f = -30.000000, a = -30.000000 revised dt = 0.000363 actual v_f = 0.646244, a = -30.000000 split time is 0.000362505 tc id = 117, canon_type = 2, mot type = 1 time: 5.624000 primary movement = 6.721193305167e-04 time: 5.624000000000e+00 total movement = 6.721193305167e-04 vel = 6.571193305167e-01 ------------------- tc id 117 done Finishing split-cycle on id 118 tc state : vr = 0.646244, vf = 0.646244, maxvel = 0.646244, current_vel = 0.646244, fs = 1.000000, tc = 0.000637, term = 3 tc result: v = 0.646244, acc = 0.000000,T = 0.005767, P = 0.000412 initial results: dx= 0.005355,dt = 0.008287, a_f = 0.000000, v_f = 0.646244 dt = 0.008287, not at end yet secondary movement = 0.000412 tc id = 118, canon_type = 3, mot type = 2 time: 5.625000 primary movement = 2.362379445785e-04 time: 5.625000000000e+00 total movement = 6.482040520137e-04 vel = 6.462441782052e-01 Finished tc id 117 ------------------- Activate tc id = 118 target_vel = 0.646244 final_vel = 0.646244 length = 0.005767 tc state : vr = 0.646244, vf = 0.646244, maxvel = 0.646244, current_vel = 0.646244, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.646244, acc = 0.000000,T = 0.005767, P = 0.001058 initial results: dx= 0.004709,dt = 0.007287, a_f = 0.000000, v_f = 0.646244 dt = 0.007287, not at end yet tc id = 118, canon_type = 3, mot type = 2 time: 5.626000 primary movement = 6.462006583829e-04 time: 5.626000000000e+00 total movement = 6.462006583829e-04 vel = 6.462441782052e-01 ------------------- tc state : vr = 0.646244, vf = 0.646244, maxvel = 0.646244, current_vel = 0.646244, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.646244, acc = 0.000000,T = 0.005767, P = 0.001704 initial results: dx= 0.004063,dt = 0.006287, a_f = 0.000000, v_f = 0.646244 dt = 0.006287, not at end yet tc id = 118, canon_type = 3, mot type = 2 time: 5.627000 primary movement = 6.462006583829e-04 time: 5.627000000000e+00 total movement = 6.462006583829e-04 vel = 6.462441782052e-01 ------------------- tc state : vr = 0.646244, vf = 0.646244, maxvel = 0.646244, current_vel = 0.646244, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.646244, acc = 0.000000,T = 0.005767, P = 0.002351 initial results: dx= 0.003416,dt = 0.005287, a_f = 0.000000, v_f = 0.646244 dt = 0.005287, not at end yet tc id = 118, canon_type = 3, mot type = 2 time: 5.628000 primary movement = 6.462006583829e-04 time: 5.628000000000e+00 total movement = 6.462006583829e-04 vel = 6.462441782052e-01 ------------------- tc state : vr = 0.646244, vf = 0.646244, maxvel = 0.646244, current_vel = 0.646244, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.646244, acc = 0.000000,T = 0.005767, P = 0.002997 initial results: dx= 0.002770,dt = 0.004287, a_f = 0.000000, v_f = 0.646244 dt = 0.004287, not at end yet tc id = 118, canon_type = 3, mot type = 2 time: 5.629000 primary movement = 6.462006583829e-04 time: 5.629000000000e+00 total movement = 6.462006583829e-04 vel = 6.462441782052e-01 ------------------- tc state : vr = 0.646244, vf = 0.646244, maxvel = 0.646244, current_vel = 0.646244, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.646244, acc = 0.000000,T = 0.005767, P = 0.003643 initial results: dx= 0.002124,dt = 0.003287, a_f = 0.000000, v_f = 0.646244 dt = 0.003287, not at end yet tc id = 118, canon_type = 3, mot type = 2 time: 5.630000 primary movement = 6.462006583829e-04 time: 5.630000000000e+00 total movement = 6.462006583829e-04 vel = 6.462441782052e-01 ------------------- tc state : vr = 0.646244, vf = 0.646244, maxvel = 0.646244, current_vel = 0.646244, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.646244, acc = 0.000000,T = 0.005767, P = 0.004289 initial results: dx= 0.001478,dt = 0.002287, a_f = 0.000000, v_f = 0.646244 dt = 0.002287, not at end yet tc id = 118, canon_type = 3, mot type = 2 time: 5.631000 primary movement = 6.462006583829e-04 time: 5.631000000000e+00 total movement = 6.462006583829e-04 vel = 6.462441782052e-01 ------------------- tc state : vr = 0.646244, vf = 0.646244, maxvel = 0.646244, current_vel = 0.646244, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.646244, acc = 0.000000,T = 0.005767, P = 0.004936 initial results: dx= 0.000831,dt = 0.001287, a_f = 0.000000, v_f = 0.646244 dt = 0.001287, not at end yet tc id = 118, canon_type = 3, mot type = 2 time: 5.632000 primary movement = 6.462006583829e-04 time: 5.632000000000e+00 total movement = 6.462006583829e-04 vel = 6.462441782052e-01 ------------------- tc state : vr = 0.646244, vf = 0.646244, maxvel = 0.646244, current_vel = 0.646244, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.646244, acc = 0.000000,T = 0.005767, P = 0.005582 initial results: dx= 0.000185,dt = 0.000287, a_f = 0.000000, v_f = 0.646244 actual v_f = 0.646244, a = 0.000000 split time is 0.000286549 tc id = 118, canon_type = 3, mot type = 2 time: 5.633000 primary movement = 6.462006583829e-04 time: 5.633000000000e+00 total movement = 6.462006583829e-04 vel = 6.462441782052e-01 ------------------- tc id 118 done Finishing split-cycle on id 118 tc state : vr = 0.646244, vf = 0.505423, maxvel = 8.899968, current_vel = 0.625225, fs = 1.000000, tc = 0.000713, term = 3 tc result: v = 0.625225, acc = -29.460572,T = 0.002567, P = 0.000454 on final decel initial results: dx= 0.002114,dt = 0.003739, a_f = -32.040014, v_f = 0.505423 dt = 0.003739, not at end yet secondary movement = 0.000454 tc id = 118, canon_type = 2, mot type = 1 time: 5.634000 primary movement = 1.851794677149e-04 time: 5.634000000000e+00 total movement = 6.387452527947e-04 vel = 6.252254977461e-01 Finished tc id 118 ------------------- Activate tc id = 118 target_vel = 0.646244 final_vel = 0.505423 length = 0.002567 tc state : vr = 0.646244, vf = 0.505423, maxvel = 8.899968, current_vel = 0.593185, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.593185, acc = -32.040014,T = 0.002567, P = 0.001063 on final decel initial results: dx= 0.001505,dt = 0.002739, a_f = -32.040014, v_f = 0.505423 recalculating with a_f = -32.040014, a = -32.040014 revised dt = 0.002739 dt = 0.002739, not at end yet tc id = 118, canon_type = 2, mot type = 1 time: 5.635000 primary movement = 6.092054907237e-04 time: 5.635000000000e+00 total movement = 6.092054907237e-04 vel = 5.931854837012e-01 ------------------- tc state : vr = 0.646244, vf = 0.505423, maxvel = 8.899968, current_vel = 0.561145, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.561145, acc = -32.040014,T = 0.002567, P = 0.001640 on final decel initial results: dx= 0.000927,dt = 0.001739, a_f = -32.040014, v_f = 0.505423 recalculating with a_f = -32.040014, a = -32.040014 revised dt = 0.001739 dt = 0.001739, not at end yet tc id = 118, canon_type = 2, mot type = 1 time: 5.636000 primary movement = 5.771654766787e-04 time: 5.636000000000e+00 total movement = 5.771654766787e-04 vel = 5.611454696563e-01 ------------------- tc state : vr = 0.646244, vf = 0.505423, maxvel = 8.899968, current_vel = 0.529105, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.529105, acc = -32.040014,T = 0.002567, P = 0.002185 on final decel initial results: dx= 0.000382,dt = 0.000739, a_f = -32.040014, v_f = 0.505423 recalculating with a_f = -32.040014, a = -32.040014 revised dt = 0.000739 actual v_f = 0.505423, a = -32.040014 split time is 0.000739149 tc id = 118, canon_type = 2, mot type = 1 time: 5.637000 primary movement = 5.451254626338e-04 time: 5.637000000000e+00 total movement = 5.451254626338e-04 vel = 5.291054556113e-01 ------------------- tc id 118 done Finishing split-cycle on id 119 tc state : vr = 0.505423, vf = 0.505423, maxvel = 0.505423, current_vel = 0.505423, fs = 1.000000, tc = 0.000261, term = 3 tc result: v = 0.505423, acc = 0.000000,T = 0.005936, P = 0.000132 initial results: dx= 0.005804,dt = 0.011484, a_f = 0.000000, v_f = 0.505423 dt = 0.011484, not at end yet secondary movement = 0.000132 tc id = 119, canon_type = 3, mot type = 2 time: 5.638000 primary movement = 3.823353442895e-04 time: 5.638000000000e+00 total movement = 5.141745147180e-04 vel = 5.054231133969e-01 Finished tc id 118 ------------------- Activate tc id = 119 target_vel = 0.505423 final_vel = 0.505423 length = 0.005936 tc state : vr = 0.505423, vf = 0.505423, maxvel = 0.505423, current_vel = 0.505423, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.505423, acc = 0.000000,T = 0.005936, P = 0.000637 initial results: dx= 0.005299,dt = 0.010484, a_f = 0.000000, v_f = 0.505423 dt = 0.010484, not at end yet tc id = 119, canon_type = 3, mot type = 2 time: 5.639000 primary movement = 5.053674687889e-04 time: 5.639000000000e+00 total movement = 5.053674687889e-04 vel = 5.054231133969e-01 ------------------- tc state : vr = 0.505423, vf = 0.505423, maxvel = 0.505423, current_vel = 0.505423, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.505423, acc = 0.000000,T = 0.005936, P = 0.001143 initial results: dx= 0.004794,dt = 0.009484, a_f = 0.000000, v_f = 0.505423 dt = 0.009484, not at end yet tc id = 119, canon_type = 3, mot type = 2 time: 5.640000 primary movement = 5.053674687888e-04 time: 5.640000000000e+00 total movement = 5.053674687888e-04 vel = 5.054231133969e-01 ------------------- tc state : vr = 0.505423, vf = 0.505423, maxvel = 0.505423, current_vel = 0.505423, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.505423, acc = 0.000000,T = 0.005936, P = 0.001648 initial results: dx= 0.004288,dt = 0.008484, a_f = 0.000000, v_f = 0.505423 dt = 0.008484, not at end yet tc id = 119, canon_type = 3, mot type = 2 time: 5.641000 primary movement = 5.053674687888e-04 time: 5.641000000000e+00 total movement = 5.053674687888e-04 vel = 5.054231133969e-01 ------------------- tc state : vr = 0.505423, vf = 0.505423, maxvel = 0.505423, current_vel = 0.505423, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.505423, acc = 0.000000,T = 0.005936, P = 0.002154 initial results: dx= 0.003783,dt = 0.007484, a_f = 0.000000, v_f = 0.505423 dt = 0.007484, not at end yet tc id = 119, canon_type = 3, mot type = 2 time: 5.642000 primary movement = 5.053674687888e-04 time: 5.642000000000e+00 total movement = 5.053674687888e-04 vel = 5.054231133969e-01 ------------------- tc state : vr = 0.505423, vf = 0.505423, maxvel = 0.505423, current_vel = 0.505423, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.505423, acc = 0.000000,T = 0.005936, P = 0.002659 initial results: dx= 0.003277,dt = 0.006484, a_f = 0.000000, v_f = 0.505423 dt = 0.006484, not at end yet tc id = 119, canon_type = 3, mot type = 2 time: 5.643000 primary movement = 5.053674687888e-04 time: 5.643000000000e+00 total movement = 5.053674687888e-04 vel = 5.054231133969e-01 ------------------- tc state : vr = 0.505423, vf = 0.505423, maxvel = 0.505423, current_vel = 0.505423, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.505423, acc = 0.000000,T = 0.005936, P = 0.003164 initial results: dx= 0.002772,dt = 0.005484, a_f = 0.000000, v_f = 0.505423 dt = 0.005484, not at end yet tc id = 119, canon_type = 3, mot type = 2 time: 5.644000 primary movement = 5.053674687889e-04 time: 5.644000000000e+00 total movement = 5.053674687889e-04 vel = 5.054231133969e-01 ------------------- tc state : vr = 0.505423, vf = 0.505423, maxvel = 0.505423, current_vel = 0.505423, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.505423, acc = 0.000000,T = 0.005936, P = 0.003670 initial results: dx= 0.002266,dt = 0.004484, a_f = 0.000000, v_f = 0.505423 dt = 0.004484, not at end yet tc id = 119, canon_type = 3, mot type = 2 time: 5.645000 primary movement = 5.053674687888e-04 time: 5.645000000000e+00 total movement = 5.053674687888e-04 vel = 5.054231133969e-01 ------------------- tc state : vr = 0.505423, vf = 0.505423, maxvel = 0.505423, current_vel = 0.505423, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.505423, acc = 0.000000,T = 0.005936, P = 0.004175 initial results: dx= 0.001761,dt = 0.003484, a_f = 0.000000, v_f = 0.505423 dt = 0.003484, not at end yet tc id = 119, canon_type = 3, mot type = 2 time: 5.646000 primary movement = 5.053674687888e-04 time: 5.646000000000e+00 total movement = 5.053674687888e-04 vel = 5.054231133969e-01 ------------------- tc state : vr = 0.505423, vf = 0.505423, maxvel = 0.505423, current_vel = 0.505423, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.505423, acc = 0.000000,T = 0.005936, P = 0.004681 initial results: dx= 0.001256,dt = 0.002484, a_f = 0.000000, v_f = 0.505423 dt = 0.002484, not at end yet tc id = 119, canon_type = 3, mot type = 2 time: 5.647000 primary movement = 5.053674687888e-04 time: 5.647000000000e+00 total movement = 5.053674687888e-04 vel = 5.054231133969e-01 ------------------- tc state : vr = 0.505423, vf = 0.505423, maxvel = 0.505423, current_vel = 0.505423, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.505423, acc = 0.000000,T = 0.005936, P = 0.005186 initial results: dx= 0.000750,dt = 0.001484, a_f = 0.000000, v_f = 0.505423 dt = 0.001484, not at end yet tc id = 119, canon_type = 3, mot type = 2 time: 5.648000 primary movement = 5.053674687888e-04 time: 5.648000000000e+00 total movement = 5.053674687888e-04 vel = 5.054231133969e-01 ------------------- tc state : vr = 0.505423, vf = 0.505423, maxvel = 0.505423, current_vel = 0.505423, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.505423, acc = 0.000000,T = 0.005936, P = 0.005691 initial results: dx= 0.000245,dt = 0.000484, a_f = 0.000000, v_f = 0.505423 actual v_f = 0.505423, a = 0.000000 split time is 0.000484334 tc id = 119, canon_type = 3, mot type = 2 time: 5.649000 primary movement = 5.053674687888e-04 time: 5.649000000000e+00 total movement = 5.053674687888e-04 vel = 5.054231133969e-01 ------------------- tc id 119 done Finishing split-cycle on id 119 tc state : vr = 1.726241, vf = 0.303845, maxvel = 8.589769, current_vel = 0.521369, fs = 1.000000, tc = 0.000516, term = 3 tc result: v = 0.521369, acc = 30.923292,T = 0.003625, P = 0.000265 initial results: dx= 0.003360,dt = 0.008144, a_f = -26.709023, v_f = 0.303845 dt = 0.008144, not at end yet secondary movement = 0.000265 tc id = 119, canon_type = 2, mot type = 1 time: 5.650000 primary movement = 2.447874434372e-04 time: 5.650000000000e+00 total movement = 5.095282142143e-04 vel = 5.213691935430e-01 Finished tc id 119 ------------------- Activate tc id = 119 target_vel = 1.726241 final_vel = 0.303845 length = 0.003625 tc state : vr = 1.726241, vf = 0.303845, maxvel = 8.589769, current_vel = 0.517704, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.517704, acc = -3.665378,T = 0.003625, P = 0.000784 on final decel initial results: dx= 0.002841,dt = 0.006916, a_f = -30.923292, v_f = 0.303845 dt = 0.006916, not at end yet tc id = 119, canon_type = 2, mot type = 1 time: 5.651000 primary movement = 5.195365043550e-04 time: 5.651000000000e+00 total movement = 5.195365043550e-04 vel = 5.177038151670e-01 ------------------- tc state : vr = 1.726241, vf = 0.303845, maxvel = 8.589769, current_vel = 0.486781, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.486781, acc = -30.923292,T = 0.003625, P = 0.001287 on final decel initial results: dx= 0.002339,dt = 0.005916, a_f = -30.923292, v_f = 0.303845 dt = 0.005916, not at end yet tc id = 119, canon_type = 2, mot type = 1 time: 5.652000 primary movement = 5.022421690710e-04 time: 5.652000000000e+00 total movement = 5.022421690710e-04 vel = 4.867805229749e-01 ------------------- tc state : vr = 1.726241, vf = 0.303845, maxvel = 8.589769, current_vel = 0.455857, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.455857, acc = -30.923292,T = 0.003625, P = 0.001758 on final decel initial results: dx= 0.001867,dt = 0.004916, a_f = -30.923292, v_f = 0.303845 dt = 0.004916, not at end yet tc id = 119, canon_type = 2, mot type = 1 time: 5.653000 primary movement = 4.713188768789e-04 time: 5.653000000000e+00 total movement = 4.713188768789e-04 vel = 4.558572307828e-01 ------------------- tc state : vr = 1.726241, vf = 0.303845, maxvel = 8.589769, current_vel = 0.424934, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.424934, acc = -30.923292,T = 0.003625, P = 0.002198 on final decel initial results: dx= 0.001427,dt = 0.003916, a_f = -30.923292, v_f = 0.303845 recalculating with a_f = -30.923292, a = -30.923292 revised dt = 0.003916 dt = 0.003916, not at end yet tc id = 119, canon_type = 2, mot type = 1 time: 5.654000 primary movement = 4.403955846867e-04 time: 5.654000000000e+00 total movement = 4.403955846867e-04 vel = 4.249339385907e-01 ------------------- tc state : vr = 1.726241, vf = 0.303845, maxvel = 8.589769, current_vel = 0.394011, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.394011, acc = -30.923292,T = 0.003625, P = 0.002608 on final decel initial results: dx= 0.001017,dt = 0.002916, a_f = -30.923292, v_f = 0.303845 recalculating with a_f = -30.923292, a = -30.923292 revised dt = 0.002916 dt = 0.002916, not at end yet tc id = 119, canon_type = 2, mot type = 1 time: 5.655000 primary movement = 4.094722924946e-04 time: 5.655000000000e+00 total movement = 4.094722924946e-04 vel = 3.940106463985e-01 ------------------- tc state : vr = 1.726241, vf = 0.303845, maxvel = 8.589769, current_vel = 0.363087, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.363087, acc = -30.923292,T = 0.003625, P = 0.002986 on final decel initial results: dx= 0.000639,dt = 0.001916, a_f = -30.923292, v_f = 0.303845 recalculating with a_f = -30.923292, a = -30.923292 revised dt = 0.001916 dt = 0.001916, not at end yet tc id = 119, canon_type = 2, mot type = 1 time: 5.656000 primary movement = 3.785490003025e-04 time: 5.656000000000e+00 total movement = 3.785490003025e-04 vel = 3.630873542064e-01 ------------------- tc state : vr = 1.726241, vf = 0.303845, maxvel = 8.589769, current_vel = 0.332164, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.332164, acc = -30.923292,T = 0.003625, P = 0.003334 on final decel initial results: dx= 0.000291,dt = 0.000916, a_f = -30.923292, v_f = 0.303845 recalculating with a_f = -30.923292, a = -30.923292 revised dt = 0.000916 actual v_f = 0.303845, a = -30.923292 split time is 0.000915787 tc id = 119, canon_type = 2, mot type = 1 time: 5.657000 primary movement = 3.476257081103e-04 time: 5.657000000000e+00 total movement = 3.476257081103e-04 vel = 3.321640620143e-01 ------------------- tc id 119 done Finishing split-cycle on id 120 tc state : vr = 0.447910, vf = 0.000000, maxvel = 0.447910, current_vel = 0.302582, fs = 1.000000, tc = 0.000084, term = 3 tc result: v = 0.302582, acc = -15.000000,T = 0.003077, P = 0.000026 on final decel initial results: dx= 0.003052,dt = 0.020172, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.020172 dt = 0.020172, not at end yet secondary movement = 0.000026 tc id = 120, canon_type = 3, mot type = 2 time: 5.658000 primary movement = 2.912245055640e-04 time: 5.658000000000e+00 total movement = 3.167588663470e-04 vel = 3.025817112173e-01 Finished tc id 119 ------------------- Activate tc id = 120 target_vel = 0.447910 final_vel = 0.000000 length = 0.003077 tc state : vr = 0.447910, vf = 0.000000, maxvel = 0.447910, current_vel = 0.287582, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.287582, acc = -15.000000,T = 0.003077, P = 0.000321 on final decel initial results: dx= 0.002757,dt = 0.019172, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.019172 dt = 0.019172, not at end yet tc id = 120, canon_type = 3, mot type = 2 time: 5.659000 primary movement = 2.950637577642e-04 time: 5.659000000000e+00 total movement = 2.950637577642e-04 vel = 2.875817112173e-01 ------------------- tc state : vr = 0.447910, vf = 0.000000, maxvel = 0.447910, current_vel = 0.272582, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.272582, acc = -15.000000,T = 0.003077, P = 0.000601 on final decel initial results: dx= 0.002477,dt = 0.018172, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.018172 dt = 0.018172, not at end yet tc id = 120, canon_type = 3, mot type = 2 time: 5.660000 primary movement = 2.800663588218e-04 time: 5.660000000000e+00 total movement = 2.800663588218e-04 vel = 2.725817112173e-01 ------------------- tc state : vr = 0.447910, vf = 0.000000, maxvel = 0.447910, current_vel = 0.257582, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.257582, acc = -15.000000,T = 0.003077, P = 0.000866 on final decel initial results: dx= 0.002212,dt = 0.017172, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.017172 dt = 0.017172, not at end yet tc id = 120, canon_type = 3, mot type = 2 time: 5.661000 primary movement = 2.650686956849e-04 time: 5.661000000000e+00 total movement = 2.650686956849e-04 vel = 2.575817112173e-01 ------------------- tc state : vr = 0.447910, vf = 0.000000, maxvel = 0.447910, current_vel = 0.242582, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.242582, acc = -15.000000,T = 0.003077, P = 0.001116 on final decel initial results: dx= 0.001962,dt = 0.016172, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.016172 dt = 0.016172, not at end yet tc id = 120, canon_type = 3, mot type = 2 time: 5.662000 primary movement = 2.500707825013e-04 time: 5.662000000000e+00 total movement = 2.500707825013e-04 vel = 2.425817112173e-01 ------------------- tc state : vr = 0.447910, vf = 0.000000, maxvel = 0.447910, current_vel = 0.227582, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.227582, acc = -15.000000,T = 0.003077, P = 0.001351 on final decel initial results: dx= 0.001726,dt = 0.015172, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.015172 dt = 0.015172, not at end yet tc id = 120, canon_type = 3, mot type = 2 time: 5.663000 primary movement = 2.350726334188e-04 time: 5.663000000000e+00 total movement = 2.350726334188e-04 vel = 2.275817112173e-01 ------------------- tc state : vr = 0.447910, vf = 0.000000, maxvel = 0.447910, current_vel = 0.212582, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.212582, acc = -15.000000,T = 0.003077, P = 0.001571 on final decel initial results: dx= 0.001506,dt = 0.014172, a_f = -15.000000, v_f = 0.000000 dt = 0.014172, not at end yet tc id = 120, canon_type = 3, mot type = 2 time: 5.664000 primary movement = 2.200742625858e-04 time: 5.664000000000e+00 total movement = 2.200742625858e-04 vel = 2.125817112173e-01 ------------------- tc state : vr = 0.447910, vf = 0.000000, maxvel = 0.447910, current_vel = 0.197582, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.197582, acc = -15.000000,T = 0.003077, P = 0.001776 on final decel initial results: dx= 0.001301,dt = 0.013172, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.013172 dt = 0.013172, not at end yet tc id = 120, canon_type = 3, mot type = 2 time: 5.665000 primary movement = 2.050756841505e-04 time: 5.665000000000e+00 total movement = 2.050756841505e-04 vel = 1.975817112173e-01 ------------------- tc state : vr = 0.447910, vf = 0.000000, maxvel = 0.447910, current_vel = 0.182582, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.182582, acc = -15.000000,T = 0.003077, P = 0.001966 on final decel initial results: dx= 0.001111,dt = 0.012172, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.012172 dt = 0.012172, not at end yet tc id = 120, canon_type = 3, mot type = 2 time: 5.666000 primary movement = 1.900769122615e-04 time: 5.666000000000e+00 total movement = 1.900769122615e-04 vel = 1.825817112173e-01 ------------------- tc state : vr = 0.447910, vf = 0.000000, maxvel = 0.447910, current_vel = 0.167582, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.167582, acc = -15.000000,T = 0.003077, P = 0.002141 on final decel initial results: dx= 0.000936,dt = 0.011172, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.011172 dt = 0.011172, not at end yet tc id = 120, canon_type = 3, mot type = 2 time: 5.667000 primary movement = 1.750779610677e-04 time: 5.667000000000e+00 total movement = 1.750779610677e-04 vel = 1.675817112173e-01 ------------------- tc state : vr = 0.447910, vf = 0.000000, maxvel = 0.447910, current_vel = 0.152582, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.152582, acc = -15.000000,T = 0.003077, P = 0.002301 on final decel initial results: dx= 0.000776,dt = 0.010172, a_f = -15.000000, v_f = 0.000000 dt = 0.010172, not at end yet tc id = 120, canon_type = 3, mot type = 2 time: 5.668000 primary movement = 1.600788447179e-04 time: 5.668000000000e+00 total movement = 1.600788447179e-04 vel = 1.525817112173e-01 ------------------- tc state : vr = 0.447910, vf = 0.000000, maxvel = 0.447910, current_vel = 0.137582, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.137582, acc = -15.000000,T = 0.003077, P = 0.002446 on final decel initial results: dx= 0.000631,dt = 0.009172, a_f = -15.000000, v_f = 0.000000 dt = 0.009172, not at end yet tc id = 120, canon_type = 3, mot type = 2 time: 5.669000 primary movement = 1.450795773612e-04 time: 5.669000000000e+00 total movement = 1.450795773612e-04 vel = 1.375817112173e-01 ------------------- tc state : vr = 0.447910, vf = 0.000000, maxvel = 0.447910, current_vel = 0.122582, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.122582, acc = -15.000000,T = 0.003077, P = 0.002577 on final decel initial results: dx= 0.000501,dt = 0.008172, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.008172 dt = 0.008172, not at end yet tc id = 120, canon_type = 3, mot type = 2 time: 5.670000 primary movement = 1.300801731469e-04 time: 5.670000000000e+00 total movement = 1.300801731469e-04 vel = 1.225817112173e-01 ------------------- tc state : vr = 0.447910, vf = 0.000000, maxvel = 0.447910, current_vel = 0.107582, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.107582, acc = -15.000000,T = 0.003077, P = 0.002692 on final decel initial results: dx= 0.000386,dt = 0.007172, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.007172 dt = 0.007172, not at end yet tc id = 120, canon_type = 3, mot type = 2 time: 5.671000 primary movement = 1.150806462243e-04 time: 5.671000000000e+00 total movement = 1.150806462243e-04 vel = 1.075817112173e-01 ------------------- tc state : vr = 0.447910, vf = 0.000000, maxvel = 0.447910, current_vel = 0.092582, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.092582, acc = -15.000000,T = 0.003077, P = 0.002792 on final decel initial results: dx= 0.000286,dt = 0.006172, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.006172 dt = 0.006172, not at end yet tc id = 120, canon_type = 3, mot type = 2 time: 5.672000 primary movement = 1.000810107428e-04 time: 5.672000000000e+00 total movement = 1.000810107428e-04 vel = 9.258171121730e-02 ------------------- tc state : vr = 0.447910, vf = 0.000000, maxvel = 0.447910, current_vel = 0.077582, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.077582, acc = -15.000000,T = 0.003077, P = 0.002877 on final decel initial results: dx= 0.000201,dt = 0.005172, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.005172 dt = 0.005172, not at end yet tc id = 120, canon_type = 3, mot type = 2 time: 5.673000 primary movement = 8.508128085223e-05 time: 5.673000000000e+00 total movement = 8.508128085223e-05 vel = 7.758171121730e-02 ------------------- tc state : vr = 0.447910, vf = 0.000000, maxvel = 0.447910, current_vel = 0.062582, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.062582, acc = -15.000000,T = 0.003077, P = 0.002947 on final decel initial results: dx= 0.000131,dt = 0.004172, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.004172 dt = 0.004172, not at end yet tc id = 120, canon_type = 3, mot type = 2 time: 5.674000 primary movement = 7.008147070202e-05 time: 5.674000000000e+00 total movement = 7.008147070202e-05 vel = 6.258171121730e-02 ------------------- tc state : vr = 0.447910, vf = 0.000000, maxvel = 0.447910, current_vel = 0.047582, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.047582, acc = -15.000000,T = 0.003077, P = 0.003002 on final decel initial results: dx= 0.000075,dt = 0.003172, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.003172 dt = 0.003172, not at end yet tc id = 120, canon_type = 3, mot type = 2 time: 5.675000 primary movement = 5.508159444198e-05 time: 5.675000000000e+00 total movement = 5.508159444198e-05 vel = 4.758171121730e-02 ------------------- tc state : vr = 0.447910, vf = 0.000000, maxvel = 0.447910, current_vel = 0.032582, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.032582, acc = -15.000000,T = 0.003077, P = 0.003042 on final decel initial results: dx= 0.000035,dt = 0.002172, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.002172 dt = 0.002172, not at end yet tc id = 120, canon_type = 3, mot type = 2 time: 5.676000 primary movement = 4.008166622196e-05 time: 5.676000000000e+00 total movement = 4.008166622196e-05 vel = 3.258171121730e-02 ------------------- tc state : vr = 0.447910, vf = 0.000000, maxvel = 0.447910, current_vel = 0.017582, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.017582, acc = -15.000000,T = 0.003077, P = 0.003067 on final decel initial results: dx= 0.000010,dt = 0.001172, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.001172 dt = 0.001172, not at end yet tc id = 120, canon_type = 3, mot type = 2 time: 5.677000 primary movement = 2.508170019174e-05 time: 5.677000000000e+00 total movement = 2.508170019174e-05 vel = 1.758171121730e-02 ------------------- tc state : vr = 0.447910, vf = 0.000000, maxvel = 0.447910, current_vel = 0.002582, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.002582, acc = -15.000000,T = 0.003077, P = 0.003077 on final decel initial results: dx= 0.000000,dt = 0.000172, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.000172 actual v_f = 0.000000, a = -15.000000 split time is 0.000172114 tc id = 120, canon_type = 3, mot type = 2 time: 5.678000 primary movement = 1.008171050127e-05 time: 5.678000000000e+00 total movement = 1.008171050127e-05 vel = 2.581711217303e-03 ------------------- tc id 120 done Finishing split-cycle on id 120 tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.015523, fs = 1.000000, tc = 0.000828, term = 2 tc result: v = 0.015523, acc = 18.750000,T = 0.003441, P = 0.000006 secondary movement = 0.000006 tc id = 120, canon_type = 2, mot type = 1 time: 5.679000 primary movement = 2.221744269789e-07 time: 5.679000000000e+00 total movement = 6.647756783302e-06 vel = 1.552286501784e-02 Finished tc id 120 ------------------- Activate tc id = 120 target_vel = 10.416625 final_vel = 0.000000 length = 0.003441 Activate nexttc id 121 tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.034273, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.034273, acc = 18.750000,T = 0.003441, P = 0.000031 tc id = 120, canon_type = 2, mot type = 1 time: 5.680000 primary movement = 2.489786501784e-05 time: 5.680000000000e+00 total movement = 2.489786501784e-05 vel = 3.427286501784e-02 ------------------- tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.053023, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.053023, acc = 18.750000,T = 0.003441, P = 0.000075 tc id = 120, canon_type = 2, mot type = 1 time: 5.681000 primary movement = 4.364786501784e-05 time: 5.681000000000e+00 total movement = 4.364786501784e-05 vel = 5.302286501784e-02 ------------------- tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.071773, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.071773, acc = 18.750000,T = 0.003441, P = 0.000137 tc id = 120, canon_type = 2, mot type = 1 time: 5.682000 primary movement = 6.239786501784e-05 time: 5.682000000000e+00 total movement = 6.239786501784e-05 vel = 7.177286501784e-02 ------------------- tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.090523, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.090523, acc = 18.750000,T = 0.003441, P = 0.000219 tc id = 120, canon_type = 2, mot type = 1 time: 5.683000 primary movement = 8.114786501784e-05 time: 5.683000000000e+00 total movement = 8.114786501784e-05 vel = 9.052286501784e-02 ------------------- tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.109273, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.109273, acc = 18.750000,T = 0.003441, P = 0.000318 tc id = 120, canon_type = 2, mot type = 1 time: 5.684000 primary movement = 9.989786501783e-05 time: 5.684000000000e+00 total movement = 9.989786501783e-05 vel = 1.092728650178e-01 ------------------- tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.128023, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.128023, acc = 18.750000,T = 0.003441, P = 0.000437 tc id = 120, canon_type = 2, mot type = 1 time: 5.685000 primary movement = 1.186478650178e-04 time: 5.685000000000e+00 total movement = 1.186478650178e-04 vel = 1.280228650178e-01 ------------------- tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.146773, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.146773, acc = 18.750000,T = 0.003441, P = 0.000574 tc id = 120, canon_type = 2, mot type = 1 time: 5.686000 primary movement = 1.373978650178e-04 time: 5.686000000000e+00 total movement = 1.373978650178e-04 vel = 1.467728650178e-01 ------------------- tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.165523, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.165523, acc = 18.750000,T = 0.003441, P = 0.000731 tc id = 120, canon_type = 2, mot type = 1 time: 5.687000 primary movement = 1.561478650178e-04 time: 5.687000000000e+00 total movement = 1.561478650178e-04 vel = 1.655228650178e-01 ------------------- tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.184273, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.184273, acc = 18.750000,T = 0.003441, P = 0.000906 tc id = 120, canon_type = 2, mot type = 1 time: 5.688000 primary movement = 1.748978650178e-04 time: 5.688000000000e+00 total movement = 1.748978650178e-04 vel = 1.842728650178e-01 ------------------- tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.203023, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.203023, acc = 18.750000,T = 0.003441, P = 0.001099 tc id = 120, canon_type = 2, mot type = 1 time: 5.689000 primary movement = 1.936478650178e-04 time: 5.689000000000e+00 total movement = 1.936478650178e-04 vel = 2.030228650178e-01 ------------------- tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.221773, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.221773, acc = 18.750000,T = 0.003441, P = 0.001312 tc id = 120, canon_type = 2, mot type = 1 time: 5.690000 primary movement = 2.123978650178e-04 time: 5.690000000000e+00 total movement = 2.123978650178e-04 vel = 2.217728650178e-01 ------------------- tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.240523, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.240523, acc = 18.750000,T = 0.003441, P = 0.001543 tc id = 120, canon_type = 2, mot type = 1 time: 5.691000 primary movement = 2.311478650178e-04 time: 5.691000000000e+00 total movement = 2.311478650178e-04 vel = 2.405228650178e-01 ------------------- tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.248985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.248985, acc = 8.461884,T = 0.003441, P = 0.001787 tc id = 120, canon_type = 2, mot type = 1 time: 5.692000 primary movement = 2.447538072262e-04 time: 5.692000000000e+00 total movement = 2.447538072262e-04 vel = 2.489847494345e-01 ------------------- tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.230235, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.230235, acc = -18.750000,T = 0.003441, P = 0.002027 on final decel tc id = 120, canon_type = 2, mot type = 1 tc state : vr = 0.018750, vf = 0.018750, maxvel = 8.448247, current_vel = 0.015207, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.015207, acc = 15.206906,T = 0.010392, P = 0.000008 initial results: dx= 0.010385,dt = 0.062433, a_f = 4.841148, v_f = 0.317454 dt = 0.062433, not at end yet tc id = 120, canon_type = 2, mot type = 1 secondary movement = 0.000008 time: 5.693000 primary movement = 2.396097494345e-04 time: 5.693000000000e+00 total movement = 2.472132025974e-04 vel = 2.454416557602e-01 ------------------- tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.211485, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.211485, acc = -18.750000,T = 0.003441, P = 0.002248 on final decel tc id = 120, canon_type = 2, mot type = 1 tc state : vr = 0.037500, vf = 0.037500, maxvel = 8.448247, current_vel = 0.030414, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.030414, acc = 15.206906,T = 0.010392, P = 0.000030 initial results: dx= 0.010362,dt = 0.059573, a_f = 4.818329, v_f = 0.317454 dt = 0.059573, not at end yet tc id = 120, canon_type = 2, mot type = 1 secondary movement = 0.000023 time: 5.694000 primary movement = 2.208597494345e-04 time: 5.694000000000e+00 total movement = 2.436701089231e-04 vel = 2.418985620860e-01 ------------------- tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.192735, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.192735, acc = -18.750000,T = 0.003441, P = 0.002450 on final decel tc id = 120, canon_type = 2, mot type = 1 tc state : vr = 0.056250, vf = 0.056250, maxvel = 8.448247, current_vel = 0.045621, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.045621, acc = 15.206906,T = 0.010392, P = 0.000068 initial results: dx= 0.010324,dt = 0.056868, a_f = 4.780073, v_f = 0.317454 dt = 0.056868, not at end yet tc id = 120, canon_type = 2, mot type = 1 secondary movement = 0.000038 time: 5.695000 primary movement = 2.021097494345e-04 time: 5.695000000000e+00 total movement = 2.401270152488e-04 vel = 2.383554684117e-01 ------------------- tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.173985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.173985, acc = -18.750000,T = 0.003441, P = 0.002633 on final decel tc id = 120, canon_type = 2, mot type = 1 tc state : vr = 0.075000, vf = 0.075000, maxvel = 8.448247, current_vel = 0.060828, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.060828, acc = 15.206906,T = 0.010392, P = 0.000122 initial results: dx= 0.010270,dt = 0.054301, a_f = 4.726038, v_f = 0.317454 dt = 0.054301, not at end yet tc id = 120, canon_type = 2, mot type = 1 secondary movement = 0.000053 time: 5.696000 primary movement = 1.833597494345e-04 time: 5.696000000000e+00 total movement = 2.365839215746e-04 vel = 2.348123747375e-01 ------------------- tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.155235, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.155235, acc = -18.750000,T = 0.003441, P = 0.002798 on final decel tc id = 120, canon_type = 2, mot type = 1 tc state : vr = 0.093750, vf = 0.093750, maxvel = 8.448247, current_vel = 0.076035, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.076035, acc = 15.206906,T = 0.010392, P = 0.000190 initial results: dx= 0.010202,dt = 0.051854, a_f = 4.655737, v_f = 0.317454 dt = 0.051854, not at end yet tc id = 120, canon_type = 2, mot type = 1 secondary movement = 0.000068 time: 5.697000 primary movement = 1.646097494345e-04 time: 5.697000000000e+00 total movement = 2.330408279003e-04 vel = 2.312692810632e-01 ------------------- tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.136485, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.136485, acc = -18.750000,T = 0.003441, P = 0.002944 on final decel tc id = 120, canon_type = 2, mot type = 1 tc state : vr = 0.112500, vf = 0.112500, maxvel = 8.448247, current_vel = 0.091241, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.091241, acc = 15.206906,T = 0.010392, P = 0.000274 initial results: dx= 0.010118,dt = 0.049516, a_f = 4.568521, v_f = 0.317454 dt = 0.049516, not at end yet tc id = 120, canon_type = 2, mot type = 1 secondary movement = 0.000084 time: 5.698000 primary movement = 1.458597494345e-04 time: 5.698000000000e+00 total movement = 2.294977342261e-04 vel = 2.277261873890e-01 ------------------- tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.117735, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.117735, acc = -18.750000,T = 0.003441, P = 0.003071 on final decel tc id = 120, canon_type = 2, mot type = 1 tc state : vr = 0.131250, vf = 0.131250, maxvel = 8.448247, current_vel = 0.106448, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.106448, acc = 15.206906,T = 0.010392, P = 0.000373 initial results: dx= 0.010020,dt = 0.047273, a_f = 4.463571, v_f = 0.317454 dt = 0.047273, not at end yet tc id = 120, canon_type = 2, mot type = 1 secondary movement = 0.000099 time: 5.699000 primary movement = 1.271097494345e-04 time: 5.699000000000e+00 total movement = 2.259546405518e-04 vel = 2.241830937147e-01 ------------------- tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.098985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.098985, acc = -18.750000,T = 0.003441, P = 0.003179 on final decel tc id = 120, canon_type = 2, mot type = 1 tc state : vr = 0.150000, vf = 0.150000, maxvel = 8.448247, current_vel = 0.121655, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.121655, acc = 15.206906,T = 0.010392, P = 0.000487 initial results: dx= 0.009905,dt = 0.045116, a_f = 4.339873, v_f = 0.317454 dt = 0.045116, not at end yet tc id = 121, canon_type = 2, mot type = 1 secondary movement = 0.000114 time: 5.700000 primary movement = 1.083597494345e-04 time: 5.700000000000e+00 total movement = 2.224115468775e-04 vel = 2.206400000405e-01 ------------------- tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.080235, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.080235, acc = -18.750000,T = 0.003441, P = 0.003269 on final decel tc id = 120, canon_type = 2, mot type = 1 tc state : vr = 0.168750, vf = 0.168750, maxvel = 8.448247, current_vel = 0.136862, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.136862, acc = 15.206906,T = 0.010392, P = 0.000616 initial results: dx= 0.009776,dt = 0.043037, a_f = 4.196192, v_f = 0.317454 dt = 0.043037, not at end yet tc id = 121, canon_type = 2, mot type = 1 secondary movement = 0.000129 time: 5.701000 primary movement = 8.960974943450e-05 time: 5.701000000000e+00 total movement = 2.188684532033e-04 vel = 2.170969063662e-01 ------------------- tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.061485, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.061485, acc = -18.750000,T = 0.003441, P = 0.003340 on final decel tc id = 120, canon_type = 2, mot type = 1 tc state : vr = 0.187500, vf = 0.187500, maxvel = 8.448247, current_vel = 0.152069, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.152069, acc = 15.206906,T = 0.010392, P = 0.000760 initial results: dx= 0.009632,dt = 0.041028, a_f = 4.031044, v_f = 0.317454 dt = 0.041028, not at end yet tc id = 121, canon_type = 2, mot type = 1 secondary movement = 0.000144 time: 5.702000 primary movement = 7.085974943449e-05 time: 5.702000000000e+00 total movement = 2.153253595291e-04 vel = 2.135538126919e-01 ------------------- tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.042735, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.042735, acc = -18.750000,T = 0.003441, P = 0.003392 on final decel tc id = 120, canon_type = 2, mot type = 1 tc state : vr = 0.206250, vf = 0.206250, maxvel = 8.448247, current_vel = 0.167276, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.167276, acc = 15.206906,T = 0.010392, P = 0.000920 initial results: dx= 0.009472,dt = 0.039082, a_f = 3.842650, v_f = 0.317454 dt = 0.039082, not at end yet tc id = 121, canon_type = 2, mot type = 1 secondary movement = 0.000160 time: 5.703000 primary movement = 5.210974943448e-05 time: 5.703000000000e+00 total movement = 2.117822658548e-04 vel = 2.100107190177e-01 ------------------- tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.023985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.023985, acc = -18.750000,T = 0.003441, P = 0.003425 on final decel tc id = 120, canon_type = 2, mot type = 1 tc state : vr = 0.225000, vf = 0.225000, maxvel = 8.448247, current_vel = 0.182483, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.182483, acc = 15.206906,T = 0.010392, P = 0.001095 initial results: dx= 0.009297,dt = 0.037194, a_f = 3.628890, v_f = 0.317454 dt = 0.037194, not at end yet tc id = 121, canon_type = 2, mot type = 1 secondary movement = 0.000175 time: 5.704000 primary movement = 3.335974943449e-05 time: 5.704000000000e+00 total movement = 2.082391721806e-04 vel = 2.064676253434e-01 ------------------- tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.005235, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.005235, acc = -18.750000,T = 0.003441, P = 0.003440 on final decel tc id = 120, canon_type = 2, mot type = 1 tc state : vr = 0.243750, vf = 0.243750, maxvel = 8.448247, current_vel = 0.197690, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.197690, acc = 15.206906,T = 0.010392, P = 0.001285 initial results: dx= 0.009107,dt = 0.035358, a_f = 3.387231, v_f = 0.317454 dt = 0.035358, not at end yet tc id = 121, canon_type = 2, mot type = 1 secondary movement = 0.000190 time: 5.705000 primary movement = 1.460974943449e-05 time: 5.705000000000e+00 total movement = 2.046960785063e-04 vel = 2.029245316692e-01 ------------------- Found newvel = -0.005235, assuming segment is done segment 120 at target in runcycle tc state : vr = 10.416625, vf = 0.000000, maxvel = 10.416625, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.003441, P = 0.003441 tc id = 120, canon_type = 2, mot type = 1 tc state : vr = 0.248985, vf = 0.248985, maxvel = 8.448247, current_vel = 0.212897, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.212897, acc = 15.206906,T = 0.010392, P = 0.001490 initial results: dx= 0.008902,dt = 0.033570, a_f = 3.114647, v_f = 0.317454 dt = 0.033570, not at end yet tc id = 121, canon_type = 2, mot type = 1 secondary movement = 0.000205 time: 5.706000 primary movement = 7.307360437969e-07 time: 5.706000000000e+00 total movement = 2.060239714414e-04 vel = 2.128966885604e-01 Finished tc id 120 ------------------- tc state : vr = 4.948625, vf = 0.317454, maxvel = 8.448247, current_vel = 0.228104, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.228104, acc = 15.206906,T = 0.010392, P = 0.001711 initial results: dx= 0.008681,dt = 0.031826, a_f = 2.807511, v_f = 0.317454 dt = 0.031826, not at end yet tc id = 121, canon_type = 2, mot type = 1 time: 5.707000 primary movement = 2.205001417233e-04 time: 5.707000000000e+00 total movement = 2.205001417233e-04 vel = 2.281035948862e-01 ------------------- tc state : vr = 4.948625, vf = 0.317454, maxvel = 8.448247, current_vel = 0.243311, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.243311, acc = 15.206906,T = 0.010392, P = 0.001946 initial results: dx= 0.008446,dt = 0.030122, a_f = 2.461460, v_f = 0.317454 dt = 0.030122, not at end yet tc id = 121, canon_type = 2, mot type = 1 time: 5.708000 primary movement = 2.357070480491e-04 time: 5.708000000000e+00 total movement = 2.357070480491e-04 vel = 2.433105012119e-01 ------------------- tc state : vr = 4.948625, vf = 0.317454, maxvel = 8.448247, current_vel = 0.258517, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.258517, acc = 15.206906,T = 0.010392, P = 0.002197 initial results: dx= 0.008195,dt = 0.028455, a_f = 2.071207, v_f = 0.317454 dt = 0.028455, not at end yet tc id = 121, canon_type = 2, mot type = 1 time: 5.709000 primary movement = 2.509139543748e-04 time: 5.709000000000e+00 total movement = 2.509139543748e-04 vel = 2.585174075377e-01 ------------------- tc state : vr = 4.948625, vf = 0.317454, maxvel = 8.448247, current_vel = 0.273724, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.273724, acc = 15.206906,T = 0.010392, P = 0.002464 initial results: dx= 0.007929,dt = 0.026823, a_f = 1.630311, v_f = 0.317454 dt = 0.026823, not at end yet tc id = 121, canon_type = 2, mot type = 1 time: 5.710000 primary movement = 2.661208607005e-04 time: 5.710000000000e+00 total movement = 2.661208607005e-04 vel = 2.737243138634e-01 ------------------- tc state : vr = 4.948625, vf = 0.317454, maxvel = 8.448247, current_vel = 0.288931, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.288931, acc = 15.206906,T = 0.010392, P = 0.002745 initial results: dx= 0.007647,dt = 0.025222, a_f = 1.130855, v_f = 0.317454 dt = 0.025222, not at end yet tc id = 121, canon_type = 2, mot type = 1 time: 5.711000 primary movement = 2.813277670263e-04 time: 5.711000000000e+00 total movement = 2.813277670263e-04 vel = 2.889312201892e-01 ------------------- tc state : vr = 4.948625, vf = 0.317454, maxvel = 8.448247, current_vel = 0.304138, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.304138, acc = 15.206906,T = 0.010392, P = 0.003041 initial results: dx= 0.007351,dt = 0.023651, a_f = 0.563015, v_f = 0.317454 dt = 0.023651, not at end yet tc id = 121, canon_type = 2, mot type = 1 time: 5.712000 primary movement = 2.965346733520e-04 time: 5.712000000000e+00 total movement = 2.965346733520e-04 vel = 3.041381265149e-01 ------------------- tc state : vr = 4.948625, vf = 0.317454, maxvel = 8.448247, current_vel = 0.319345, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.319345, acc = 15.206906,T = 0.010392, P = 0.003353 initial results: dx= 0.007039,dt = 0.022107, a_f = -0.085531, v_f = 0.317454 dt = 0.022107, not at end yet tc id = 121, canon_type = 2, mot type = 1 time: 5.713000 primary movement = 3.117415796778e-04 time: 5.713000000000e+00 total movement = 3.117415796778e-04 vel = 3.193450328407e-01 ------------------- tc state : vr = 4.948625, vf = 0.317454, maxvel = 8.448247, current_vel = 0.334552, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.334552, acc = 15.206906,T = 0.010392, P = 0.003680 initial results: dx= 0.006712,dt = 0.020589, a_f = -0.830437, v_f = 0.317454 dt = 0.020589, not at end yet tc id = 121, canon_type = 2, mot type = 1 time: 5.714000 primary movement = 3.269484860035e-04 time: 5.714000000000e+00 total movement = 3.269484860035e-04 vel = 3.345519391664e-01 ------------------- tc state : vr = 4.948625, vf = 0.317454, maxvel = 8.448247, current_vel = 0.349759, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.349759, acc = 15.206906,T = 0.010392, P = 0.004022 initial results: dx= 0.006370,dt = 0.019094, a_f = -1.691875, v_f = 0.317454 dt = 0.019094, not at end yet tc id = 121, canon_type = 2, mot type = 1 time: 5.715000 primary movement = 3.421553923293e-04 time: 5.715000000000e+00 total movement = 3.421553923293e-04 vel = 3.497588454921e-01 ------------------- tc state : vr = 4.948625, vf = 0.317454, maxvel = 8.448247, current_vel = 0.364966, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.364966, acc = 15.206906,T = 0.010392, P = 0.004380 initial results: dx= 0.006013,dt = 0.017621, a_f = -2.696276, v_f = 0.317454 dt = 0.017621, not at end yet tc id = 121, canon_type = 2, mot type = 1 time: 5.716000 primary movement = 3.573622986550e-04 time: 5.716000000000e+00 total movement = 3.573622986550e-04 vel = 3.649657518179e-01 ------------------- tc state : vr = 4.948625, vf = 0.317454, maxvel = 8.448247, current_vel = 0.380173, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.380173, acc = 15.206906,T = 0.010392, P = 0.004752 initial results: dx= 0.005640,dt = 0.016169, a_f = -3.878941, v_f = 0.317454 dt = 0.016169, not at end yet tc id = 121, canon_type = 2, mot type = 1 time: 5.717000 primary movement = 3.725692049808e-04 time: 5.717000000000e+00 total movement = 3.725692049808e-04 vel = 3.801726581436e-01 ------------------- tc state : vr = 4.948625, vf = 0.317454, maxvel = 8.448247, current_vel = 0.395380, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.395380, acc = 15.206906,T = 0.010392, P = 0.005140 initial results: dx= 0.005252,dt = 0.014736, a_f = -5.288077, v_f = 0.317454 dt = 0.014736, not at end yet tc id = 121, canon_type = 2, mot type = 1 time: 5.718000 primary movement = 3.877761113065e-04 time: 5.718000000000e+00 total movement = 3.877761113065e-04 vel = 3.953795644694e-01 ------------------- tc state : vr = 4.948625, vf = 0.317454, maxvel = 8.448247, current_vel = 0.410586, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.410586, acc = 15.206906,T = 0.010392, P = 0.005543 initial results: dx= 0.004849,dt = 0.013321, a_f = -6.991273, v_f = 0.317454 dt = 0.013321, not at end yet tc id = 121, canon_type = 2, mot type = 1 time: 5.719000 primary movement = 4.029830176323e-04 time: 5.719000000000e+00 total movement = 4.029830176323e-04 vel = 4.105864707951e-01 ------------------- tc state : vr = 4.948625, vf = 0.317454, maxvel = 8.448247, current_vel = 0.425793, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.425793, acc = 15.206906,T = 0.010392, P = 0.005961 initial results: dx= 0.004431,dt = 0.011923, a_f = -9.086295, v_f = 0.317454 dt = 0.011923, not at end yet tc id = 121, canon_type = 2, mot type = 1 time: 5.720000 primary movement = 4.181899239580e-04 time: 5.720000000000e+00 total movement = 4.181899239580e-04 vel = 4.257933771209e-01 ------------------- tc state : vr = 4.948625, vf = 0.317454, maxvel = 8.448247, current_vel = 0.441000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.441000, acc = 15.206906,T = 0.010392, P = 0.006395 initial results: dx= 0.003998,dt = 0.010541, a_f = -11.720018, v_f = 0.317454 dt = 0.010541, not at end yet tc id = 121, canon_type = 2, mot type = 1 time: 5.721000 primary movement = 4.333968302838e-04 time: 5.721000000000e+00 total movement = 4.333968302838e-04 vel = 4.410002834466e-01 ------------------- tc state : vr = 4.948625, vf = 0.317454, maxvel = 8.448247, current_vel = 0.456207, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.456207, acc = 15.206906,T = 0.010392, P = 0.006843 initial results: dx= 0.003549,dt = 0.009175, a_f = -15.123654, v_f = 0.317454 dt = 0.009175, not at end yet tc id = 121, canon_type = 2, mot type = 1 time: 5.722000 primary movement = 4.486037366095e-04 time: 5.722000000000e+00 total movement = 4.486037366095e-04 vel = 4.562071897724e-01 ------------------- tc state : vr = 4.948625, vf = 0.317454, maxvel = 8.448247, current_vel = 0.441658, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.441658, acc = -14.548759,T = 0.010392, P = 0.007292 on final decel initial results: dx= 0.003100,dt = 0.008168, a_f = -15.206906, v_f = 0.317454 dt = 0.008168, not at end yet tc id = 121, canon_type = 2, mot type = 1 time: 5.723000 primary movement = 4.489328102378e-04 time: 5.723000000000e+00 total movement = 4.489328102378e-04 vel = 4.416584307031e-01 ------------------- tc state : vr = 4.948625, vf = 0.317454, maxvel = 8.448247, current_vel = 0.426452, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.426452, acc = -15.206906,T = 0.010392, P = 0.007726 on final decel initial results: dx= 0.002666,dt = 0.007168, a_f = -15.206906, v_f = 0.317454 dt = 0.007168, not at end yet tc id = 121, canon_type = 2, mot type = 1 time: 5.724000 primary movement = 4.340549775403e-04 time: 5.724000000000e+00 total movement = 4.340549775403e-04 vel = 4.264515243774e-01 ------------------- tc state : vr = 4.948625, vf = 0.317454, maxvel = 8.448247, current_vel = 0.411245, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.411245, acc = -15.206906,T = 0.010392, P = 0.008145 on final decel initial results: dx= 0.002247,dt = 0.006168, a_f = -15.206906, v_f = 0.317454 dt = 0.006168, not at end yet tc id = 121, canon_type = 2, mot type = 1 time: 5.725000 primary movement = 4.188480712145e-04 time: 5.725000000000e+00 total movement = 4.188480712145e-04 vel = 4.112446180517e-01 ------------------- tc state : vr = 4.948625, vf = 0.317454, maxvel = 8.448247, current_vel = 0.396038, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.396038, acc = -15.206906,T = 0.010392, P = 0.008549 on final decel initial results: dx= 0.001844,dt = 0.005168, a_f = -15.206906, v_f = 0.317454 recalculating with a_f = -15.206906, a = -15.206906 revised dt = 0.005168 dt = 0.005168, not at end yet tc id = 121, canon_type = 2, mot type = 1 time: 5.726000 primary movement = 4.036411648888e-04 time: 5.726000000000e+00 total movement = 4.036411648888e-04 vel = 3.960377117259e-01 ------------------- tc state : vr = 4.948625, vf = 0.317454, maxvel = 8.448247, current_vel = 0.380831, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.380831, acc = -15.206906,T = 0.010392, P = 0.008937 on final decel initial results: dx= 0.001455,dt = 0.004168, a_f = -15.206906, v_f = 0.317454 recalculating with a_f = -15.206906, a = -15.206906 revised dt = 0.004168 dt = 0.004168, not at end yet tc id = 121, canon_type = 2, mot type = 1 time: 5.727000 primary movement = 3.884342585630e-04 time: 5.727000000000e+00 total movement = 3.884342585630e-04 vel = 3.808308054002e-01 ------------------- tc state : vr = 4.948625, vf = 0.317454, maxvel = 8.448247, current_vel = 0.365624, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.365624, acc = -15.206906,T = 0.010392, P = 0.009310 on final decel initial results: dx= 0.001082,dt = 0.003168, a_f = -15.206906, v_f = 0.317454 recalculating with a_f = -15.206906, a = -15.206906 revised dt = 0.003168 dt = 0.003168, not at end yet tc id = 121, canon_type = 2, mot type = 1 time: 5.728000 primary movement = 3.732273522373e-04 time: 5.728000000000e+00 total movement = 3.732273522373e-04 vel = 3.656238990744e-01 ------------------- tc state : vr = 4.948625, vf = 0.317454, maxvel = 8.448247, current_vel = 0.350417, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.350417, acc = -15.206906,T = 0.010392, P = 0.009668 on final decel initial results: dx= 0.000724,dt = 0.002168, a_f = -15.206906, v_f = 0.317454 recalculating with a_f = -15.206906, a = -15.206906 revised dt = 0.002168 dt = 0.002168, not at end yet tc id = 121, canon_type = 2, mot type = 1 time: 5.729000 primary movement = 3.580204459115e-04 time: 5.729000000000e+00 total movement = 3.580204459115e-04 vel = 3.504169927487e-01 ------------------- tc state : vr = 4.948625, vf = 0.317454, maxvel = 8.448247, current_vel = 0.335210, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.335210, acc = -15.206906,T = 0.010392, P = 0.010011 on final decel initial results: dx= 0.000381,dt = 0.001168, a_f = -15.206906, v_f = 0.317454 recalculating with a_f = -15.206906, a = -15.206906 revised dt = 0.001168 dt = 0.001168, not at end yet tc id = 121, canon_type = 2, mot type = 1 time: 5.730000 primary movement = 3.428135395858e-04 time: 5.730000000000e+00 total movement = 3.428135395858e-04 vel = 3.352100864229e-01 ------------------- tc state : vr = 4.948625, vf = 0.317454, maxvel = 8.448247, current_vel = 0.320003, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.320003, acc = -15.206906,T = 0.010392, P = 0.010339 on final decel initial results: dx= 0.000053,dt = 0.000168, a_f = -15.206906, v_f = 0.317454 recalculating with a_f = -15.206906, a = -15.206906 revised dt = 0.000168 actual v_f = 0.317454, a = -15.206906 split time is 0.000167622 tc id = 121, canon_type = 2, mot type = 1 time: 5.731000 primary movement = 3.276066332601e-04 time: 5.731000000000e+00 total movement = 3.276066332601e-04 vel = 3.200031800972e-01 ------------------- tc id 121 done Finishing split-cycle on id 122 tc state : vr = 0.331863, vf = 0.000000, maxvel = 0.331863, current_vel = 0.304968, fs = 1.000000, tc = 0.000832, term = 3 tc result: v = 0.304968, acc = -15.000000,T = 0.003359, P = 0.000259 on final decel initial results: dx= 0.003100,dt = 0.020331, a_f = -15.000000, v_f = 0.000000 dt = 0.020331, not at end yet secondary movement = 0.000259 tc id = 122, canon_type = 3, mot type = 2 time: 5.732000 primary movement = 5.342591208248e-05 time: 5.732000000000e+00 total movement = 3.124310991173e-04 vel = 3.049684980618e-01 Finished tc id 121 ------------------- Activate tc id = 122 target_vel = 0.331863 final_vel = 0.000000 length = 0.003359 tc state : vr = 0.331863, vf = 0.000000, maxvel = 0.331863, current_vel = 0.289968, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.289968, acc = -15.000000,T = 0.003359, P = 0.000557 on final decel initial results: dx= 0.002803,dt = 0.019331, a_f = -15.000000, v_f = 0.000000 dt = 0.019331, not at end yet tc id = 122, canon_type = 3, mot type = 2 time: 5.733000 primary movement = 2.974074664830e-04 time: 5.733000000000e+00 total movement = 2.974074664830e-04 vel = 2.899684980618e-01 ------------------- tc state : vr = 0.331863, vf = 0.000000, maxvel = 0.331863, current_vel = 0.274968, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.274968, acc = -15.000000,T = 0.003359, P = 0.000839 on final decel initial results: dx= 0.002520,dt = 0.018331, a_f = -15.000000, v_f = 0.000000 dt = 0.018331, not at end yet tc id = 122, canon_type = 3, mot type = 2 time: 5.734000 primary movement = 2.824162410763e-04 time: 5.734000000000e+00 total movement = 2.824162410763e-04 vel = 2.749684980618e-01 ------------------- tc state : vr = 0.331863, vf = 0.000000, maxvel = 0.331863, current_vel = 0.259968, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.259968, acc = -15.000000,T = 0.003359, P = 0.001106 on final decel initial results: dx= 0.002253,dt = 0.017331, a_f = -15.000000, v_f = 0.000000 dt = 0.017331, not at end yet tc id = 122, canon_type = 3, mot type = 2 time: 5.735000 primary movement = 2.674241316097e-04 time: 5.735000000000e+00 total movement = 2.674241316097e-04 vel = 2.599684980618e-01 ------------------- tc state : vr = 0.331863, vf = 0.000000, maxvel = 0.331863, current_vel = 0.244968, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.244968, acc = -15.000000,T = 0.003359, P = 0.001359 on final decel initial results: dx= 0.002000,dt = 0.016331, a_f = -15.000000, v_f = 0.000000 dt = 0.016331, not at end yet tc id = 122, canon_type = 3, mot type = 2 time: 5.736000 primary movement = 2.524311850137e-04 time: 5.736000000000e+00 total movement = 2.524311850137e-04 vel = 2.449684980618e-01 ------------------- tc state : vr = 0.331863, vf = 0.000000, maxvel = 0.331863, current_vel = 0.229968, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.229968, acc = -15.000000,T = 0.003359, P = 0.001596 on final decel initial results: dx= 0.001763,dt = 0.015331, a_f = -15.000000, v_f = 0.000000 dt = 0.015331, not at end yet tc id = 122, canon_type = 3, mot type = 2 time: 5.737000 primary movement = 2.374374482211e-04 time: 5.737000000000e+00 total movement = 2.374374482211e-04 vel = 2.299684980618e-01 ------------------- tc state : vr = 0.331863, vf = 0.000000, maxvel = 0.331863, current_vel = 0.214968, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.214968, acc = -15.000000,T = 0.003359, P = 0.001819 on final decel initial results: dx= 0.001540,dt = 0.014331, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.014331 dt = 0.014331, not at end yet tc id = 122, canon_type = 3, mot type = 2 time: 5.738000 primary movement = 2.224429681678e-04 time: 5.738000000000e+00 total movement = 2.224429681678e-04 vel = 2.149684980618e-01 ------------------- tc state : vr = 0.331863, vf = 0.000000, maxvel = 0.331863, current_vel = 0.199968, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.199968, acc = -15.000000,T = 0.003359, P = 0.002026 on final decel initial results: dx= 0.001333,dt = 0.013331, a_f = -15.000000, v_f = 0.000000 dt = 0.013331, not at end yet tc id = 122, canon_type = 3, mot type = 2 time: 5.739000 primary movement = 2.074477917914e-04 time: 5.739000000000e+00 total movement = 2.074477917914e-04 vel = 1.999684980618e-01 ------------------- tc state : vr = 0.331863, vf = 0.000000, maxvel = 0.331863, current_vel = 0.184968, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.184968, acc = -15.000000,T = 0.003359, P = 0.002219 on final decel initial results: dx= 0.001140,dt = 0.012331, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.012331 dt = 0.012331, not at end yet tc id = 122, canon_type = 3, mot type = 2 time: 5.740000 primary movement = 1.924519660321e-04 time: 5.740000000000e+00 total movement = 1.924519660321e-04 vel = 1.849684980618e-01 ------------------- tc state : vr = 0.331863, vf = 0.000000, maxvel = 0.331863, current_vel = 0.169968, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.169968, acc = -15.000000,T = 0.003359, P = 0.002396 on final decel initial results: dx= 0.000963,dt = 0.011331, a_f = -15.000000, v_f = 0.000000 dt = 0.011331, not at end yet tc id = 122, canon_type = 3, mot type = 2 time: 5.741000 primary movement = 1.774555378320e-04 time: 5.741000000000e+00 total movement = 1.774555378320e-04 vel = 1.699684980618e-01 ------------------- tc state : vr = 0.331863, vf = 0.000000, maxvel = 0.331863, current_vel = 0.154968, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.154968, acc = -15.000000,T = 0.003359, P = 0.002559 on final decel initial results: dx= 0.000801,dt = 0.010331, a_f = -15.000000, v_f = 0.000000 dt = 0.010331, not at end yet tc id = 122, canon_type = 3, mot type = 2 time: 5.742000 primary movement = 1.624585541350e-04 time: 5.742000000000e+00 total movement = 1.624585541350e-04 vel = 1.549684980618e-01 ------------------- tc state : vr = 0.331863, vf = 0.000000, maxvel = 0.331863, current_vel = 0.139968, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.139968, acc = -15.000000,T = 0.003359, P = 0.002706 on final decel initial results: dx= 0.000653,dt = 0.009331, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.009331 dt = 0.009331, not at end yet tc id = 122, canon_type = 3, mot type = 2 time: 5.743000 primary movement = 1.474610618869e-04 time: 5.743000000000e+00 total movement = 1.474610618869e-04 vel = 1.399684980618e-01 ------------------- tc state : vr = 0.331863, vf = 0.000000, maxvel = 0.331863, current_vel = 0.124968, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.124968, acc = -15.000000,T = 0.003359, P = 0.002839 on final decel initial results: dx= 0.000521,dt = 0.008331, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.008331 dt = 0.008331, not at end yet tc id = 122, canon_type = 3, mot type = 2 time: 5.744000 primary movement = 1.324631080349e-04 time: 5.744000000000e+00 total movement = 1.324631080349e-04 vel = 1.249684980618e-01 ------------------- tc state : vr = 0.331863, vf = 0.000000, maxvel = 0.331863, current_vel = 0.109968, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.109968, acc = -15.000000,T = 0.003359, P = 0.002956 on final decel initial results: dx= 0.000403,dt = 0.007331, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.007331 dt = 0.007331, not at end yet tc id = 122, canon_type = 3, mot type = 2 time: 5.745000 primary movement = 1.174647395279e-04 time: 5.745000000000e+00 total movement = 1.174647395279e-04 vel = 1.099684980618e-01 ------------------- tc state : vr = 0.331863, vf = 0.000000, maxvel = 0.331863, current_vel = 0.094968, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.094968, acc = -15.000000,T = 0.003359, P = 0.003059 on final decel initial results: dx= 0.000301,dt = 0.006331, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.006331 dt = 0.006331, not at end yet tc id = 122, canon_type = 3, mot type = 2 time: 5.746000 primary movement = 1.024660033158e-04 time: 5.746000000000e+00 total movement = 1.024660033158e-04 vel = 9.496849806181e-02 ------------------- tc state : vr = 0.331863, vf = 0.000000, maxvel = 0.331863, current_vel = 0.079968, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.079968, acc = -15.000000,T = 0.003359, P = 0.003146 on final decel initial results: dx= 0.000213,dt = 0.005331, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.005331 dt = 0.005331, not at end yet tc id = 122, canon_type = 3, mot type = 2 time: 5.747000 primary movement = 8.746694634990e-05 time: 5.747000000000e+00 total movement = 8.746694634990e-05 vel = 7.996849806181e-02 ------------------- tc state : vr = 0.331863, vf = 0.000000, maxvel = 0.331863, current_vel = 0.064968, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.064968, acc = -15.000000,T = 0.003359, P = 0.003219 on final decel initial results: dx= 0.000141,dt = 0.004331, a_f = -15.000000, v_f = 0.000000 dt = 0.004331, not at end yet tc id = 122, canon_type = 3, mot type = 2 time: 5.748000 primary movement = 7.246761558239e-05 time: 5.748000000000e+00 total movement = 7.246761558239e-05 vel = 6.496849806181e-02 ------------------- tc state : vr = 0.331863, vf = 0.000000, maxvel = 0.331863, current_vel = 0.049968, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.049968, acc = -15.000000,T = 0.003359, P = 0.003276 on final decel initial results: dx= 0.000083,dt = 0.003331, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.003331 dt = 0.003331, not at end yet tc id = 122, canon_type = 3, mot type = 2 time: 5.749000 primary movement = 5.746805796631e-05 time: 5.749000000000e+00 total movement = 5.746805796631e-05 vel = 4.996849806181e-02 ------------------- tc state : vr = 0.331863, vf = 0.000000, maxvel = 0.331863, current_vel = 0.034968, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.034968, acc = -15.000000,T = 0.003359, P = 0.003318 on final decel initial results: dx= 0.000041,dt = 0.002331, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.002331 dt = 0.002331, not at end yet tc id = 122, canon_type = 3, mot type = 2 time: 5.750000 primary movement = 4.246832045543e-05 time: 5.750000000000e+00 total movement = 4.246832045543e-05 vel = 3.496849806181e-02 ------------------- tc state : vr = 0.331863, vf = 0.000000, maxvel = 0.331863, current_vel = 0.019968, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.019968, acc = -15.000000,T = 0.003359, P = 0.003346 on final decel initial results: dx= 0.000013,dt = 0.001331, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.001331 dt = 0.001331, not at end yet tc id = 122, canon_type = 3, mot type = 2 time: 5.751000 primary movement = 2.746845000412e-05 time: 5.751000000000e+00 total movement = 2.746845000412e-05 vel = 1.996849806181e-02 ------------------- tc state : vr = 0.331863, vf = 0.000000, maxvel = 0.331863, current_vel = 0.004968, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.004968, acc = -15.000000,T = 0.003359, P = 0.003358 on final decel initial results: dx= 0.000001,dt = 0.000331, a_f = -15.000000, v_f = 0.000000 actual v_f = 0.000000, a = -15.000000 split time is 0.000331233 tc id = 122, canon_type = 3, mot type = 2 time: 5.752000 primary movement = 1.246849356712e-05 time: 5.752000000000e+00 total movement = 1.246849356712e-05 vel = 4.968498061815e-03 ------------------- tc id 122 done Finishing split-cycle on id 122 tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.012391, fs = 1.000000, tc = 0.000669, term = 2 tc result: v = 0.012391, acc = 18.527429,T = 0.003167, P = 0.000004 secondary movement = 0.000004 tc id = 122, canon_type = 2, mot type = 1 time: 5.753000 primary movement = 8.228657650549e-07 time: 5.753000000000e+00 total movement = 4.966053061977e-06 vel = 1.239052932189e-02 Finished tc id 122 ------------------- Activate tc id = 122 target_vel = 10.292975 final_vel = 0.000000 length = 0.003167 Activate nexttc id 123 tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.030918, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.030918, acc = 18.527429,T = 0.003167, P = 0.000026 tc id = 122, canon_type = 2, mot type = 1 time: 5.754000 primary movement = 2.165424381716e-05 time: 5.754000000000e+00 total movement = 2.165424381716e-05 vel = 3.091795831244e-02 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.049445, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.049445, acc = 18.527429,T = 0.003167, P = 0.000066 tc id = 122, canon_type = 2, mot type = 1 time: 5.755000 primary movement = 4.018167280772e-05 time: 5.755000000000e+00 total movement = 4.018167280772e-05 vel = 4.944538730299e-02 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.067973, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.067973, acc = 18.527429,T = 0.003167, P = 0.000125 tc id = 122, canon_type = 2, mot type = 1 time: 5.756000 primary movement = 5.870910179827e-05 time: 5.756000000000e+00 total movement = 5.870910179827e-05 vel = 6.797281629355e-02 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.086500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.086500, acc = 18.527429,T = 0.003167, P = 0.000202 tc id = 122, canon_type = 2, mot type = 1 time: 5.757000 primary movement = 7.723653078883e-05 time: 5.757000000000e+00 total movement = 7.723653078883e-05 vel = 8.650024528410e-02 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.105028, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.105028, acc = 18.527429,T = 0.003167, P = 0.000298 tc id = 122, canon_type = 2, mot type = 1 time: 5.758000 primary movement = 9.576395977937e-05 time: 5.758000000000e+00 total movement = 9.576395977937e-05 vel = 1.050276742747e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.123555, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.123555, acc = 18.527429,T = 0.003167, P = 0.000412 tc id = 122, canon_type = 2, mot type = 1 time: 5.759000 primary movement = 1.142913887699e-04 time: 5.759000000000e+00 total movement = 1.142913887699e-04 vel = 1.235551032652e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.142083, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.142083, acc = 18.527429,T = 0.003167, P = 0.000545 tc id = 122, canon_type = 2, mot type = 1 time: 5.760000 primary movement = 1.328188177605e-04 time: 5.760000000000e+00 total movement = 1.328188177605e-04 vel = 1.420825322558e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.160610, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.160610, acc = 18.527429,T = 0.003167, P = 0.000696 tc id = 122, canon_type = 2, mot type = 1 time: 5.761000 primary movement = 1.513462467510e-04 time: 5.761000000000e+00 total movement = 1.513462467510e-04 vel = 1.606099612463e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.179137, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.179137, acc = 18.527429,T = 0.003167, P = 0.000866 tc id = 122, canon_type = 2, mot type = 1 time: 5.762000 primary movement = 1.698736757416e-04 time: 5.762000000000e+00 total movement = 1.698736757416e-04 vel = 1.791373902369e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.197665, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.197665, acc = 18.527429,T = 0.003167, P = 0.001054 tc id = 122, canon_type = 2, mot type = 1 time: 5.763000 primary movement = 1.884011047321e-04 time: 5.763000000000e+00 total movement = 1.884011047321e-04 vel = 1.976648192274e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.216192, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.216192, acc = 18.527429,T = 0.003167, P = 0.001261 tc id = 122, canon_type = 2, mot type = 1 time: 5.764000 primary movement = 2.069285337227e-04 time: 5.764000000000e+00 total movement = 2.069285337227e-04 vel = 2.161922482180e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.234720, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.234720, acc = 18.527429,T = 0.003167, P = 0.001487 tc id = 122, canon_type = 2, mot type = 1 time: 5.765000 primary movement = 2.254559627133e-04 time: 5.765000000000e+00 total movement = 2.254559627133e-04 vel = 2.347196772085e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.231579, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.231579, acc = -3.140692,T = 0.003167, P = 0.001720 on final decel tc id = 122, canon_type = 2, mot type = 1 tc state : vr = 0.003141, vf = 0.003141, maxvel = 8.498332, current_vel = 0.003141, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.003141, acc = 3.140692,T = 0.007512, P = 0.000002 initial results: dx= 0.007510,dt = 0.031128, a_f = 15.299600, v_f = 0.479386 recalculating with a_f = 15.299600, a = 15.297059 revised dt = 0.031131 dt = 0.031131, not at end yet tc id = 122, canon_type = 2, mot type = 1 secondary movement = 0.000002 time: 5.766000 primary movement = 2.331493309862e-04 time: 5.766000000000e+00 total movement = 2.347196772085e-04 vel = 2.347196772085e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.213052, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.213052, acc = -18.527429,T = 0.003167, P = 0.001942 on final decel tc id = 122, canon_type = 2, mot type = 1 tc state : vr = 0.021668, vf = 0.021668, maxvel = 8.498332, current_vel = 0.018438, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.018438, acc = 15.297059,T = 0.007512, P = 0.000012 initial results: dx= 0.007499,dt = 0.030128, a_f = 15.299604, v_f = 0.479386 recalculating with a_f = 15.299604, a = 15.297059 revised dt = 0.030131 dt = 0.030131, not at end yet tc id = 122, canon_type = 2, mot type = 1 secondary movement = 0.000011 time: 5.767000 primary movement = 2.223152702686e-04 time: 5.767000000000e+00 total movement = 2.331044919836e-04 vel = 2.314893067588e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.194524, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.194524, acc = -18.527429,T = 0.003167, P = 0.002146 on final decel tc id = 122, canon_type = 2, mot type = 1 tc state : vr = 0.040196, vf = 0.040196, maxvel = 8.498332, current_vel = 0.033735, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.033735, acc = 15.297059,T = 0.007512, P = 0.000038 initial results: dx= 0.007473,dt = 0.029128, a_f = 15.299613, v_f = 0.479386 recalculating with a_f = 15.299613, a = 15.297059 revised dt = 0.029131 dt = 0.029131, not at end yet tc id = 122, canon_type = 2, mot type = 1 secondary movement = 0.000026 time: 5.768000 primary movement = 2.037878412781e-04 time: 5.768000000000e+00 total movement = 2.298741215339e-04 vel = 2.282589363090e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.175997, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.175997, acc = -18.527429,T = 0.003167, P = 0.002331 on final decel tc id = 122, canon_type = 2, mot type = 1 tc state : vr = 0.058723, vf = 0.058723, maxvel = 8.498332, current_vel = 0.049032, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.049032, acc = 15.297059,T = 0.007512, P = 0.000080 initial results: dx= 0.007432,dt = 0.028128, a_f = 15.299627, v_f = 0.479386 recalculating with a_f = 15.299627, a = 15.297059 revised dt = 0.028131 dt = 0.028131, not at end yet tc id = 122, canon_type = 2, mot type = 1 secondary movement = 0.000041 time: 5.769000 primary movement = 1.852604122875e-04 time: 5.769000000000e+00 total movement = 2.266437510841e-04 vel = 2.250285658592e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.157469, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.157469, acc = -18.527429,T = 0.003167, P = 0.002498 on final decel tc id = 122, canon_type = 2, mot type = 1 tc state : vr = 0.077250, vf = 0.077250, maxvel = 8.498332, current_vel = 0.064329, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.064329, acc = 15.297059,T = 0.007512, P = 0.000137 initial results: dx= 0.007375,dt = 0.027129, a_f = 15.299647, v_f = 0.479386 recalculating with a_f = 15.299647, a = 15.297059 revised dt = 0.027131 dt = 0.027131, not at end yet tc id = 122, canon_type = 2, mot type = 1 secondary movement = 0.000057 time: 5.770000 primary movement = 1.667329832970e-04 time: 5.770000000000e+00 total movement = 2.234133806343e-04 vel = 2.217981954094e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.138942, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.138942, acc = -18.527429,T = 0.003167, P = 0.002646 on final decel tc id = 122, canon_type = 2, mot type = 1 tc state : vr = 0.095778, vf = 0.095778, maxvel = 8.498332, current_vel = 0.079626, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.079626, acc = 15.297059,T = 0.007512, P = 0.000208 initial results: dx= 0.007303,dt = 0.026129, a_f = 15.299672, v_f = 0.479386 recalculating with a_f = 15.299672, a = 15.297059 revised dt = 0.026131 dt = 0.026131, not at end yet tc id = 122, canon_type = 2, mot type = 1 secondary movement = 0.000072 time: 5.771000 primary movement = 1.482055543064e-04 time: 5.771000000000e+00 total movement = 2.201830101845e-04 vel = 2.185678249597e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.120414, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.120414, acc = -18.527429,T = 0.003167, P = 0.002776 on final decel tc id = 122, canon_type = 2, mot type = 1 tc state : vr = 0.114305, vf = 0.114305, maxvel = 8.498332, current_vel = 0.094923, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.094923, acc = 15.297059,T = 0.007512, P = 0.000296 initial results: dx= 0.007216,dt = 0.025129, a_f = 15.299704, v_f = 0.479386 recalculating with a_f = 15.299704, a = 15.297059 revised dt = 0.025131 dt = 0.025131, not at end yet tc id = 122, canon_type = 2, mot type = 1 secondary movement = 0.000087 time: 5.772000 primary movement = 1.296781253159e-04 time: 5.772000000000e+00 total movement = 2.169526397348e-04 vel = 2.153374545099e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.101887, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.101887, acc = -18.527429,T = 0.003167, P = 0.002887 on final decel tc id = 122, canon_type = 2, mot type = 1 tc state : vr = 0.132833, vf = 0.132833, maxvel = 8.498332, current_vel = 0.110220, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.110220, acc = 15.297059,T = 0.007512, P = 0.000398 initial results: dx= 0.007113,dt = 0.024129, a_f = 15.299742, v_f = 0.479386 recalculating with a_f = 15.299742, a = 15.297059 revised dt = 0.024131 dt = 0.024131, not at end yet tc id = 123, canon_type = 2, mot type = 1 secondary movement = 0.000103 time: 5.773000 primary movement = 1.111506963253e-04 time: 5.773000000000e+00 total movement = 2.137222692850e-04 vel = 2.121070840601e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.083360, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.083360, acc = -18.527429,T = 0.003167, P = 0.002980 on final decel tc id = 122, canon_type = 2, mot type = 1 tc state : vr = 0.151360, vf = 0.151360, maxvel = 8.498332, current_vel = 0.125517, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.125517, acc = 15.297059,T = 0.007512, P = 0.000516 initial results: dx= 0.006995,dt = 0.023129, a_f = 15.299787, v_f = 0.479386 recalculating with a_f = 15.299787, a = 15.297059 revised dt = 0.023131 dt = 0.023131, not at end yet tc id = 123, canon_type = 2, mot type = 1 secondary movement = 0.000118 time: 5.774000 primary movement = 9.262326733475e-05 time: 5.774000000000e+00 total movement = 2.104918988352e-04 vel = 2.088767136103e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.064832, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.064832, acc = -18.527429,T = 0.003167, P = 0.003054 on final decel tc id = 122, canon_type = 2, mot type = 1 tc state : vr = 0.169888, vf = 0.169888, maxvel = 8.498332, current_vel = 0.140814, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.140814, acc = 15.297059,T = 0.007512, P = 0.000649 initial results: dx= 0.006862,dt = 0.022129, a_f = 15.299840, v_f = 0.479386 recalculating with a_f = 15.299840, a = 15.297059 revised dt = 0.022131 dt = 0.022131, not at end yet tc id = 123, canon_type = 2, mot type = 1 secondary movement = 0.000133 time: 5.775000 primary movement = 7.409583834420e-05 time: 5.775000000000e+00 total movement = 2.072615283854e-04 vel = 2.056463431606e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.046305, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.046305, acc = -18.527429,T = 0.003167, P = 0.003109 on final decel tc id = 122, canon_type = 2, mot type = 1 tc state : vr = 0.188415, vf = 0.188415, maxvel = 8.498332, current_vel = 0.156111, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.156111, acc = 15.297059,T = 0.007512, P = 0.000798 initial results: dx= 0.006714,dt = 0.021129, a_f = 15.299902, v_f = 0.479386 recalculating with a_f = 15.299902, a = 15.297059 revised dt = 0.021131 dt = 0.021131, not at end yet tc id = 123, canon_type = 2, mot type = 1 secondary movement = 0.000148 time: 5.776000 primary movement = 5.556840935365e-05 time: 5.776000000000e+00 total movement = 2.040311579357e-04 vel = 2.024159727108e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.027777, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.027777, acc = -18.527429,T = 0.003167, P = 0.003146 on final decel tc id = 122, canon_type = 2, mot type = 1 tc state : vr = 0.206942, vf = 0.206942, maxvel = 8.498332, current_vel = 0.171408, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.171408, acc = 15.297059,T = 0.007512, P = 0.000962 initial results: dx= 0.006550,dt = 0.020129, a_f = 15.299973, v_f = 0.479386 recalculating with a_f = 15.299973, a = 15.297059 revised dt = 0.020131 dt = 0.020131, not at end yet tc id = 123, canon_type = 2, mot type = 1 secondary movement = 0.000164 time: 5.777000 primary movement = 3.704098036310e-05 time: 5.777000000000e+00 total movement = 2.008007874859e-04 vel = 1.991856022610e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.009250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.009250, acc = -18.527429,T = 0.003167, P = 0.003165 on final decel tc id = 122, canon_type = 2, mot type = 1 tc state : vr = 0.225470, vf = 0.225470, maxvel = 8.498332, current_vel = 0.186705, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.186705, acc = 15.297059,T = 0.007512, P = 0.001141 initial results: dx= 0.006371,dt = 0.019129, a_f = 15.300055, v_f = 0.479386 recalculating with a_f = 15.300055, a = 15.297059 revised dt = 0.019131 dt = 0.019131, not at end yet tc id = 123, canon_type = 2, mot type = 1 secondary movement = 0.000179 time: 5.778000 primary movement = 1.851355137253e-05 time: 5.778000000000e+00 total movement = 1.975704170361e-04 vel = 1.959552318112e-01 ------------------- Found newvel = -0.009250, assuming segment is done segment 122 at target in runcycle tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.003167, P = 0.003167 tc id = 122, canon_type = 2, mot type = 1 tc state : vr = 0.234720, vf = 0.234720, maxvel = 8.498332, current_vel = 0.202002, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.202002, acc = 15.297059,T = 0.007512, P = 0.001335 initial results: dx= 0.006177,dt = 0.018129, a_f = 15.300149, v_f = 0.479386 recalculating with a_f = 15.300149, a = 15.297059 revised dt = 0.018131 dt = 0.018131, not at end yet tc id = 123, canon_type = 2, mot type = 1 secondary movement = 0.000194 time: 5.779000 primary movement = 2.308995012193e-06 time: 5.779000000000e+00 total movement = 1.966629192166e-04 vel = 2.020024534747e-01 Finished tc id 122 ------------------- tc state : vr = 3.576952, vf = 0.479386, maxvel = 8.498332, current_vel = 0.217300, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.217300, acc = 15.297059,T = 0.007512, P = 0.001545 initial results: dx= 0.005967,dt = 0.017130, a_f = 15.300258, v_f = 0.479386 recalculating with a_f = 15.300258, a = 15.297059 revised dt = 0.017131 dt = 0.017131, not at end yet tc id = 123, canon_type = 2, mot type = 1 time: 5.780000 primary movement = 2.096509827451e-04 time: 5.780000000000e+00 total movement = 2.096509827451e-04 vel = 2.172995120155e-01 ------------------- tc state : vr = 3.576952, vf = 0.479386, maxvel = 8.498332, current_vel = 0.232597, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.232597, acc = 15.297059,T = 0.007512, P = 0.001770 initial results: dx= 0.005742,dt = 0.016130, a_f = 15.300383, v_f = 0.479386 recalculating with a_f = 15.300383, a = 15.297059 revised dt = 0.016131 dt = 0.016131, not at end yet tc id = 123, canon_type = 2, mot type = 1 time: 5.781000 primary movement = 2.249480412859e-04 time: 5.781000000000e+00 total movement = 2.249480412859e-04 vel = 2.325965705563e-01 ------------------- tc state : vr = 3.576952, vf = 0.479386, maxvel = 8.498332, current_vel = 0.247894, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.247894, acc = 15.297059,T = 0.007512, P = 0.002010 initial results: dx= 0.005502,dt = 0.015130, a_f = 15.300528, v_f = 0.479386 recalculating with a_f = 15.300528, a = 15.297059 revised dt = 0.015131 dt = 0.015131, not at end yet tc id = 123, canon_type = 2, mot type = 1 time: 5.782000 primary movement = 2.402450998267e-04 time: 5.782000000000e+00 total movement = 2.402450998267e-04 vel = 2.478936290971e-01 ------------------- tc state : vr = 3.576952, vf = 0.479386, maxvel = 8.498332, current_vel = 0.263191, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.263191, acc = 15.297059,T = 0.007512, P = 0.002265 initial results: dx= 0.005246,dt = 0.014130, a_f = 15.300697, v_f = 0.479386 recalculating with a_f = 15.300697, a = 15.297059 revised dt = 0.014131 dt = 0.014131, not at end yet tc id = 123, canon_type = 2, mot type = 1 time: 5.783000 primary movement = 2.555421583675e-04 time: 5.783000000000e+00 total movement = 2.555421583675e-04 vel = 2.631906876379e-01 ------------------- tc state : vr = 3.576952, vf = 0.479386, maxvel = 8.498332, current_vel = 0.278488, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.278488, acc = 15.297059,T = 0.007512, P = 0.002536 initial results: dx= 0.004975,dt = 0.013130, a_f = 15.300895, v_f = 0.479386 recalculating with a_f = 15.300895, a = 15.297059 revised dt = 0.013131 dt = 0.013131, not at end yet tc id = 123, canon_type = 2, mot type = 1 time: 5.784000 primary movement = 2.708392169082e-04 time: 5.784000000000e+00 total movement = 2.708392169082e-04 vel = 2.784877461786e-01 ------------------- tc state : vr = 3.576952, vf = 0.479386, maxvel = 8.498332, current_vel = 0.293785, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.293785, acc = 15.297059,T = 0.007512, P = 0.002822 initial results: dx= 0.004689,dt = 0.012130, a_f = 15.301130, v_f = 0.479386 recalculating with a_f = 15.301130, a = 15.297059 revised dt = 0.012131 dt = 0.012131, not at end yet tc id = 123, canon_type = 2, mot type = 1 time: 5.785000 primary movement = 2.861362754490e-04 time: 5.785000000000e+00 total movement = 2.861362754490e-04 vel = 2.937848047194e-01 ------------------- tc state : vr = 3.576952, vf = 0.479386, maxvel = 8.498332, current_vel = 0.309082, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.309082, acc = 15.297059,T = 0.007512, P = 0.003124 initial results: dx= 0.004388,dt = 0.011130, a_f = 15.301409, v_f = 0.479386 recalculating with a_f = 15.301409, a = 15.297059 revised dt = 0.011131 dt = 0.011131, not at end yet tc id = 123, canon_type = 2, mot type = 1 time: 5.786000 primary movement = 3.014333339898e-04 time: 5.786000000000e+00 total movement = 3.014333339898e-04 vel = 3.090818632602e-01 ------------------- tc state : vr = 3.576952, vf = 0.479386, maxvel = 8.498332, current_vel = 0.324379, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.324379, acc = 15.297059,T = 0.007512, P = 0.003441 initial results: dx= 0.004071,dt = 0.010130, a_f = 15.301748, v_f = 0.479386 recalculating with a_f = 15.301748, a = 15.297059 revised dt = 0.010131 dt = 0.010131, not at end yet tc id = 123, canon_type = 2, mot type = 1 time: 5.787000 primary movement = 3.167303925306e-04 time: 5.787000000000e+00 total movement = 3.167303925306e-04 vel = 3.243789218010e-01 ------------------- tc state : vr = 3.576952, vf = 0.479386, maxvel = 8.498332, current_vel = 0.339676, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.339676, acc = 15.297059,T = 0.007512, P = 0.003773 initial results: dx= 0.003739,dt = 0.009130, a_f = 15.302164, v_f = 0.479386 recalculating with a_f = 15.302164, a = 15.297059 revised dt = 0.009131 dt = 0.009131, not at end yet tc id = 123, canon_type = 2, mot type = 1 time: 5.788000 primary movement = 3.320274510714e-04 time: 5.788000000000e+00 total movement = 3.320274510714e-04 vel = 3.396759803417e-01 ------------------- tc state : vr = 3.576952, vf = 0.479386, maxvel = 8.498332, current_vel = 0.354973, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.354973, acc = 15.297059,T = 0.007512, P = 0.004120 initial results: dx= 0.003392,dt = 0.008130, a_f = 15.302687, v_f = 0.479386 recalculating with a_f = 15.302687, a = 15.297059 revised dt = 0.008131 dt = 0.008131, not at end yet tc id = 123, canon_type = 2, mot type = 1 time: 5.789000 primary movement = 3.473245096121e-04 time: 5.789000000000e+00 total movement = 3.473245096121e-04 vel = 3.549730388825e-01 ------------------- tc state : vr = 3.576952, vf = 0.479386, maxvel = 8.498332, current_vel = 0.370270, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.370270, acc = 15.297059,T = 0.007512, P = 0.004482 initial results: dx= 0.003029,dt = 0.007130, a_f = 15.303361, v_f = 0.479386 recalculating with a_f = 15.303361, a = 15.297059 revised dt = 0.007131 dt = 0.007131, not at end yet tc id = 123, canon_type = 2, mot type = 1 time: 5.790000 primary movement = 3.626215681529e-04 time: 5.790000000000e+00 total movement = 3.626215681529e-04 vel = 3.702700974233e-01 ------------------- tc state : vr = 3.576952, vf = 0.479386, maxvel = 8.498332, current_vel = 0.385567, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.385567, acc = 15.297059,T = 0.007512, P = 0.004860 initial results: dx= 0.002651,dt = 0.006130, a_f = 15.304259, v_f = 0.479386 recalculating with a_f = 15.304259, a = 15.297059 revised dt = 0.006131 dt = 0.006131, not at end yet tc id = 123, canon_type = 2, mot type = 1 time: 5.791000 primary movement = 3.779186266937e-04 time: 5.791000000000e+00 total movement = 3.779186266937e-04 vel = 3.855671559641e-01 ------------------- tc state : vr = 3.576952, vf = 0.479386, maxvel = 8.498332, current_vel = 0.400864, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.400864, acc = 15.297059,T = 0.007512, P = 0.005254 initial results: dx= 0.002258,dt = 0.005130, a_f = 15.305513, v_f = 0.479386 recalculating with a_f = 15.305513, a = 15.297059 revised dt = 0.005131 dt = 0.005131, not at end yet tc id = 123, canon_type = 2, mot type = 1 time: 5.792000 primary movement = 3.932156852345e-04 time: 5.792000000000e+00 total movement = 3.932156852345e-04 vel = 4.008642145049e-01 ------------------- tc state : vr = 3.576952, vf = 0.479386, maxvel = 8.498332, current_vel = 0.416161, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.416161, acc = 15.297059,T = 0.007512, P = 0.005662 initial results: dx= 0.001849,dt = 0.004130, a_f = 15.307380, v_f = 0.479386 recalculating with a_f = 15.307380, a = 15.297059 revised dt = 0.004131 dt = 0.004131, not at end yet tc id = 123, canon_type = 2, mot type = 1 time: 5.793000 primary movement = 4.085127437752e-04 time: 5.793000000000e+00 total movement = 4.085127437752e-04 vel = 4.161612730456e-01 ------------------- tc state : vr = 3.576952, vf = 0.479386, maxvel = 8.498332, current_vel = 0.431458, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.431458, acc = 15.297059,T = 0.007512, P = 0.006086 initial results: dx= 0.001426,dt = 0.003130, a_f = 15.310449, v_f = 0.479386 recalculating with a_f = 15.310449, a = 15.297059 revised dt = 0.003131 dt = 0.003131, not at end yet tc id = 123, canon_type = 2, mot type = 1 time: 5.794000 primary movement = 4.238098023160e-04 time: 5.794000000000e+00 total movement = 4.238098023160e-04 vel = 4.314583315864e-01 ------------------- tc state : vr = 3.576952, vf = 0.479386, maxvel = 8.498332, current_vel = 0.446755, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.446755, acc = 15.297059,T = 0.007512, P = 0.006525 initial results: dx= 0.000987,dt = 0.002130, a_f = 15.316409, v_f = 0.479386 recalculating with a_f = 15.316409, a = 15.297059 revised dt = 0.002131 dt = 0.002131, not at end yet tc id = 123, canon_type = 2, mot type = 1 time: 5.795000 primary movement = 4.391068608568e-04 time: 5.795000000000e+00 total movement = 4.391068608568e-04 vel = 4.467553901272e-01 ------------------- tc state : vr = 3.576952, vf = 0.479386, maxvel = 8.498332, current_vel = 0.462052, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.462052, acc = 15.297059,T = 0.007512, P = 0.006979 initial results: dx= 0.000532,dt = 0.001130, a_f = 15.332933, v_f = 0.479386 recalculating with a_f = 15.332933, a = 15.297059 revised dt = 0.001131 dt = 0.001131, not at end yet tc id = 123, canon_type = 2, mot type = 1 time: 5.796000 primary movement = 4.544039193976e-04 time: 5.796000000000e+00 total movement = 4.544039193976e-04 vel = 4.620524486680e-01 ------------------- tc state : vr = 3.576952, vf = 0.479386, maxvel = 8.498332, current_vel = 0.477350, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.477350, acc = 15.297059,T = 0.007512, P = 0.007449 initial results: dx= 0.000062,dt = 0.000131, a_f = 15.602835, v_f = 0.479386 recalculating with a_f = 15.602835, a = 15.297059 revised dt = 0.000131 actual v_f = 0.479346, a = 15.297059 split time is 0.000130512 tc id = 123, canon_type = 2, mot type = 1 time: 5.797000 primary movement = 4.697009779384e-04 time: 5.797000000000e+00 total movement = 4.697009779384e-04 vel = 4.773495072088e-01 ------------------- tc id 123 done Finishing split-cycle on id 124 tc state : vr = 0.643426, vf = 0.624096, maxvel = 0.643426, current_vel = 0.492388, fs = 1.000000, tc = 0.000869, term = 3 tc result: v = 0.492388, acc = 15.000000,T = 0.005323, P = 0.000422 initial results: dx= 0.004900,dt = 0.008778, a_f = 15.003896, v_f = 0.624096 recalculating with a_f = 15.003896, a = 15.000000 revised dt = 0.008778 dt = 0.008778, not at end yet secondary movement = 0.000422 tc id = 124, canon_type = 3, mot type = 2 time: 5.798000 primary movement = 6.243019044211e-05 time: 5.798000000000e+00 total movement = 4.848733750845e-04 vel = 4.923882769572e-01 Finished tc id 123 ------------------- Activate tc id = 124 target_vel = 0.643426 final_vel = 0.624096 length = 0.005323 tc state : vr = 0.643426, vf = 0.624096, maxvel = 0.643426, current_vel = 0.507388, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.507388, acc = 15.000000,T = 0.005323, P = 0.000922 initial results: dx= 0.004400,dt = 0.007778, a_f = 15.004338, v_f = 0.624096 recalculating with a_f = 15.004338, a = 15.000000 revised dt = 0.007778 dt = 0.007778, not at end yet tc id = 124, canon_type = 3, mot type = 2 time: 5.799000 primary movement = 4.998677789783e-04 time: 5.799000000000e+00 total movement = 4.998677789783e-04 vel = 5.073882769572e-01 ------------------- tc state : vr = 0.643426, vf = 0.624096, maxvel = 0.643426, current_vel = 0.522388, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.522388, acc = 15.000000,T = 0.005323, P = 0.001437 initial results: dx= 0.003886,dt = 0.006778, a_f = 15.004913, v_f = 0.624096 recalculating with a_f = 15.004913, a = 15.000000 revised dt = 0.006778 dt = 0.006778, not at end yet tc id = 124, canon_type = 3, mot type = 2 time: 5.800000 primary movement = 5.148658778416e-04 time: 5.800000000000e+00 total movement = 5.148658778416e-04 vel = 5.223882769572e-01 ------------------- tc state : vr = 0.643426, vf = 0.624096, maxvel = 0.643426, current_vel = 0.537388, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.537388, acc = 15.000000,T = 0.005323, P = 0.001967 initial results: dx= 0.003356,dt = 0.005778, a_f = 15.005689, v_f = 0.624096 recalculating with a_f = 15.005689, a = 15.000000 revised dt = 0.005778 dt = 0.005778, not at end yet tc id = 124, canon_type = 3, mot type = 2 time: 5.801000 primary movement = 5.298638626470e-04 time: 5.801000000000e+00 total movement = 5.298638626470e-04 vel = 5.373882769572e-01 ------------------- tc state : vr = 0.643426, vf = 0.624096, maxvel = 0.643426, current_vel = 0.552388, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.552388, acc = 15.000000,T = 0.005323, P = 0.002512 initial results: dx= 0.002811,dt = 0.004778, a_f = 15.006792, v_f = 0.624096 recalculating with a_f = 15.006792, a = 15.000000 revised dt = 0.004778 dt = 0.004778, not at end yet tc id = 124, canon_type = 3, mot type = 2 time: 5.802000 primary movement = 5.448617300719e-04 time: 5.802000000000e+00 total movement = 5.448617300719e-04 vel = 5.523882769572e-01 ------------------- tc state : vr = 0.643426, vf = 0.624096, maxvel = 0.643426, current_vel = 0.567388, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.567388, acc = 15.000000,T = 0.005323, P = 0.003072 initial results: dx= 0.002251,dt = 0.003778, a_f = 15.008481, v_f = 0.624096 recalculating with a_f = 15.008481, a = 15.000000 revised dt = 0.003778 dt = 0.003778, not at end yet tc id = 124, canon_type = 3, mot type = 2 time: 5.803000 primary movement = 5.598594767941e-04 time: 5.803000000000e+00 total movement = 5.598594767941e-04 vel = 5.673882769572e-01 ------------------- tc state : vr = 0.643426, vf = 0.624096, maxvel = 0.643426, current_vel = 0.582388, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.582388, acc = 15.000000,T = 0.005323, P = 0.003647 initial results: dx= 0.001676,dt = 0.002778, a_f = 15.011390, v_f = 0.624096 recalculating with a_f = 15.011390, a = 15.000000 revised dt = 0.002778 dt = 0.002778, not at end yet tc id = 124, canon_type = 3, mot type = 2 time: 5.804000 primary movement = 5.748570994908e-04 time: 5.804000000000e+00 total movement = 5.748570994908e-04 vel = 5.823882769572e-01 ------------------- tc state : vr = 0.643426, vf = 0.624096, maxvel = 0.643426, current_vel = 0.597388, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.597388, acc = 15.000000,T = 0.005323, P = 0.004237 initial results: dx= 0.001086,dt = 0.001778, a_f = 15.017575, v_f = 0.624096 recalculating with a_f = 15.017575, a = 15.000000 revised dt = 0.001778 dt = 0.001778, not at end yet tc id = 124, canon_type = 3, mot type = 2 time: 5.805000 primary movement = 5.898545948399e-04 time: 5.805000000000e+00 total movement = 5.898545948399e-04 vel = 5.973882769572e-01 ------------------- tc state : vr = 0.643426, vf = 0.624096, maxvel = 0.643426, current_vel = 0.612388, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.612388, acc = 15.000000,T = 0.005323, P = 0.004842 initial results: dx= 0.000481,dt = 0.000778, a_f = 15.039666, v_f = 0.624096 recalculating with a_f = 15.039666, a = 15.000000 revised dt = 0.000778 actual v_f = 0.624065, a = 15.000000 split time is 0.000778462 tc id = 124, canon_type = 3, mot type = 2 time: 5.806000 primary movement = 6.048519595189e-04 time: 5.806000000000e+00 total movement = 6.048519595189e-04 vel = 6.123882769572e-01 ------------------- tc id 124 done Finishing split-cycle on id 124 tc state : vr = 0.646452, vf = 0.646452, maxvel = 8.411707, current_vel = 0.630774, fs = 1.000000, tc = 0.000222, term = 3 tc result: v = 0.630774, acc = 30.282266,T = 0.001380, P = 0.000139 initial results: dx= 0.001241,dt = 0.001943, a_f = 8.067678, v_f = 0.646452 dt = 0.001943, not at end yet secondary movement = 0.000139 tc id = 124, canon_type = 2, mot type = 1 time: 5.807000 primary movement = 4.812478977356e-04 time: 5.807000000000e+00 total movement = 6.202450044166e-04 vel = 6.307738755723e-01 Finished tc id 124 ------------------- Activate tc id = 124 target_vel = 0.646452 final_vel = 0.646452 length = 0.001380 tc state : vr = 0.646452, vf = 0.646452, maxvel = 8.411707, current_vel = 0.646452, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.646452, acc = 15.677945,T = 0.001380, P = 0.000778 initial results: dx= 0.000602,dt = 0.000932, a_f = 0.000000, v_f = 0.646452 actual v_f = 0.646452, a = 0.000000 split time is 0.000931865 tc id = 124, canon_type = 2, mot type = 1 time: 5.808000 primary movement = 6.386128480680e-04 time: 5.808000000000e+00 total movement = 6.386128480680e-04 vel = 6.464518205637e-01 ------------------- tc id 124 done Finishing split-cycle on id 125 tc state : vr = 0.657150, vf = 0.657150, maxvel = 0.657150, current_vel = 0.647474, fs = 1.000000, tc = 0.000068, term = 3 tc result: v = 0.647474, acc = 15.000000,T = 0.007867, P = 0.000044 initial results: dx= 0.007823,dt = 0.011993, a_f = 0.806822, v_f = 0.657150 dt = 0.011993, not at end yet secondary movement = 0.000044 tc id = 125, canon_type = 3, mot type = 2 time: 5.809000 primary movement = 6.024055248801e-04 time: 5.809000000000e+00 total movement = 6.464866259582e-04 vel = 6.474738525454e-01 Finished tc id 124 ------------------- Activate tc id = 125 target_vel = 0.657150 final_vel = 0.657150 length = 0.007867 tc state : vr = 0.657150, vf = 0.657150, maxvel = 0.657150, current_vel = 0.657150, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.657150, acc = 9.676376,T = 0.007867, P = 0.000696 initial results: dx= 0.007171,dt = 0.010912, a_f = 0.000000, v_f = 0.657150 dt = 0.010912, not at end yet tc id = 125, canon_type = 3, mot type = 2 time: 5.810000 primary movement = 6.522701811951e-04 time: 5.810000000000e+00 total movement = 6.522701811951e-04 vel = 6.571502283948e-01 ------------------- tc state : vr = 0.657150, vf = 0.657150, maxvel = 0.657150, current_vel = 0.657150, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.657150, acc = 0.000000,T = 0.007867, P = 0.001354 initial results: dx= 0.006514,dt = 0.009912, a_f = 0.000000, v_f = 0.657150 dt = 0.009912, not at end yet tc id = 125, canon_type = 3, mot type = 2 time: 5.811000 primary movement = 6.571074307980e-04 time: 5.811000000000e+00 total movement = 6.571074307980e-04 vel = 6.571502283948e-01 ------------------- tc state : vr = 0.657150, vf = 0.657150, maxvel = 0.657150, current_vel = 0.657150, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.657150, acc = 0.000000,T = 0.007867, P = 0.002011 initial results: dx= 0.005857,dt = 0.008912, a_f = 0.000000, v_f = 0.657150 dt = 0.008912, not at end yet tc id = 125, canon_type = 3, mot type = 2 time: 5.812000 primary movement = 6.571074307980e-04 time: 5.812000000000e+00 total movement = 6.571074307980e-04 vel = 6.571502283948e-01 ------------------- tc state : vr = 0.657150, vf = 0.657150, maxvel = 0.657150, current_vel = 0.657150, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.657150, acc = 0.000000,T = 0.007867, P = 0.002668 initial results: dx= 0.005200,dt = 0.007912, a_f = 0.000000, v_f = 0.657150 dt = 0.007912, not at end yet tc id = 125, canon_type = 3, mot type = 2 time: 5.813000 primary movement = 6.571074307980e-04 time: 5.813000000000e+00 total movement = 6.571074307980e-04 vel = 6.571502283948e-01 ------------------- tc state : vr = 0.657150, vf = 0.657150, maxvel = 0.657150, current_vel = 0.657150, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.657150, acc = 0.000000,T = 0.007867, P = 0.003325 initial results: dx= 0.004542,dt = 0.006912, a_f = 0.000000, v_f = 0.657150 dt = 0.006912, not at end yet tc id = 125, canon_type = 3, mot type = 2 time: 5.814000 primary movement = 6.571074307980e-04 time: 5.814000000000e+00 total movement = 6.571074307980e-04 vel = 6.571502283948e-01 ------------------- tc state : vr = 0.657150, vf = 0.657150, maxvel = 0.657150, current_vel = 0.657150, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.657150, acc = 0.000000,T = 0.007867, P = 0.003982 initial results: dx= 0.003885,dt = 0.005912, a_f = 0.000000, v_f = 0.657150 dt = 0.005912, not at end yet tc id = 125, canon_type = 3, mot type = 2 time: 5.815000 primary movement = 6.571074307980e-04 time: 5.815000000000e+00 total movement = 6.571074307980e-04 vel = 6.571502283948e-01 ------------------- tc state : vr = 0.657150, vf = 0.657150, maxvel = 0.657150, current_vel = 0.657150, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.657150, acc = 0.000000,T = 0.007867, P = 0.004639 initial results: dx= 0.003228,dt = 0.004912, a_f = 0.000000, v_f = 0.657150 dt = 0.004912, not at end yet tc id = 125, canon_type = 3, mot type = 2 time: 5.816000 primary movement = 6.571074307980e-04 time: 5.816000000000e+00 total movement = 6.571074307980e-04 vel = 6.571502283948e-01 ------------------- tc state : vr = 0.657150, vf = 0.657150, maxvel = 0.657150, current_vel = 0.657150, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.657150, acc = 0.000000,T = 0.007867, P = 0.005296 initial results: dx= 0.002571,dt = 0.003912, a_f = 0.000000, v_f = 0.657150 dt = 0.003912, not at end yet tc id = 125, canon_type = 3, mot type = 2 time: 5.817000 primary movement = 6.571074307980e-04 time: 5.817000000000e+00 total movement = 6.571074307980e-04 vel = 6.571502283948e-01 ------------------- tc state : vr = 0.657150, vf = 0.657150, maxvel = 0.657150, current_vel = 0.657150, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.657150, acc = 0.000000,T = 0.007867, P = 0.005954 initial results: dx= 0.001914,dt = 0.002912, a_f = 0.000000, v_f = 0.657150 dt = 0.002912, not at end yet tc id = 125, canon_type = 3, mot type = 2 time: 5.818000 primary movement = 6.571074307980e-04 time: 5.818000000000e+00 total movement = 6.571074307980e-04 vel = 6.571502283948e-01 ------------------- tc state : vr = 0.657150, vf = 0.657150, maxvel = 0.657150, current_vel = 0.657150, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.657150, acc = 0.000000,T = 0.007867, P = 0.006611 initial results: dx= 0.001257,dt = 0.001912, a_f = 0.000000, v_f = 0.657150 dt = 0.001912, not at end yet tc id = 125, canon_type = 3, mot type = 2 time: 5.819000 primary movement = 6.571074307980e-04 time: 5.819000000000e+00 total movement = 6.571074307980e-04 vel = 6.571502283948e-01 ------------------- tc state : vr = 0.657150, vf = 0.657150, maxvel = 0.657150, current_vel = 0.657150, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.657150, acc = 0.000000,T = 0.007867, P = 0.007268 initial results: dx= 0.000599,dt = 0.000912, a_f = 0.000000, v_f = 0.657150 actual v_f = 0.657150, a = 0.000000 split time is 0.000912258 tc id = 125, canon_type = 3, mot type = 2 time: 5.820000 primary movement = 6.571074307980e-04 time: 5.820000000000e+00 total movement = 6.571074307980e-04 vel = 6.571502283948e-01 ------------------- tc id 125 done Finishing split-cycle on id 125 tc state : vr = 5.007838, vf = 0.401493, maxvel = 8.828973, current_vel = 0.659939, fs = 1.000000, tc = 0.000088, term = 3 tc result: v = 0.659939, acc = 31.784430,T = 0.010516, P = 0.000058 initial results: dx= 0.010459,dt = 0.019707, a_f = -13.114628, v_f = 0.401493 dt = 0.019707, not at end yet secondary movement = 0.000058 tc id = 125, canon_type = 2, mot type = 1 time: 5.821000 primary movement = 5.994578058727e-04 time: 5.821000000000e+00 total movement = 6.572400864522e-04 vel = 6.599390702189e-01 Finished tc id 125 ------------------- Activate tc id = 125 target_vel = 5.007838 final_vel = 0.401493 length = 0.010516 tc state : vr = 5.007838, vf = 0.401493, maxvel = 8.828973, current_vel = 0.691724, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.691724, acc = 31.784430,T = 0.010516, P = 0.000734 initial results: dx= 0.009783,dt = 0.017897, a_f = -16.216403, v_f = 0.401493 dt = 0.017897, not at end yet tc id = 125, canon_type = 2, mot type = 1 time: 5.822000 primary movement = 6.758312852942e-04 time: 5.822000000000e+00 total movement = 6.758312852942e-04 vel = 6.917235003695e-01 ------------------- tc state : vr = 5.007838, vf = 0.401493, maxvel = 8.828973, current_vel = 0.723508, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.723508, acc = 31.784430,T = 0.010516, P = 0.001441 initial results: dx= 0.009075,dt = 0.016134, a_f = -19.959135, v_f = 0.401493 dt = 0.016134, not at end yet tc id = 125, canon_type = 2, mot type = 1 time: 5.823000 primary movement = 7.076157154449e-04 time: 5.823000000000e+00 total movement = 7.076157154449e-04 vel = 7.235079305202e-01 ------------------- tc state : vr = 5.007838, vf = 0.401493, maxvel = 8.828973, current_vel = 0.755292, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.755292, acc = 31.784430,T = 0.010516, P = 0.002181 initial results: dx= 0.008336,dt = 0.014412, a_f = -24.548864, v_f = 0.401493 dt = 0.014412, not at end yet tc id = 125, canon_type = 2, mot type = 1 time: 5.824000 primary movement = 7.394001455955e-04 time: 5.824000000000e+00 total movement = 7.394001455955e-04 vel = 7.552923606708e-01 ------------------- tc state : vr = 5.007838, vf = 0.401493, maxvel = 8.828973, current_vel = 0.787077, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.787077, acc = 31.784430,T = 0.010516, P = 0.002952 initial results: dx= 0.007565,dt = 0.012729, a_f = -30.291812, v_f = 0.401493 dt = 0.012729, not at end yet tc id = 125, canon_type = 2, mot type = 1 time: 5.825000 primary movement = 7.711845757461e-04 time: 5.825000000000e+00 total movement = 7.711845757461e-04 vel = 7.870767908214e-01 ------------------- tc state : vr = 5.007838, vf = 0.401493, maxvel = 8.828973, current_vel = 0.769797, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.769797, acc = -17.279565,T = 0.010516, P = 0.003730 on final decel initial results: dx= 0.006786,dt = 0.011588, a_f = -31.784430, v_f = 0.401493 dt = 0.011588, not at end yet tc id = 125, canon_type = 2, mot type = 1 time: 5.826000 primary movement = 7.784370082737e-04 time: 5.826000000000e+00 total movement = 7.784370082737e-04 vel = 7.697972257260e-01 ------------------- tc state : vr = 5.007838, vf = 0.401493, maxvel = 8.828973, current_vel = 0.738013, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.738013, acc = -31.784430,T = 0.010516, P = 0.004484 on final decel initial results: dx= 0.006032,dt = 0.010588, a_f = -31.784430, v_f = 0.401493 recalculating with a_f = -31.784430, a = -31.784430 revised dt = 0.010588 dt = 0.010588, not at end yet tc id = 125, canon_type = 2, mot type = 1 time: 5.827000 primary movement = 7.539050106507e-04 time: 5.827000000000e+00 total movement = 7.539050106507e-04 vel = 7.380127955754e-01 ------------------- tc state : vr = 5.007838, vf = 0.401493, maxvel = 8.828973, current_vel = 0.706228, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.706228, acc = -31.784430,T = 0.010516, P = 0.005206 on final decel initial results: dx= 0.005310,dt = 0.009588, a_f = -31.784430, v_f = 0.401493 recalculating with a_f = -31.784430, a = -31.784430 revised dt = 0.009588 dt = 0.009588, not at end yet tc id = 125, canon_type = 2, mot type = 1 time: 5.828000 primary movement = 7.221205805001e-04 time: 5.828000000000e+00 total movement = 7.221205805001e-04 vel = 7.062283654248e-01 ------------------- tc state : vr = 5.007838, vf = 0.401493, maxvel = 8.828973, current_vel = 0.674444, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.674444, acc = -31.784430,T = 0.010516, P = 0.005897 on final decel initial results: dx= 0.004620,dt = 0.008588, a_f = -31.784430, v_f = 0.401493 recalculating with a_f = -31.784430, a = -31.784430 revised dt = 0.008588 dt = 0.008588, not at end yet tc id = 125, canon_type = 2, mot type = 1 time: 5.829000 primary movement = 6.903361503495e-04 time: 5.829000000000e+00 total movement = 6.903361503495e-04 vel = 6.744439352741e-01 ------------------- tc state : vr = 5.007838, vf = 0.401493, maxvel = 8.828973, current_vel = 0.642660, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.642660, acc = -31.784430,T = 0.010516, P = 0.006555 on final decel initial results: dx= 0.003961,dt = 0.007588, a_f = -31.784430, v_f = 0.401493 recalculating with a_f = -31.784430, a = -31.784430 revised dt = 0.007588 dt = 0.007588, not at end yet tc id = 125, canon_type = 2, mot type = 1 time: 5.830000 primary movement = 6.585517201988e-04 time: 5.830000000000e+00 total movement = 6.585517201988e-04 vel = 6.426595051235e-01 ------------------- tc state : vr = 5.007838, vf = 0.401493, maxvel = 8.828973, current_vel = 0.610875, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.610875, acc = -31.784430,T = 0.010516, P = 0.007182 on final decel initial results: dx= 0.003335,dt = 0.006588, a_f = -31.784430, v_f = 0.401493 recalculating with a_f = -31.784430, a = -31.784430 revised dt = 0.006588 dt = 0.006588, not at end yet tc id = 125, canon_type = 2, mot type = 1 time: 5.831000 primary movement = 6.267672900482e-04 time: 5.831000000000e+00 total movement = 6.267672900482e-04 vel = 6.108750749729e-01 ------------------- tc state : vr = 5.007838, vf = 0.401493, maxvel = 8.828973, current_vel = 0.579091, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.579091, acc = -31.784430,T = 0.010516, P = 0.007777 on final decel initial results: dx= 0.002740,dt = 0.005588, a_f = -31.784430, v_f = 0.401493 recalculating with a_f = -31.784430, a = -31.784430 revised dt = 0.005588 dt = 0.005588, not at end yet tc id = 125, canon_type = 2, mot type = 1 time: 5.832000 primary movement = 5.949828598976e-04 time: 5.832000000000e+00 total movement = 5.949828598976e-04 vel = 5.790906448223e-01 ------------------- tc state : vr = 5.007838, vf = 0.401493, maxvel = 8.828973, current_vel = 0.547306, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.547306, acc = -31.784430,T = 0.010516, P = 0.008340 on final decel initial results: dx= 0.002176,dt = 0.004588, a_f = -31.784430, v_f = 0.401493 recalculating with a_f = -31.784430, a = -31.784430 revised dt = 0.004588 dt = 0.004588, not at end yet tc id = 125, canon_type = 2, mot type = 1 time: 5.833000 primary movement = 5.631984297469e-04 time: 5.833000000000e+00 total movement = 5.631984297469e-04 vel = 5.473062146716e-01 ------------------- tc state : vr = 5.007838, vf = 0.401493, maxvel = 8.828973, current_vel = 0.515522, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.515522, acc = -31.784430,T = 0.010516, P = 0.008872 on final decel initial results: dx= 0.001645,dt = 0.003588, a_f = -31.784430, v_f = 0.401493 recalculating with a_f = -31.784430, a = -31.784430 revised dt = 0.003588 dt = 0.003588, not at end yet tc id = 125, canon_type = 2, mot type = 1 time: 5.834000 primary movement = 5.314139995963e-04 time: 5.834000000000e+00 total movement = 5.314139995963e-04 vel = 5.155217845210e-01 ------------------- tc state : vr = 5.007838, vf = 0.401493, maxvel = 8.828973, current_vel = 0.483737, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.483737, acc = -31.784430,T = 0.010516, P = 0.009371 on final decel initial results: dx= 0.001145,dt = 0.002588, a_f = -31.784430, v_f = 0.401493 recalculating with a_f = -31.784430, a = -31.784430 revised dt = 0.002588 dt = 0.002588, not at end yet tc id = 125, canon_type = 2, mot type = 1 time: 5.835000 primary movement = 4.996295694457e-04 time: 5.835000000000e+00 total movement = 4.996295694457e-04 vel = 4.837373543704e-01 ------------------- tc state : vr = 5.007838, vf = 0.401493, maxvel = 8.828973, current_vel = 0.451953, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.451953, acc = -31.784430,T = 0.010516, P = 0.009839 on final decel initial results: dx= 0.000677,dt = 0.001588, a_f = -31.784430, v_f = 0.401493 recalculating with a_f = -31.784430, a = -31.784430 revised dt = 0.001588 dt = 0.001588, not at end yet tc id = 125, canon_type = 2, mot type = 1 time: 5.836000 primary movement = 4.678451392951e-04 time: 5.836000000000e+00 total movement = 4.678451392951e-04 vel = 4.519529242198e-01 ------------------- tc state : vr = 5.007838, vf = 0.401493, maxvel = 8.828973, current_vel = 0.420168, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.420168, acc = -31.784430,T = 0.010516, P = 0.010275 on final decel initial results: dx= 0.000241,dt = 0.000588, a_f = -31.784430, v_f = 0.401493 recalculating with a_f = -31.784430, a = -31.784430 revised dt = 0.000588 actual v_f = 0.401493, a = -31.784430 split time is 0.000587581 tc id = 125, canon_type = 2, mot type = 1 time: 5.837000 primary movement = 4.360607091444e-04 time: 5.837000000000e+00 total movement = 4.360607091444e-04 vel = 4.201684940691e-01 ------------------- tc id 125 done Finishing split-cycle on id 126 tc state : vr = 0.401493, vf = 0.401493, maxvel = 0.401493, current_vel = 0.401493, fs = 1.000000, tc = 0.000412, term = 3 tc result: v = 0.401493, acc = -0.000000,T = 0.004626, P = 0.000166 initial results: dx= 0.004460,dt = 0.011109, a_f = 0.000000, v_f = 0.401493 dt = 0.011109, not at end yet secondary movement = 0.000166 tc id = 126, canon_type = 3, mot type = 2 time: 5.838000 primary movement = 2.413964062456e-04 time: 5.838000000000e+00 total movement = 4.069744566500e-04 vel = 4.014925515903e-01 Finished tc id 125 ------------------- Activate tc id = 126 target_vel = 0.401493 final_vel = 0.401493 length = 0.004626 tc state : vr = 0.401493, vf = 0.401493, maxvel = 0.401493, current_vel = 0.401493, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.401493, acc = 0.000000,T = 0.004626, P = 0.000567 initial results: dx= 0.004059,dt = 0.010109, a_f = 0.000000, v_f = 0.401493 dt = 0.010109, not at end yet tc id = 126, canon_type = 3, mot type = 2 time: 5.839000 primary movement = 4.014225041441e-04 time: 5.839000000000e+00 total movement = 4.014225041441e-04 vel = 4.014925515903e-01 ------------------- tc state : vr = 0.401493, vf = 0.401493, maxvel = 0.401493, current_vel = 0.401493, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.401493, acc = 0.000000,T = 0.004626, P = 0.000969 initial results: dx= 0.003657,dt = 0.009109, a_f = 0.000000, v_f = 0.401493 dt = 0.009109, not at end yet tc id = 126, canon_type = 3, mot type = 2 time: 5.840000 primary movement = 4.014225041441e-04 time: 5.840000000000e+00 total movement = 4.014225041441e-04 vel = 4.014925515903e-01 ------------------- tc state : vr = 0.401493, vf = 0.401493, maxvel = 0.401493, current_vel = 0.401493, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.401493, acc = 0.000000,T = 0.004626, P = 0.001370 initial results: dx= 0.003256,dt = 0.008109, a_f = 0.000000, v_f = 0.401493 dt = 0.008109, not at end yet tc id = 126, canon_type = 3, mot type = 2 time: 5.841000 primary movement = 4.014225041441e-04 time: 5.841000000000e+00 total movement = 4.014225041441e-04 vel = 4.014925515903e-01 ------------------- tc state : vr = 0.401493, vf = 0.401493, maxvel = 0.401493, current_vel = 0.401493, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.401493, acc = 0.000000,T = 0.004626, P = 0.001772 initial results: dx= 0.002854,dt = 0.007109, a_f = 0.000000, v_f = 0.401493 dt = 0.007109, not at end yet tc id = 126, canon_type = 3, mot type = 2 time: 5.842000 primary movement = 4.014225041441e-04 time: 5.842000000000e+00 total movement = 4.014225041441e-04 vel = 4.014925515903e-01 ------------------- tc state : vr = 0.401493, vf = 0.401493, maxvel = 0.401493, current_vel = 0.401493, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.401493, acc = 0.000000,T = 0.004626, P = 0.002173 initial results: dx= 0.002453,dt = 0.006109, a_f = 0.000000, v_f = 0.401493 dt = 0.006109, not at end yet tc id = 126, canon_type = 3, mot type = 2 time: 5.843000 primary movement = 4.014225041441e-04 time: 5.843000000000e+00 total movement = 4.014225041441e-04 vel = 4.014925515903e-01 ------------------- tc state : vr = 0.401493, vf = 0.401493, maxvel = 0.401493, current_vel = 0.401493, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.401493, acc = 0.000000,T = 0.004626, P = 0.002575 initial results: dx= 0.002051,dt = 0.005109, a_f = 0.000000, v_f = 0.401493 dt = 0.005109, not at end yet tc id = 126, canon_type = 3, mot type = 2 time: 5.844000 primary movement = 4.014225041441e-04 time: 5.844000000000e+00 total movement = 4.014225041441e-04 vel = 4.014925515903e-01 ------------------- tc state : vr = 0.401493, vf = 0.401493, maxvel = 0.401493, current_vel = 0.401493, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.401493, acc = 0.000000,T = 0.004626, P = 0.002976 initial results: dx= 0.001650,dt = 0.004109, a_f = 0.000000, v_f = 0.401493 dt = 0.004109, not at end yet tc id = 126, canon_type = 3, mot type = 2 time: 5.845000 primary movement = 4.014225041441e-04 time: 5.845000000000e+00 total movement = 4.014225041441e-04 vel = 4.014925515903e-01 ------------------- tc state : vr = 0.401493, vf = 0.401493, maxvel = 0.401493, current_vel = 0.401493, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.401493, acc = 0.000000,T = 0.004626, P = 0.003378 initial results: dx= 0.001248,dt = 0.003109, a_f = 0.000000, v_f = 0.401493 dt = 0.003109, not at end yet tc id = 126, canon_type = 3, mot type = 2 time: 5.846000 primary movement = 4.014225041441e-04 time: 5.846000000000e+00 total movement = 4.014225041441e-04 vel = 4.014925515903e-01 ------------------- tc state : vr = 0.401493, vf = 0.401493, maxvel = 0.401493, current_vel = 0.401493, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.401493, acc = 0.000000,T = 0.004626, P = 0.003779 initial results: dx= 0.000847,dt = 0.002109, a_f = 0.000000, v_f = 0.401493 dt = 0.002109, not at end yet tc id = 126, canon_type = 3, mot type = 2 time: 5.847000 primary movement = 4.014225041441e-04 time: 5.847000000000e+00 total movement = 4.014225041441e-04 vel = 4.014925515903e-01 ------------------- tc state : vr = 0.401493, vf = 0.401493, maxvel = 0.401493, current_vel = 0.401493, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.401493, acc = 0.000000,T = 0.004626, P = 0.004181 initial results: dx= 0.000445,dt = 0.001109, a_f = 0.000000, v_f = 0.401493 dt = 0.001109, not at end yet tc id = 126, canon_type = 3, mot type = 2 time: 5.848000 primary movement = 4.014225041441e-04 time: 5.848000000000e+00 total movement = 4.014225041441e-04 vel = 4.014925515903e-01 ------------------- tc state : vr = 0.401493, vf = 0.401493, maxvel = 0.401493, current_vel = 0.401493, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.401493, acc = 0.000000,T = 0.004626, P = 0.004582 initial results: dx= 0.000044,dt = 0.000109, a_f = 0.000000, v_f = 0.401493 actual v_f = 0.401493, a = 0.000000 split time is 0.00010941 tc id = 126, canon_type = 3, mot type = 2 time: 5.849000 primary movement = 4.014225041441e-04 time: 5.849000000000e+00 total movement = 4.014225041441e-04 vel = 4.014925515903e-01 ------------------- tc id 126 done Finishing split-cycle on id 126 tc state : vr = 1.301769, vf = 0.282435, maxvel = 9.082065, current_vel = 0.430611, fs = 1.000000, tc = 0.000891, term = 3 tc result: v = 0.430611, acc = 32.695565,T = 0.002734, P = 0.000371 initial results: dx= 0.002363,dt = 0.006628, a_f = -22.354685, v_f = 0.282435 dt = 0.006628, not at end yet secondary movement = 0.000371 tc id = 126, canon_type = 2, mot type = 1 time: 5.850000 primary movement = 4.392711540199e-05 time: 5.850000000000e+00 total movement = 4.144587194123e-04 vel = 4.306109027902e-01 Finished tc id 126 ------------------- Activate tc id = 126 target_vel = 1.301769 final_vel = 0.282435 length = 0.002734 tc state : vr = 1.301769, vf = 0.282435, maxvel = 9.082065, current_vel = 0.453214, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.453214, acc = 22.603577,T = 0.002734, P = 0.000812 initial results: dx= 0.001921,dt = 0.005223, a_f = -32.695565, v_f = 0.282435 dt = 0.005223, not at end yet tc id = 126, canon_type = 2, mot type = 1 time: 5.851000 primary movement = 4.419126914103e-04 time: 5.851000000000e+00 total movement = 4.419126914103e-04 vel = 4.532144800303e-01 ------------------- tc state : vr = 1.301769, vf = 0.282435, maxvel = 9.082065, current_vel = 0.420519, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.420519, acc = -32.695565,T = 0.002734, P = 0.001249 on final decel initial results: dx= 0.001484,dt = 0.004223, a_f = -32.695565, v_f = 0.282435 recalculating with a_f = -32.695565, a = -32.695565 revised dt = 0.004223 dt = 0.004223, not at end yet tc id = 126, canon_type = 2, mot type = 1 time: 5.852000 primary movement = 4.368666973060e-04 time: 5.852000000000e+00 total movement = 4.368666973060e-04 vel = 4.205189145817e-01 ------------------- tc state : vr = 1.301769, vf = 0.282435, maxvel = 9.082065, current_vel = 0.387823, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.387823, acc = -32.695565,T = 0.002734, P = 0.001653 on final decel initial results: dx= 0.001080,dt = 0.003223, a_f = -32.695565, v_f = 0.282435 recalculating with a_f = -32.695565, a = -32.695565 revised dt = 0.003223 dt = 0.003223, not at end yet tc id = 126, canon_type = 2, mot type = 1 time: 5.853000 primary movement = 4.041711318575e-04 time: 5.853000000000e+00 total movement = 4.041711318575e-04 vel = 3.878233491332e-01 ------------------- tc state : vr = 1.301769, vf = 0.282435, maxvel = 9.082065, current_vel = 0.355128, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.355128, acc = -32.695565,T = 0.002734, P = 0.002025 on final decel initial results: dx= 0.000709,dt = 0.002223, a_f = -32.695565, v_f = 0.282435 recalculating with a_f = -32.695565, a = -32.695565 revised dt = 0.002223 dt = 0.002223, not at end yet tc id = 126, canon_type = 2, mot type = 1 time: 5.854000 primary movement = 3.714755664089e-04 time: 5.854000000000e+00 total movement = 3.714755664089e-04 vel = 3.551277836847e-01 ------------------- tc state : vr = 1.301769, vf = 0.282435, maxvel = 9.082065, current_vel = 0.322432, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.322432, acc = -32.695565,T = 0.002734, P = 0.002364 on final decel initial results: dx= 0.000370,dt = 0.001223, a_f = -32.695565, v_f = 0.282435 recalculating with a_f = -32.695565, a = -32.695565 revised dt = 0.001223 dt = 0.001223, not at end yet tc id = 126, canon_type = 2, mot type = 1 time: 5.855000 primary movement = 3.387800009604e-04 time: 5.855000000000e+00 total movement = 3.387800009604e-04 vel = 3.224322182361e-01 ------------------- tc state : vr = 1.301769, vf = 0.282435, maxvel = 9.082065, current_vel = 0.289737, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.289737, acc = -32.695565,T = 0.002734, P = 0.002670 on final decel initial results: dx= 0.000064,dt = 0.000223, a_f = -32.695565, v_f = 0.282435 recalculating with a_f = -32.695565, a = -32.695565 revised dt = 0.000223 actual v_f = 0.282435, a = -32.695565 split time is 0.000223334 tc id = 126, canon_type = 2, mot type = 1 time: 5.856000 primary movement = 3.060844355118e-04 time: 5.856000000000e+00 total movement = 3.060844355118e-04 vel = 2.897366527876e-01 ------------------- tc id 126 done Finishing split-cycle on id 127 tc state : vr = 0.325036, vf = 0.000000, maxvel = 0.325036, current_vel = 0.270785, fs = 1.000000, tc = 0.000777, term = 3 tc result: v = 0.270785, acc = -15.000000,T = 0.002659, P = 0.000215 on final decel initial results: dx= 0.002444,dt = 0.018052, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.018052 dt = 0.018052, not at end yet secondary movement = 0.000215 tc id = 127, canon_type = 3, mot type = 2 time: 5.857000 primary movement = 6.389253788860e-05 time: 5.857000000000e+00 total movement = 2.787009636182e-04 vel = 2.707846383773e-01 Finished tc id 126 ------------------- Activate tc id = 127 target_vel = 0.325036 final_vel = 0.000000 length = 0.002659 tc state : vr = 0.325036, vf = 0.000000, maxvel = 0.325036, current_vel = 0.255785, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.255785, acc = -15.000000,T = 0.002659, P = 0.000478 on final decel initial results: dx= 0.002181,dt = 0.017052, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.017052 dt = 0.017052, not at end yet tc id = 127, canon_type = 3, mot type = 2 time: 5.858000 primary movement = 2.632386531863e-04 time: 5.858000000000e+00 total movement = 2.632386531863e-04 vel = 2.557846383773e-01 ------------------- tc state : vr = 0.325036, vf = 0.000000, maxvel = 0.325036, current_vel = 0.240785, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.240785, acc = -15.000000,T = 0.002659, P = 0.000726 on final decel initial results: dx= 0.001933,dt = 0.016052, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.016052 dt = 0.016052, not at end yet tc id = 127, canon_type = 3, mot type = 2 time: 5.859000 primary movement = 2.482460733625e-04 time: 5.859000000000e+00 total movement = 2.482460733625e-04 vel = 2.407846383773e-01 ------------------- tc state : vr = 0.325036, vf = 0.000000, maxvel = 0.325036, current_vel = 0.225785, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.225785, acc = -15.000000,T = 0.002659, P = 0.000960 on final decel initial results: dx= 0.001699,dt = 0.015052, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.015052 dt = 0.015052, not at end yet tc id = 127, canon_type = 3, mot type = 2 time: 5.860000 primary movement = 2.332526490764e-04 time: 5.860000000000e+00 total movement = 2.332526490764e-04 vel = 2.257846383773e-01 ------------------- tc state : vr = 0.325036, vf = 0.000000, maxvel = 0.325036, current_vel = 0.210785, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.210785, acc = -15.000000,T = 0.002659, P = 0.001178 on final decel initial results: dx= 0.001481,dt = 0.014052, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.014052 dt = 0.014052, not at end yet tc id = 127, canon_type = 3, mot type = 2 time: 5.861000 primary movement = 2.182584313315e-04 time: 5.861000000000e+00 total movement = 2.182584313315e-04 vel = 2.107846383773e-01 ------------------- tc state : vr = 0.325036, vf = 0.000000, maxvel = 0.325036, current_vel = 0.195785, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.195785, acc = -15.000000,T = 0.002659, P = 0.001381 on final decel initial results: dx= 0.001278,dt = 0.013052, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.013052 dt = 0.013052, not at end yet tc id = 127, canon_type = 3, mot type = 2 time: 5.862000 primary movement = 2.032634711337e-04 time: 5.862000000000e+00 total movement = 2.032634711337e-04 vel = 1.957846383773e-01 ------------------- tc state : vr = 0.325036, vf = 0.000000, maxvel = 0.325036, current_vel = 0.180785, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.180785, acc = -15.000000,T = 0.002659, P = 0.001570 on final decel initial results: dx= 0.001089,dt = 0.012052, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.012052 dt = 0.012052, not at end yet tc id = 127, canon_type = 3, mot type = 2 time: 5.863000 primary movement = 1.882678194917e-04 time: 5.863000000000e+00 total movement = 1.882678194917e-04 vel = 1.807846383773e-01 ------------------- tc state : vr = 0.325036, vf = 0.000000, maxvel = 0.325036, current_vel = 0.165785, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.165785, acc = -15.000000,T = 0.002659, P = 0.001743 on final decel initial results: dx= 0.000916,dt = 0.011052, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.011052 dt = 0.011052, not at end yet tc id = 127, canon_type = 3, mot type = 2 time: 5.864000 primary movement = 1.732715274163e-04 time: 5.864000000000e+00 total movement = 1.732715274163e-04 vel = 1.657846383773e-01 ------------------- tc state : vr = 0.325036, vf = 0.000000, maxvel = 0.325036, current_vel = 0.150785, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.150785, acc = -15.000000,T = 0.002659, P = 0.001901 on final decel initial results: dx= 0.000758,dt = 0.010052, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.010052 dt = 0.010052, not at end yet tc id = 127, canon_type = 3, mot type = 2 time: 5.865000 primary movement = 1.582746459207e-04 time: 5.865000000000e+00 total movement = 1.582746459207e-04 vel = 1.507846383773e-01 ------------------- tc state : vr = 0.325036, vf = 0.000000, maxvel = 0.325036, current_vel = 0.135785, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.135785, acc = -15.000000,T = 0.002659, P = 0.002044 on final decel initial results: dx= 0.000615,dt = 0.009052, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.009052 dt = 0.009052, not at end yet tc id = 127, canon_type = 3, mot type = 2 time: 5.866000 primary movement = 1.432772260200e-04 time: 5.866000000000e+00 total movement = 1.432772260200e-04 vel = 1.357846383773e-01 ------------------- tc state : vr = 0.325036, vf = 0.000000, maxvel = 0.325036, current_vel = 0.120785, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.120785, acc = -15.000000,T = 0.002659, P = 0.002173 on final decel initial results: dx= 0.000486,dt = 0.008052, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.008052 dt = 0.008052, not at end yet tc id = 127, canon_type = 3, mot type = 2 time: 5.867000 primary movement = 1.282793187311e-04 time: 5.867000000000e+00 total movement = 1.282793187311e-04 vel = 1.207846383773e-01 ------------------- tc state : vr = 0.325036, vf = 0.000000, maxvel = 0.325036, current_vel = 0.105785, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.105785, acc = -15.000000,T = 0.002659, P = 0.002286 on final decel initial results: dx= 0.000373,dt = 0.007052, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.007052 dt = 0.007052, not at end yet tc id = 127, canon_type = 3, mot type = 2 time: 5.868000 primary movement = 1.132809750726e-04 time: 5.868000000000e+00 total movement = 1.132809750726e-04 vel = 1.057846383773e-01 ------------------- tc state : vr = 0.325036, vf = 0.000000, maxvel = 0.325036, current_vel = 0.090785, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.090785, acc = -15.000000,T = 0.002659, P = 0.002384 on final decel initial results: dx= 0.000275,dt = 0.006052, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.006052 dt = 0.006052, not at end yet tc id = 127, canon_type = 3, mot type = 2 time: 5.869000 primary movement = 9.828224606458e-05 time: 5.869000000000e+00 total movement = 9.828224606458e-05 vel = 9.078463837731e-02 ------------------- tc state : vr = 0.325036, vf = 0.000000, maxvel = 0.325036, current_vel = 0.075785, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.075785, acc = -15.000000,T = 0.002659, P = 0.002468 on final decel initial results: dx= 0.000191,dt = 0.005052, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.005052 dt = 0.005052, not at end yet tc id = 127, canon_type = 3, mot type = 2 time: 5.870000 primary movement = 8.328318272844e-05 time: 5.870000000000e+00 total movement = 8.328318272844e-05 vel = 7.578463837731e-02 ------------------- tc state : vr = 0.325036, vf = 0.000000, maxvel = 0.325036, current_vel = 0.060785, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.060785, acc = -15.000000,T = 0.002659, P = 0.002536 on final decel initial results: dx= 0.000123,dt = 0.004052, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.004052 dt = 0.004052, not at end yet tc id = 127, canon_type = 3, mot type = 2 time: 5.871000 primary movement = 6.828383608673e-05 time: 5.871000000000e+00 total movement = 6.828383608673e-05 vel = 6.078463837731e-02 ------------------- tc state : vr = 0.325036, vf = 0.000000, maxvel = 0.325036, current_vel = 0.045785, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.045785, acc = -15.000000,T = 0.002659, P = 0.002589 on final decel initial results: dx= 0.000070,dt = 0.003052, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.003052 dt = 0.003052, not at end yet tc id = 127, canon_type = 3, mot type = 2 time: 5.872000 primary movement = 5.328425716289e-05 time: 5.872000000000e+00 total movement = 5.328425716289e-05 vel = 4.578463837731e-02 ------------------- tc state : vr = 0.325036, vf = 0.000000, maxvel = 0.325036, current_vel = 0.030785, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.030785, acc = -15.000000,T = 0.002659, P = 0.002627 on final decel initial results: dx= 0.000032,dt = 0.002052, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.002052 dt = 0.002052, not at end yet tc id = 127, canon_type = 3, mot type = 2 time: 5.873000 primary movement = 3.828449698124e-05 time: 5.873000000000e+00 total movement = 3.828449698124e-05 vel = 3.078463837731e-02 ------------------- tc state : vr = 0.325036, vf = 0.000000, maxvel = 0.325036, current_vel = 0.015785, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.015785, acc = -15.000000,T = 0.002659, P = 0.002651 on final decel initial results: dx= 0.000008,dt = 0.001052, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.001052 dt = 0.001052, not at end yet tc id = 127, canon_type = 3, mot type = 2 time: 5.874000 primary movement = 2.328460656666e-05 time: 5.874000000000e+00 total movement = 2.328460656666e-05 vel = 1.578463837731e-02 ------------------- tc state : vr = 0.325036, vf = 0.000000, maxvel = 0.325036, current_vel = 0.000785, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.000785, acc = -15.000000,T = 0.002659, P = 0.002659 on final decel initial results: dx= 0.000000,dt = 0.000052, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.000052 actual v_f = 0.000000, a = -15.000000 split time is 5.23088e-05 tc id = 127, canon_type = 3, mot type = 2 time: 5.875000 primary movement = 8.284636944520e-06 time: 5.875000000000e+00 total movement = 8.284636944520e-06 vel = 7.846383773141e-04 ------------------- tc id 127 done Finishing split-cycle on id 127 tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.014653, fs = 1.000000, tc = 0.000948, term = 2 tc result: v = 0.014653, acc = 15.461646,T = 0.002744, P = 0.000007 secondary movement = 0.000007 tc id = 127, canon_type = 2, mot type = 1 time: 5.876000 primary movement = 2.052191276993e-08 time: 5.876000000000e+00 total movement = 6.963722847074e-06 vel = 1.465287109205e-02 Finished tc id 127 ------------------- Activate tc id = 127 target_vel = 8.589769 final_vel = 0.000000 length = 0.002744 Activate nexttc id 128 tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.030115, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.030115, acc = 15.461646,T = 0.002744, P = 0.000029 tc id = 127, canon_type = 2, mot type = 1 time: 5.877000 primary movement = 2.238369414008e-05 time: 5.877000000000e+00 total movement = 2.238369414008e-05 vel = 3.011451718812e-02 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.045576, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.045576, acc = 15.461646,T = 0.002744, P = 0.000067 tc id = 127, canon_type = 2, mot type = 1 time: 5.878000 primary movement = 3.784534023615e-05 time: 5.878000000000e+00 total movement = 3.784534023615e-05 vel = 4.557616328418e-02 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.061038, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.061038, acc = 15.461646,T = 0.002744, P = 0.000120 tc id = 127, canon_type = 2, mot type = 1 time: 5.879000 primary movement = 5.330698633221e-05 time: 5.879000000000e+00 total movement = 5.330698633221e-05 vel = 6.103780938025e-02 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.076499, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.076499, acc = 15.461646,T = 0.002744, P = 0.000189 tc id = 127, canon_type = 2, mot type = 1 time: 5.880000 primary movement = 6.876863242828e-05 time: 5.880000000000e+00 total movement = 6.876863242828e-05 vel = 7.649945547631e-02 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.091961, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.091961, acc = 15.461646,T = 0.002744, P = 0.000273 tc id = 127, canon_type = 2, mot type = 1 time: 5.881000 primary movement = 8.423027852435e-05 time: 5.881000000000e+00 total movement = 8.423027852435e-05 vel = 9.196110157238e-02 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.107423, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.107423, acc = 15.461646,T = 0.002744, P = 0.000373 tc id = 127, canon_type = 2, mot type = 1 time: 5.882000 primary movement = 9.969192462041e-05 time: 5.882000000000e+00 total movement = 9.969192462041e-05 vel = 1.074227476684e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.122884, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.122884, acc = 15.461646,T = 0.002744, P = 0.000488 tc id = 127, canon_type = 2, mot type = 1 time: 5.883000 primary movement = 1.151535707165e-04 time: 5.883000000000e+00 total movement = 1.151535707165e-04 vel = 1.228843937645e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.138346, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.138346, acc = 15.461646,T = 0.002744, P = 0.000619 tc id = 127, canon_type = 2, mot type = 1 time: 5.884000 primary movement = 1.306152168126e-04 time: 5.884000000000e+00 total movement = 1.306152168126e-04 vel = 1.383460398606e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.153808, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.153808, acc = 15.461646,T = 0.002744, P = 0.000765 tc id = 127, canon_type = 2, mot type = 1 time: 5.885000 primary movement = 1.460768629086e-04 time: 5.885000000000e+00 total movement = 1.460768629086e-04 vel = 1.538076859566e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.169269, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.169269, acc = 15.461646,T = 0.002744, P = 0.000927 tc id = 127, canon_type = 2, mot type = 1 time: 5.886000 primary movement = 1.615385090047e-04 time: 5.886000000000e+00 total movement = 1.615385090047e-04 vel = 1.692693320527e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.184731, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.184731, acc = 15.461646,T = 0.002744, P = 0.001104 tc id = 127, canon_type = 2, mot type = 1 time: 5.887000 primary movement = 1.770001551008e-04 time: 5.887000000000e+00 total movement = 1.770001551008e-04 vel = 1.847309781488e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.200193, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.200193, acc = 15.461646,T = 0.002744, P = 0.001296 tc id = 127, canon_type = 2, mot type = 1 time: 5.888000 primary movement = 1.924618011968e-04 time: 5.888000000000e+00 total movement = 1.924618011968e-04 vel = 2.001926242448e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.196585, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.196585, acc = -3.607794,T = 0.002744, P = 0.001494 on final decel tc id = 127, canon_type = 2, mot type = 1 tc state : vr = 0.003608, vf = 0.003608, maxvel = 9.279944, current_vel = 0.003608, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.003608, acc = 3.607794,T = 0.008652, P = 0.000002 initial results: dx= 0.008650,dt = 0.045813, a_f = 8.085262, v_f = 0.374017 dt = 0.045813, not at end yet tc id = 127, canon_type = 2, mot type = 1 secondary movement = 0.000002 time: 5.889000 primary movement = 1.983887272529e-04 time: 5.889000000000e+00 total movement = 2.001926242448e-04 vel = 2.001926242448e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.181123, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.181123, acc = -15.461646,T = 0.002744, P = 0.001683 on final decel tc id = 127, canon_type = 2, mot type = 1 tc state : vr = 0.019069, vf = 0.019069, maxvel = 9.279944, current_vel = 0.019069, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.019069, acc = 15.461646,T = 0.008652, P = 0.000013 initial results: dx= 0.008639,dt = 0.043953, a_f = 8.075580, v_f = 0.374017 dt = 0.043953, not at end yet tc id = 127, canon_type = 2, mot type = 1 secondary movement = 0.000011 time: 5.890000 primary movement = 1.888540072130e-04 time: 5.890000000000e+00 total movement = 2.001926242449e-04 vel = 2.001926242448e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.165662, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.165662, acc = -15.461646,T = 0.002744, P = 0.001857 on final decel tc id = 127, canon_type = 2, mot type = 1 tc state : vr = 0.034531, vf = 0.034531, maxvel = 9.279944, current_vel = 0.034531, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.034531, acc = 15.461646,T = 0.008652, P = 0.000040 initial results: dx= 0.008612,dt = 0.042159, a_f = 8.052595, v_f = 0.374017 dt = 0.042159, not at end yet tc id = 127, canon_type = 2, mot type = 1 secondary movement = 0.000027 time: 5.891000 primary movement = 1.733923611169e-04 time: 5.891000000000e+00 total movement = 2.001926242448e-04 vel = 2.001926242448e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.150200, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.150200, acc = -15.461646,T = 0.002744, P = 0.002015 on final decel tc id = 127, canon_type = 2, mot type = 1 tc state : vr = 0.049993, vf = 0.049993, maxvel = 9.279944, current_vel = 0.049993, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.049993, acc = 15.461646,T = 0.008652, P = 0.000082 initial results: dx= 0.008570,dt = 0.040422, a_f = 8.016057, v_f = 0.374017 dt = 0.040422, not at end yet tc id = 127, canon_type = 2, mot type = 1 secondary movement = 0.000042 time: 5.892000 primary movement = 1.579307150209e-04 time: 5.892000000000e+00 total movement = 2.001926242448e-04 vel = 2.001926242448e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.134738, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.134738, acc = -15.461646,T = 0.002744, P = 0.002157 on final decel tc id = 127, canon_type = 2, mot type = 1 tc state : vr = 0.065454, vf = 0.065454, maxvel = 9.279944, current_vel = 0.065454, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.065454, acc = 15.461646,T = 0.008652, P = 0.000140 initial results: dx= 0.008512,dt = 0.038737, a_f = 7.965565, v_f = 0.374017 dt = 0.038737, not at end yet tc id = 127, canon_type = 2, mot type = 1 secondary movement = 0.000058 time: 5.893000 primary movement = 1.424690689248e-04 time: 5.893000000000e+00 total movement = 2.001926242448e-04 vel = 2.001926242448e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.119277, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.119277, acc = -15.461646,T = 0.002744, P = 0.002284 on final decel tc id = 127, canon_type = 2, mot type = 1 tc state : vr = 0.080916, vf = 0.080916, maxvel = 9.279944, current_vel = 0.080916, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.080916, acc = 15.461646,T = 0.008652, P = 0.000213 initial results: dx= 0.008439,dt = 0.037099, a_f = 7.900555, v_f = 0.374017 dt = 0.037099, not at end yet tc id = 127, canon_type = 2, mot type = 1 secondary movement = 0.000073 time: 5.894000 primary movement = 1.270074228287e-04 time: 5.894000000000e+00 total movement = 2.001926242448e-04 vel = 2.001926242448e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.103815, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.103815, acc = -15.461646,T = 0.002744, P = 0.002396 on final decel tc id = 127, canon_type = 2, mot type = 1 tc state : vr = 0.096378, vf = 0.096378, maxvel = 9.279944, current_vel = 0.096378, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.096378, acc = 15.461646,T = 0.008652, P = 0.000302 initial results: dx= 0.008350,dt = 0.035502, a_f = 7.820284, v_f = 0.374017 dt = 0.035502, not at end yet tc id = 127, canon_type = 2, mot type = 1 secondary movement = 0.000089 time: 5.895000 primary movement = 1.115457767327e-04 time: 5.895000000000e+00 total movement = 2.001926242448e-04 vel = 2.001926242448e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.088353, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.088353, acc = -15.461646,T = 0.002744, P = 0.002492 on final decel tc id = 127, canon_type = 2, mot type = 1 tc state : vr = 0.111839, vf = 0.111839, maxvel = 9.279944, current_vel = 0.111839, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.111839, acc = 15.461646,T = 0.008652, P = 0.000406 initial results: dx= 0.008246,dt = 0.033944, a_f = 7.723809, v_f = 0.374017 dt = 0.033944, not at end yet tc id = 128, canon_type = 2, mot type = 1 secondary movement = 0.000104 time: 5.896000 primary movement = 9.608413063660e-05 time: 5.896000000000e+00 total movement = 2.001926242448e-04 vel = 2.001926242448e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.072892, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.072892, acc = -15.461646,T = 0.002744, P = 0.002572 on final decel tc id = 127, canon_type = 2, mot type = 1 tc state : vr = 0.127301, vf = 0.127301, maxvel = 9.279944, current_vel = 0.127301, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.127301, acc = 15.461646,T = 0.008652, P = 0.000525 initial results: dx= 0.008126,dt = 0.032420, a_f = 7.609957, v_f = 0.374017 dt = 0.032420, not at end yet tc id = 128, canon_type = 2, mot type = 1 secondary movement = 0.000120 time: 5.897000 primary movement = 8.062248454054e-05 time: 5.897000000000e+00 total movement = 2.001926242448e-04 vel = 2.001926242448e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.057430, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.057430, acc = -15.461646,T = 0.002744, P = 0.002637 on final decel tc id = 127, canon_type = 2, mot type = 1 tc state : vr = 0.142763, vf = 0.142763, maxvel = 9.279944, current_vel = 0.142763, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.142763, acc = 15.461646,T = 0.008652, P = 0.000660 initial results: dx= 0.007991,dt = 0.030928, a_f = 7.477285, v_f = 0.374017 dt = 0.030928, not at end yet tc id = 128, canon_type = 2, mot type = 1 secondary movement = 0.000135 time: 5.898000 primary movement = 6.516083844447e-05 time: 5.898000000000e+00 total movement = 2.001926242448e-04 vel = 2.001926242448e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.041968, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.041968, acc = -15.461646,T = 0.002744, P = 0.002687 on final decel tc id = 127, canon_type = 2, mot type = 1 tc state : vr = 0.158224, vf = 0.158224, maxvel = 9.279944, current_vel = 0.158224, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.158224, acc = 15.461646,T = 0.008652, P = 0.000811 initial results: dx= 0.007841,dt = 0.029464, a_f = 7.324038, v_f = 0.374017 dt = 0.029464, not at end yet tc id = 128, canon_type = 2, mot type = 1 secondary movement = 0.000150 time: 5.899000 primary movement = 4.969919234840e-05 time: 5.899000000000e+00 total movement = 2.001926242448e-04 vel = 2.001926242448e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.026507, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.026507, acc = -15.461646,T = 0.002744, P = 0.002721 on final decel tc id = 127, canon_type = 2, mot type = 1 tc state : vr = 0.173686, vf = 0.173686, maxvel = 9.279944, current_vel = 0.173686, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.173686, acc = 15.461646,T = 0.008652, P = 0.000977 initial results: dx= 0.007675,dt = 0.028026, a_f = 7.148079, v_f = 0.374017 dt = 0.028026, not at end yet tc id = 128, canon_type = 2, mot type = 1 secondary movement = 0.000166 time: 5.900000 primary movement = 3.423754625234e-05 time: 5.900000000000e+00 total movement = 2.001926242449e-04 vel = 2.001926242448e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.011045, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.011045, acc = -15.461646,T = 0.002744, P = 0.002740 on final decel tc id = 127, canon_type = 2, mot type = 1 tc state : vr = 0.189148, vf = 0.189148, maxvel = 9.279944, current_vel = 0.189148, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.189148, acc = 15.461646,T = 0.008652, P = 0.001158 initial results: dx= 0.007494,dt = 0.026612, a_f = 6.946809, v_f = 0.374017 dt = 0.026612, not at end yet tc id = 128, canon_type = 2, mot type = 1 secondary movement = 0.000181 time: 5.901000 primary movement = 1.877590015627e-05 time: 5.901000000000e+00 total movement = 2.001926242448e-04 vel = 2.001926242448e-01 ------------------- Found newvel = -0.004417, assuming segment is done segment 127 at target in runcycle tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.002744, P = 0.002744 tc id = 127, canon_type = 2, mot type = 1 tc state : vr = 0.200193, vf = 0.200193, maxvel = 9.279944, current_vel = 0.200193, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.200193, acc = 11.045077,T = 0.008652, P = 0.001353 initial results: dx= 0.007299,dt = 0.025422, a_f = 6.837503, v_f = 0.374017 dt = 0.025422, not at end yet tc id = 128, canon_type = 2, mot type = 1 secondary movement = 0.000195 time: 5.902000 primary movement = 3.945043353371e-06 time: 5.902000000000e+00 total movement = 1.986151290441e-04 vel = 2.001926242448e-01 Finished tc id 127 ------------------- tc state : vr = 4.119932, vf = 0.374017, maxvel = 9.279944, current_vel = 0.216897, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.216897, acc = 16.703967,T = 0.008652, P = 0.001562 initial results: dx= 0.007090,dt = 0.023998, a_f = 6.547304, v_f = 0.374017 dt = 0.023998, not at end yet tc id = 128, canon_type = 2, mot type = 1 time: 5.903000 primary movement = 2.085446075422e-04 time: 5.903000000000e+00 total movement = 2.085446075422e-04 vel = 2.168965908396e-01 ------------------- tc state : vr = 4.119932, vf = 0.374017, maxvel = 9.279944, current_vel = 0.233601, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.233601, acc = 16.703967,T = 0.008652, P = 0.001787 initial results: dx= 0.006865,dt = 0.022597, a_f = 6.214055, v_f = 0.374017 dt = 0.022597, not at end yet tc id = 128, canon_type = 2, mot type = 1 time: 5.904000 primary movement = 2.252485741370e-04 time: 5.904000000000e+00 total movement = 2.252485741370e-04 vel = 2.336005574344e-01 ------------------- tc state : vr = 4.119932, vf = 0.374017, maxvel = 9.279944, current_vel = 0.250305, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.250305, acc = 16.703967,T = 0.008652, P = 0.002029 initial results: dx= 0.006623,dt = 0.021217, a_f = 5.830842, v_f = 0.374017 dt = 0.021217, not at end yet tc id = 128, canon_type = 2, mot type = 1 time: 5.905000 primary movement = 2.419525407318e-04 time: 5.905000000000e+00 total movement = 2.419525407318e-04 vel = 2.503045240292e-01 ------------------- tc state : vr = 4.119932, vf = 0.374017, maxvel = 9.279944, current_vel = 0.267008, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.267008, acc = 16.703967,T = 0.008652, P = 0.002287 initial results: dx= 0.006364,dt = 0.019857, a_f = 5.388949, v_f = 0.374017 dt = 0.019857, not at end yet tc id = 128, canon_type = 2, mot type = 1 time: 5.906000 primary movement = 2.586565073266e-04 time: 5.906000000000e+00 total movement = 2.586565073266e-04 vel = 2.670084906240e-01 ------------------- tc state : vr = 4.119932, vf = 0.374017, maxvel = 9.279944, current_vel = 0.283712, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.283712, acc = 16.703967,T = 0.008652, P = 0.002563 initial results: dx= 0.006089,dt = 0.018515, a_f = 4.877262, v_f = 0.374017 dt = 0.018515, not at end yet tc id = 128, canon_type = 2, mot type = 1 time: 5.907000 primary movement = 2.753604739214e-04 time: 5.907000000000e+00 total movement = 2.753604739214e-04 vel = 2.837124572188e-01 ------------------- tc state : vr = 4.119932, vf = 0.374017, maxvel = 9.279944, current_vel = 0.300416, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.300416, acc = 16.703967,T = 0.008652, P = 0.002855 initial results: dx= 0.005797,dt = 0.017191, a_f = 4.281411, v_f = 0.374017 dt = 0.017191, not at end yet tc id = 128, canon_type = 2, mot type = 1 time: 5.908000 primary movement = 2.920644405162e-04 time: 5.908000000000e+00 total movement = 2.920644405162e-04 vel = 3.004164238136e-01 ------------------- tc state : vr = 4.119932, vf = 0.374017, maxvel = 9.279944, current_vel = 0.317120, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.317120, acc = 16.703967,T = 0.008652, P = 0.003164 initial results: dx= 0.005488,dt = 0.015882, a_f = 3.582520, v_f = 0.374017 dt = 0.015882, not at end yet tc id = 128, canon_type = 2, mot type = 1 time: 5.909000 primary movement = 3.087684071110e-04 time: 5.909000000000e+00 total movement = 3.087684071110e-04 vel = 3.171203904084e-01 ------------------- tc state : vr = 4.119932, vf = 0.374017, maxvel = 9.279944, current_vel = 0.333824, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.333824, acc = 16.703967,T = 0.008652, P = 0.003489 initial results: dx= 0.005163,dt = 0.014587, a_f = 2.755318, v_f = 0.374017 dt = 0.014587, not at end yet tc id = 128, canon_type = 2, mot type = 1 time: 5.910000 primary movement = 3.254723737058e-04 time: 5.910000000000e+00 total movement = 3.254723737058e-04 vel = 3.338243570032e-01 ------------------- tc state : vr = 4.119932, vf = 0.374017, maxvel = 9.279944, current_vel = 0.350528, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.350528, acc = 16.703967,T = 0.008652, P = 0.003831 initial results: dx= 0.004821,dt = 0.013307, a_f = 1.765215, v_f = 0.374017 dt = 0.013307, not at end yet tc id = 128, canon_type = 2, mot type = 1 time: 5.911000 primary movement = 3.421763403006e-04 time: 5.911000000000e+00 total movement = 3.421763403006e-04 vel = 3.505283235980e-01 ------------------- tc state : vr = 4.119932, vf = 0.374017, maxvel = 9.279944, current_vel = 0.367232, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.367232, acc = 16.703967,T = 0.008652, P = 0.004190 initial results: dx= 0.004462,dt = 0.012038, a_f = 0.563612, v_f = 0.374017 dt = 0.012038, not at end yet tc id = 128, canon_type = 2, mot type = 1 time: 5.912000 primary movement = 3.588803068954e-04 time: 5.912000000000e+00 total movement = 3.588803068954e-04 vel = 3.672322901928e-01 ------------------- tc state : vr = 4.119932, vf = 0.374017, maxvel = 9.279944, current_vel = 0.383936, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.383936, acc = 16.703967,T = 0.008652, P = 0.004566 initial results: dx= 0.004086,dt = 0.010782, a_f = -0.919954, v_f = 0.374017 dt = 0.010782, not at end yet tc id = 128, canon_type = 2, mot type = 1 time: 5.913000 primary movement = 3.755842734902e-04 time: 5.913000000000e+00 total movement = 3.755842734902e-04 vel = 3.839362567876e-01 ------------------- tc state : vr = 4.119932, vf = 0.374017, maxvel = 9.279944, current_vel = 0.400640, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.400640, acc = 16.703967,T = 0.008652, P = 0.004958 initial results: dx= 0.003694,dt = 0.009537, a_f = -2.791619, v_f = 0.374017 dt = 0.009537, not at end yet tc id = 128, canon_type = 2, mot type = 1 time: 5.914000 primary movement = 3.922882400850e-04 time: 5.914000000000e+00 total movement = 3.922882400850e-04 vel = 4.006402233824e-01 ------------------- tc state : vr = 4.119932, vf = 0.374017, maxvel = 9.279944, current_vel = 0.417344, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.417344, acc = 16.703967,T = 0.008652, P = 0.005367 initial results: dx= 0.003285,dt = 0.008302, a_f = -5.218979, v_f = 0.374017 dt = 0.008302, not at end yet tc id = 128, canon_type = 2, mot type = 1 time: 5.915000 primary movement = 4.089922066798e-04 time: 5.915000000000e+00 total movement = 4.089922066798e-04 vel = 4.173441899772e-01 ------------------- tc state : vr = 4.119932, vf = 0.374017, maxvel = 9.279944, current_vel = 0.434048, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.434048, acc = 16.703967,T = 0.008652, P = 0.005793 initial results: dx= 0.002859,dt = 0.007077, a_f = -8.483048, v_f = 0.374017 dt = 0.007077, not at end yet tc id = 128, canon_type = 2, mot type = 1 time: 5.916000 primary movement = 4.256961732746e-04 time: 5.916000000000e+00 total movement = 4.256961732746e-04 vel = 4.340481565720e-01 ------------------- tc state : vr = 4.119932, vf = 0.374017, maxvel = 9.279944, current_vel = 0.450752, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.450752, acc = 16.703967,T = 0.008652, P = 0.006235 initial results: dx= 0.002417,dt = 0.005860, a_f = -13.093647, v_f = 0.374017 dt = 0.005860, not at end yet tc id = 128, canon_type = 2, mot type = 1 time: 5.917000 primary movement = 4.424001398694e-04 time: 5.917000000000e+00 total movement = 4.424001398694e-04 vel = 4.507521231668e-01 ------------------- tc state : vr = 4.119932, vf = 0.374017, maxvel = 9.279944, current_vel = 0.453350, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.453350, acc = 2.597613,T = 0.008652, P = 0.006687 initial results: dx= 0.001965,dt = 0.004749, a_f = -16.703967, v_f = 0.374017 dt = 0.004749, not at end yet tc id = 128, canon_type = 2, mot type = 1 time: 5.918000 primary movement = 4.520509294713e-04 time: 5.918000000000e+00 total movement = 4.520509294713e-04 vel = 4.533497357758e-01 ------------------- tc state : vr = 4.119932, vf = 0.374017, maxvel = 9.279944, current_vel = 0.436646, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.436646, acc = -16.703967,T = 0.008652, P = 0.007132 on final decel initial results: dx= 0.001520,dt = 0.003749, a_f = -16.703967, v_f = 0.374017 dt = 0.003749, not at end yet tc id = 128, canon_type = 2, mot type = 1 time: 5.919000 primary movement = 4.449977524784e-04 time: 5.919000000000e+00 total movement = 4.449977524784e-04 vel = 4.366457691810e-01 ------------------- tc state : vr = 4.119932, vf = 0.374017, maxvel = 9.279944, current_vel = 0.419942, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.419942, acc = -16.703967,T = 0.008652, P = 0.007560 on final decel initial results: dx= 0.001091,dt = 0.002749, a_f = -16.703967, v_f = 0.374017 dt = 0.002749, not at end yet tc id = 128, canon_type = 2, mot type = 1 time: 5.920000 primary movement = 4.282937858836e-04 time: 5.920000000000e+00 total movement = 4.282937858836e-04 vel = 4.199418025862e-01 ------------------- tc state : vr = 4.119932, vf = 0.374017, maxvel = 9.279944, current_vel = 0.403238, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.403238, acc = -16.703967,T = 0.008652, P = 0.007972 on final decel initial results: dx= 0.000680,dt = 0.001749, a_f = -16.703967, v_f = 0.374017 recalculating with a_f = -16.703967, a = -16.703967 revised dt = 0.001749 dt = 0.001749, not at end yet tc id = 128, canon_type = 2, mot type = 1 time: 5.921000 primary movement = 4.115898192889e-04 time: 5.921000000000e+00 total movement = 4.115898192889e-04 vel = 4.032378359915e-01 ------------------- tc state : vr = 4.119932, vf = 0.374017, maxvel = 9.279944, current_vel = 0.386534, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.386534, acc = -16.703967,T = 0.008652, P = 0.008367 on final decel initial results: dx= 0.000285,dt = 0.000749, a_f = -16.703967, v_f = 0.374017 recalculating with a_f = -16.703967, a = -16.703967 revised dt = 0.000749 actual v_f = 0.374017, a = -16.703967 split time is 0.000749319 tc id = 128, canon_type = 2, mot type = 1 time: 5.922000 primary movement = 3.948858526941e-04 time: 5.922000000000e+00 total movement = 3.948858526941e-04 vel = 3.865338693967e-01 ------------------- tc id 128 done Finishing split-cycle on id 129 tc state : vr = 0.374017, vf = 0.374017, maxvel = 0.374017, current_vel = 0.374017, fs = 1.000000, tc = 0.000251, term = 3 tc result: v = 0.374017, acc = 0.000000,T = 0.004655, P = 0.000094 initial results: dx= 0.004561,dt = 0.012195, a_f = 0.000000, v_f = 0.374017 dt = 0.012195, not at end yet secondary movement = 0.000094 tc id = 129, canon_type = 3, mot type = 2 time: 5.923000 primary movement = 2.849476796898e-04 time: 5.923000000000e+00 total movement = 3.787055485347e-04 vel = 3.740172711856e-01 Finished tc id 128 ------------------- Activate tc id = 129 target_vel = 0.374017 final_vel = 0.374017 length = 0.004655 tc state : vr = 0.374017, vf = 0.374017, maxvel = 0.374017, current_vel = 0.374017, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.374017, acc = 0.000000,T = 0.004655, P = 0.000468 initial results: dx= 0.004187,dt = 0.011195, a_f = 0.000000, v_f = 0.374017 dt = 0.011195, not at end yet tc id = 129, canon_type = 3, mot type = 2 time: 5.924000 primary movement = 3.739420786589e-04 time: 5.924000000000e+00 total movement = 3.739420786589e-04 vel = 3.740172711856e-01 ------------------- tc state : vr = 0.374017, vf = 0.374017, maxvel = 0.374017, current_vel = 0.374017, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.374017, acc = 0.000000,T = 0.004655, P = 0.000842 initial results: dx= 0.003813,dt = 0.010195, a_f = 0.000000, v_f = 0.374017 dt = 0.010195, not at end yet tc id = 129, canon_type = 3, mot type = 2 time: 5.925000 primary movement = 3.739420786589e-04 time: 5.925000000000e+00 total movement = 3.739420786589e-04 vel = 3.740172711856e-01 ------------------- tc state : vr = 0.374017, vf = 0.374017, maxvel = 0.374017, current_vel = 0.374017, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.374017, acc = 0.000000,T = 0.004655, P = 0.001216 initial results: dx= 0.003439,dt = 0.009195, a_f = 0.000000, v_f = 0.374017 dt = 0.009195, not at end yet tc id = 129, canon_type = 3, mot type = 2 time: 5.926000 primary movement = 3.739420786589e-04 time: 5.926000000000e+00 total movement = 3.739420786589e-04 vel = 3.740172711856e-01 ------------------- tc state : vr = 0.374017, vf = 0.374017, maxvel = 0.374017, current_vel = 0.374017, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.374017, acc = 0.000000,T = 0.004655, P = 0.001590 initial results: dx= 0.003065,dt = 0.008195, a_f = 0.000000, v_f = 0.374017 dt = 0.008195, not at end yet tc id = 129, canon_type = 3, mot type = 2 time: 5.927000 primary movement = 3.739420786589e-04 time: 5.927000000000e+00 total movement = 3.739420786589e-04 vel = 3.740172711856e-01 ------------------- tc state : vr = 0.374017, vf = 0.374017, maxvel = 0.374017, current_vel = 0.374017, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.374017, acc = 0.000000,T = 0.004655, P = 0.001964 initial results: dx= 0.002691,dt = 0.007195, a_f = 0.000000, v_f = 0.374017 dt = 0.007195, not at end yet tc id = 129, canon_type = 3, mot type = 2 time: 5.928000 primary movement = 3.739420786589e-04 time: 5.928000000000e+00 total movement = 3.739420786589e-04 vel = 3.740172711856e-01 ------------------- tc state : vr = 0.374017, vf = 0.374017, maxvel = 0.374017, current_vel = 0.374017, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.374017, acc = 0.000000,T = 0.004655, P = 0.002338 initial results: dx= 0.002317,dt = 0.006195, a_f = 0.000000, v_f = 0.374017 dt = 0.006195, not at end yet tc id = 129, canon_type = 3, mot type = 2 time: 5.929000 primary movement = 3.739420786589e-04 time: 5.929000000000e+00 total movement = 3.739420786589e-04 vel = 3.740172711856e-01 ------------------- tc state : vr = 0.374017, vf = 0.374017, maxvel = 0.374017, current_vel = 0.374017, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.374017, acc = 0.000000,T = 0.004655, P = 0.002712 initial results: dx= 0.001943,dt = 0.005195, a_f = 0.000000, v_f = 0.374017 dt = 0.005195, not at end yet tc id = 129, canon_type = 3, mot type = 2 time: 5.930000 primary movement = 3.739420786589e-04 time: 5.930000000000e+00 total movement = 3.739420786589e-04 vel = 3.740172711856e-01 ------------------- tc state : vr = 0.374017, vf = 0.374017, maxvel = 0.374017, current_vel = 0.374017, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.374017, acc = 0.000000,T = 0.004655, P = 0.003086 initial results: dx= 0.001569,dt = 0.004195, a_f = 0.000000, v_f = 0.374017 dt = 0.004195, not at end yet tc id = 129, canon_type = 3, mot type = 2 time: 5.931000 primary movement = 3.739420786589e-04 time: 5.931000000000e+00 total movement = 3.739420786589e-04 vel = 3.740172711856e-01 ------------------- tc state : vr = 0.374017, vf = 0.374017, maxvel = 0.374017, current_vel = 0.374017, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.374017, acc = 0.000000,T = 0.004655, P = 0.003460 initial results: dx= 0.001195,dt = 0.003195, a_f = 0.000000, v_f = 0.374017 dt = 0.003195, not at end yet tc id = 129, canon_type = 3, mot type = 2 time: 5.932000 primary movement = 3.739420786589e-04 time: 5.932000000000e+00 total movement = 3.739420786589e-04 vel = 3.740172711856e-01 ------------------- tc state : vr = 0.374017, vf = 0.374017, maxvel = 0.374017, current_vel = 0.374017, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.374017, acc = 0.000000,T = 0.004655, P = 0.003834 initial results: dx= 0.000821,dt = 0.002195, a_f = 0.000000, v_f = 0.374017 dt = 0.002195, not at end yet tc id = 129, canon_type = 3, mot type = 2 time: 5.933000 primary movement = 3.739420786589e-04 time: 5.933000000000e+00 total movement = 3.739420786589e-04 vel = 3.740172711856e-01 ------------------- tc state : vr = 0.374017, vf = 0.374017, maxvel = 0.374017, current_vel = 0.374017, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.374017, acc = 0.000000,T = 0.004655, P = 0.004208 initial results: dx= 0.000447,dt = 0.001195, a_f = 0.000000, v_f = 0.374017 dt = 0.001195, not at end yet tc id = 129, canon_type = 3, mot type = 2 time: 5.934000 primary movement = 3.739420786589e-04 time: 5.934000000000e+00 total movement = 3.739420786589e-04 vel = 3.740172711856e-01 ------------------- tc state : vr = 0.374017, vf = 0.374017, maxvel = 0.374017, current_vel = 0.374017, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.374017, acc = 0.000000,T = 0.004655, P = 0.004582 initial results: dx= 0.000073,dt = 0.000195, a_f = 0.000000, v_f = 0.374017 actual v_f = 0.374017, a = 0.000000 split time is 0.00019494 tc id = 129, canon_type = 3, mot type = 2 time: 5.935000 primary movement = 3.739420786589e-04 time: 5.935000000000e+00 total movement = 3.739420786589e-04 vel = 3.740172711856e-01 ------------------- tc id 129 done Finishing split-cycle on id 129 tc state : vr = 0.444470, vf = 0.444470, maxvel = 9.082065, current_vel = 0.400339, fs = 1.000000, tc = 0.000805, term = 3 tc result: v = 0.400339, acc = 32.695565,T = 0.001007, P = 0.000312 initial results: dx= 0.000695,dt = 0.001646, a_f = 26.809013, v_f = 0.444470 dt = 0.001646, not at end yet secondary movement = 0.000312 tc id = 129, canon_type = 2, mot type = 1 time: 5.936000 primary movement = 7.291026963981e-05 time: 5.936000000000e+00 total movement = 3.846120723294e-04 vel = 4.003391718602e-01 Finished tc id 129 ------------------- Activate tc id = 129 target_vel = 0.444470 final_vel = 0.444470 length = 0.001007 tc state : vr = 0.444470, vf = 0.444470, maxvel = 9.082065, current_vel = 0.433035, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.433035, acc = 32.695565,T = 0.001007, P = 0.000728 initial results: dx= 0.000279,dt = 0.000635, a_f = 18.006358, v_f = 0.444470 actual v_f = 0.444470, a = 18.006358 split time is 0.000635093 tc id = 129, canon_type = 2, mot type = 1 time: 5.937000 primary movement = 4.166869545844e-04 time: 5.937000000000e+00 total movement = 4.166869545844e-04 vel = 4.330347373087e-01 ------------------- tc id 129 done Finishing split-cycle on id 130 tc state : vr = 0.479542, vf = 0.479542, maxvel = 0.479542, current_vel = 0.449944, fs = 1.000000, tc = 0.000365, term = 3 tc result: v = 0.449944, acc = 15.000000,T = 0.005871, P = 0.000163 initial results: dx= 0.005708,dt = 0.012281, a_f = 2.410006, v_f = 0.479542 dt = 0.012281, not at end yet secondary movement = 0.000163 tc id = 130, canon_type = 3, mot type = 2 time: 5.938000 primary movement = 2.786488613654e-04 time: 5.938000000000e+00 total movement = 4.418354465669e-04 vel = 4.499440555351e-01 Finished tc id 129 ------------------- Activate tc id = 130 target_vel = 0.479542 final_vel = 0.479542 length = 0.005871 tc state : vr = 0.479542, vf = 0.479542, maxvel = 0.479542, current_vel = 0.464944, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.464944, acc = 15.000000,T = 0.005871, P = 0.000621 initial results: dx= 0.005250,dt = 0.011117, a_f = 1.313041, v_f = 0.479542 dt = 0.011117, not at end yet tc id = 130, canon_type = 3, mot type = 2 time: 5.939000 primary movement = 4.573931474926e-04 time: 5.939000000000e+00 total movement = 4.573931474926e-04 vel = 4.649440555351e-01 ------------------- tc state : vr = 0.479542, vf = 0.479542, maxvel = 0.479542, current_vel = 0.479542, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.479542, acc = 14.597668,T = 0.005871, P = 0.001093 initial results: dx= 0.004778,dt = 0.009963, a_f = 0.000000, v_f = 0.479542 dt = 0.009963, not at end yet tc id = 130, canon_type = 3, mot type = 2 time: 5.940000 primary movement = 4.721868790660e-04 time: 5.940000000000e+00 total movement = 4.721868790660e-04 vel = 4.795417231616e-01 ------------------- tc state : vr = 0.479542, vf = 0.479542, maxvel = 0.479542, current_vel = 0.479542, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.479542, acc = 0.000000,T = 0.005871, P = 0.001572 initial results: dx= 0.004298,dt = 0.008963, a_f = 0.000000, v_f = 0.479542 dt = 0.008963, not at end yet tc id = 130, canon_type = 3, mot type = 2 time: 5.941000 primary movement = 4.794830755681e-04 time: 5.941000000000e+00 total movement = 4.794830755681e-04 vel = 4.795417231616e-01 ------------------- tc state : vr = 0.479542, vf = 0.479542, maxvel = 0.479542, current_vel = 0.479542, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.479542, acc = 0.000000,T = 0.005871, P = 0.002052 initial results: dx= 0.003819,dt = 0.007963, a_f = 0.000000, v_f = 0.479542 dt = 0.007963, not at end yet tc id = 130, canon_type = 3, mot type = 2 time: 5.942000 primary movement = 4.794830755681e-04 time: 5.942000000000e+00 total movement = 4.794830755681e-04 vel = 4.795417231616e-01 ------------------- tc state : vr = 0.479542, vf = 0.479542, maxvel = 0.479542, current_vel = 0.479542, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.479542, acc = 0.000000,T = 0.005871, P = 0.002532 initial results: dx= 0.003339,dt = 0.006963, a_f = 0.000000, v_f = 0.479542 dt = 0.006963, not at end yet tc id = 130, canon_type = 3, mot type = 2 time: 5.943000 primary movement = 4.794830755681e-04 time: 5.943000000000e+00 total movement = 4.794830755681e-04 vel = 4.795417231616e-01 ------------------- tc state : vr = 0.479542, vf = 0.479542, maxvel = 0.479542, current_vel = 0.479542, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.479542, acc = 0.000000,T = 0.005871, P = 0.003011 initial results: dx= 0.002860,dt = 0.005963, a_f = 0.000000, v_f = 0.479542 dt = 0.005963, not at end yet tc id = 130, canon_type = 3, mot type = 2 time: 5.944000 primary movement = 4.794830755681e-04 time: 5.944000000000e+00 total movement = 4.794830755681e-04 vel = 4.795417231616e-01 ------------------- tc state : vr = 0.479542, vf = 0.479542, maxvel = 0.479542, current_vel = 0.479542, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.479542, acc = 0.000000,T = 0.005871, P = 0.003491 initial results: dx= 0.002380,dt = 0.004963, a_f = 0.000000, v_f = 0.479542 dt = 0.004963, not at end yet tc id = 130, canon_type = 3, mot type = 2 time: 5.945000 primary movement = 4.794830755681e-04 time: 5.945000000000e+00 total movement = 4.794830755681e-04 vel = 4.795417231616e-01 ------------------- tc state : vr = 0.479542, vf = 0.479542, maxvel = 0.479542, current_vel = 0.479542, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.479542, acc = 0.000000,T = 0.005871, P = 0.003970 initial results: dx= 0.001901,dt = 0.003963, a_f = 0.000000, v_f = 0.479542 dt = 0.003963, not at end yet tc id = 130, canon_type = 3, mot type = 2 time: 5.946000 primary movement = 4.794830755681e-04 time: 5.946000000000e+00 total movement = 4.794830755681e-04 vel = 4.795417231616e-01 ------------------- tc state : vr = 0.479542, vf = 0.479542, maxvel = 0.479542, current_vel = 0.479542, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.479542, acc = 0.000000,T = 0.005871, P = 0.004450 initial results: dx= 0.001421,dt = 0.002963, a_f = 0.000000, v_f = 0.479542 dt = 0.002963, not at end yet tc id = 130, canon_type = 3, mot type = 2 time: 5.947000 primary movement = 4.794830755681e-04 time: 5.947000000000e+00 total movement = 4.794830755681e-04 vel = 4.795417231616e-01 ------------------- tc state : vr = 0.479542, vf = 0.479542, maxvel = 0.479542, current_vel = 0.479542, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.479542, acc = 0.000000,T = 0.005871, P = 0.004929 initial results: dx= 0.000942,dt = 0.001963, a_f = 0.000000, v_f = 0.479542 dt = 0.001963, not at end yet tc id = 130, canon_type = 3, mot type = 2 time: 5.948000 primary movement = 4.794830755681e-04 time: 5.948000000000e+00 total movement = 4.794830755681e-04 vel = 4.795417231616e-01 ------------------- tc state : vr = 0.479542, vf = 0.479542, maxvel = 0.479542, current_vel = 0.479542, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.479542, acc = 0.000000,T = 0.005871, P = 0.005409 initial results: dx= 0.000462,dt = 0.000963, a_f = 0.000000, v_f = 0.479542 actual v_f = 0.479542, a = 0.000000 split time is 0.00096346 tc id = 130, canon_type = 3, mot type = 2 time: 5.949000 primary movement = 4.794830755681e-04 time: 5.949000000000e+00 total movement = 4.794830755681e-04 vel = 4.795417231616e-01 ------------------- tc id 130 done Finishing split-cycle on id 130 tc state : vr = 0.479542, vf = 0.456247, maxvel = 8.610360, current_vel = 0.479542, fs = 1.000000, tc = 0.000037, term = 3 tc result: v = 0.479542, acc = 0.000000,T = 0.003358, P = 0.000018 initial results: dx= 0.003340,dt = 0.007139, a_f = -3.263063, v_f = 0.456247 dt = 0.007139, not at end yet secondary movement = 0.000018 tc id = 130, canon_type = 2, mot type = 1 time: 5.950000 primary movement = 4.619669525155e-04 time: 5.950000000000e+00 total movement = 4.794892722807e-04 vel = 4.795417231616e-01 Finished tc id 130 ------------------- Activate tc id = 130 target_vel = 0.479542 final_vel = 0.456247 length = 0.003358 tc state : vr = 0.479542, vf = 0.456247, maxvel = 8.610360, current_vel = 0.479542, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.479542, acc = 0.000000,T = 0.003358, P = 0.000497 initial results: dx= 0.002861,dt = 0.006114, a_f = -3.810060, v_f = 0.456247 dt = 0.006114, not at end yet tc id = 130, canon_type = 2, mot type = 1 time: 5.951000 primary movement = 4.795417231616e-04 time: 5.951000000000e+00 total movement = 4.795417231616e-04 vel = 4.795417231616e-01 ------------------- tc state : vr = 0.479542, vf = 0.456247, maxvel = 8.610360, current_vel = 0.479542, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.479542, acc = 0.000000,T = 0.003358, P = 0.000977 initial results: dx= 0.002381,dt = 0.005089, a_f = -4.577381, v_f = 0.456247 dt = 0.005089, not at end yet tc id = 130, canon_type = 2, mot type = 1 time: 5.952000 primary movement = 4.795417231616e-04 time: 5.952000000000e+00 total movement = 4.795417231616e-04 vel = 4.795417231616e-01 ------------------- tc state : vr = 0.479542, vf = 0.456247, maxvel = 8.610360, current_vel = 0.479542, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.479542, acc = 0.000000,T = 0.003358, P = 0.001456 initial results: dx= 0.001902,dt = 0.004064, a_f = -5.731709, v_f = 0.456247 dt = 0.004064, not at end yet tc id = 130, canon_type = 2, mot type = 1 time: 5.953000 primary movement = 4.795417231616e-04 time: 5.953000000000e+00 total movement = 4.795417231616e-04 vel = 4.795417231616e-01 ------------------- tc state : vr = 0.479542, vf = 0.456247, maxvel = 8.610360, current_vel = 0.479542, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.479542, acc = 0.000000,T = 0.003358, P = 0.001936 initial results: dx= 0.001422,dt = 0.003039, a_f = -7.664566, v_f = 0.456247 dt = 0.003039, not at end yet tc id = 130, canon_type = 2, mot type = 1 time: 5.954000 primary movement = 4.795417231616e-04 time: 5.954000000000e+00 total movement = 4.795417231616e-04 vel = 4.795417231616e-01 ------------------- tc state : vr = 0.479542, vf = 0.456247, maxvel = 8.610360, current_vel = 0.479542, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.479542, acc = 0.000000,T = 0.003358, P = 0.002415 initial results: dx= 0.000942,dt = 0.002014, a_f = -11.564300, v_f = 0.456247 dt = 0.002014, not at end yet tc id = 130, canon_type = 2, mot type = 1 time: 5.955000 primary movement = 4.795417231616e-04 time: 5.955000000000e+00 total movement = 4.795417231616e-04 vel = 4.795417231616e-01 ------------------- tc state : vr = 0.479542, vf = 0.456247, maxvel = 8.610360, current_vel = 0.479542, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.479542, acc = 0.000000,T = 0.003358, P = 0.002895 initial results: dx= 0.000463,dt = 0.000989, a_f = -23.542971, v_f = 0.456247 actual v_f = 0.456247, a = -23.542971 split time is 0.000989439 tc id = 130, canon_type = 2, mot type = 1 time: 5.956000 primary movement = 4.795417231616e-04 time: 5.956000000000e+00 total movement = 4.795417231616e-04 vel = 4.795417231616e-01 ------------------- tc id 130 done Finishing split-cycle on id 131 tc state : vr = 0.456247, vf = 0.000000, maxvel = 0.609150, current_vel = 0.456247, fs = 1.000000, tc = 0.000011, term = 3 tc result: v = 0.456247, acc = 0.000000,T = 0.007664, P = 0.000005 initial results: dx= 0.007659,dt = 0.033576, a_f = -13.588658, v_f = 0.000000 dt = 0.033576, not at end yet secondary movement = 0.000005 tc id = 131, canon_type = 3, mot type = 2 time: 5.957000 primary movement = 4.629532410207e-04 time: 5.957000000000e+00 total movement = 4.677715505399e-04 vel = 4.562473834065e-01 Finished tc id 130 ------------------- Activate tc id = 131 target_vel = 0.456247 final_vel = 0.000000 length = 0.007664 tc state : vr = 0.456247, vf = 0.000000, maxvel = 0.609150, current_vel = 0.456247, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.456247, acc = 0.000000,T = 0.007664, P = 0.000461 initial results: dx= 0.007203,dt = 0.031576, a_f = -14.449364, v_f = 0.000000 dt = 0.031576, not at end yet tc id = 131, canon_type = 3, mot type = 2 time: 5.958000 primary movement = 4.562279838278e-04 time: 5.958000000000e+00 total movement = 4.562279838278e-04 vel = 4.562473834065e-01 ------------------- tc state : vr = 0.456247, vf = 0.000000, maxvel = 0.609150, current_vel = 0.450001, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.450001, acc = -6.246745,T = 0.007664, P = 0.000914 on final decel initial results: dx= 0.006750,dt = 0.030000, a_f = -15.000000, v_f = 0.000000 dt = 0.030000, not at end yet tc id = 131, canon_type = 3, mot type = 2 time: 5.959000 primary movement = 4.531050068480e-04 time: 5.959000000000e+00 total movement = 4.531050068480e-04 vel = 4.500006380636e-01 ------------------- tc state : vr = 0.456247, vf = 0.000000, maxvel = 0.609150, current_vel = 0.435001, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.435001, acc = -15.000000,T = 0.007664, P = 0.001357 on final decel initial results: dx= 0.006308,dt = 0.029000, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.029000 dt = 0.029000, not at end yet tc id = 131, canon_type = 3, mot type = 2 time: 5.960000 primary movement = 4.424829396976e-04 time: 5.960000000000e+00 total movement = 4.424829396976e-04 vel = 4.350006380636e-01 ------------------- tc state : vr = 0.456247, vf = 0.000000, maxvel = 0.609150, current_vel = 0.420001, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.420001, acc = -15.000000,T = 0.007664, P = 0.001784 on final decel initial results: dx= 0.005880,dt = 0.028000, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.028000 dt = 0.028000, not at end yet tc id = 131, canon_type = 3, mot type = 2 time: 5.961000 primary movement = 4.274846791944e-04 time: 5.961000000000e+00 total movement = 4.274846791944e-04 vel = 4.200006380636e-01 ------------------- tc state : vr = 0.456247, vf = 0.000000, maxvel = 0.609150, current_vel = 0.405001, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.405001, acc = -15.000000,T = 0.007664, P = 0.002197 on final decel initial results: dx= 0.005468,dt = 0.027000, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.027000 dt = 0.027000, not at end yet tc id = 131, canon_type = 3, mot type = 2 time: 5.962000 primary movement = 4.124863008081e-04 time: 5.962000000000e+00 total movement = 4.124863008081e-04 vel = 4.050006380636e-01 ------------------- tc state : vr = 0.456247, vf = 0.000000, maxvel = 0.609150, current_vel = 0.390001, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.390001, acc = -15.000000,T = 0.007664, P = 0.002594 on final decel initial results: dx= 0.005070,dt = 0.026000, a_f = -15.000000, v_f = 0.000000 dt = 0.026000, not at end yet tc id = 131, canon_type = 3, mot type = 2 time: 5.963000 primary movement = 3.974878086749e-04 time: 5.963000000000e+00 total movement = 3.974878086749e-04 vel = 3.900006380636e-01 ------------------- tc state : vr = 0.456247, vf = 0.000000, maxvel = 0.609150, current_vel = 0.375001, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.375001, acc = -15.000000,T = 0.007664, P = 0.002977 on final decel initial results: dx= 0.004688,dt = 0.025000, a_f = -15.000000, v_f = 0.000000 dt = 0.025000, not at end yet tc id = 131, canon_type = 3, mot type = 2 time: 5.964000 primary movement = 3.824892069306e-04 time: 5.964000000000e+00 total movement = 3.824892069306e-04 vel = 3.750006380636e-01 ------------------- tc state : vr = 0.456247, vf = 0.000000, maxvel = 0.609150, current_vel = 0.360001, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.360001, acc = -15.000000,T = 0.007664, P = 0.003344 on final decel initial results: dx= 0.004320,dt = 0.024000, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.024000 dt = 0.024000, not at end yet tc id = 131, canon_type = 3, mot type = 2 time: 5.965000 primary movement = 3.674904997113e-04 time: 5.965000000000e+00 total movement = 3.674904997113e-04 vel = 3.600006380636e-01 ------------------- tc state : vr = 0.456247, vf = 0.000000, maxvel = 0.609150, current_vel = 0.345001, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.345001, acc = -15.000000,T = 0.007664, P = 0.003697 on final decel initial results: dx= 0.003968,dt = 0.023000, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.023000 dt = 0.023000, not at end yet tc id = 131, canon_type = 3, mot type = 2 time: 5.966000 primary movement = 3.524916911531e-04 time: 5.966000000000e+00 total movement = 3.524916911531e-04 vel = 3.450006380636e-01 ------------------- tc state : vr = 0.456247, vf = 0.000000, maxvel = 0.609150, current_vel = 0.330001, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.330001, acc = -15.000000,T = 0.007664, P = 0.004034 on final decel initial results: dx= 0.003630,dt = 0.022000, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.022000 dt = 0.022000, not at end yet tc id = 131, canon_type = 3, mot type = 2 time: 5.967000 primary movement = 3.374927853919e-04 time: 5.967000000000e+00 total movement = 3.374927853919e-04 vel = 3.300006380636e-01 ------------------- tc state : vr = 0.456247, vf = 0.000000, maxvel = 0.609150, current_vel = 0.315001, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.315001, acc = -15.000000,T = 0.007664, P = 0.004357 on final decel initial results: dx= 0.003308,dt = 0.021000, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.021000 dt = 0.021000, not at end yet tc id = 131, canon_type = 3, mot type = 2 time: 5.968000 primary movement = 3.224937865639e-04 time: 5.968000000000e+00 total movement = 3.224937865639e-04 vel = 3.150006380636e-01 ------------------- tc state : vr = 0.456247, vf = 0.000000, maxvel = 0.609150, current_vel = 0.300001, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.300001, acc = -15.000000,T = 0.007664, P = 0.004664 on final decel initial results: dx= 0.003000,dt = 0.020000, a_f = -15.000000, v_f = 0.000000 dt = 0.020000, not at end yet tc id = 131, canon_type = 3, mot type = 2 time: 5.969000 primary movement = 3.074946988051e-04 time: 5.969000000000e+00 total movement = 3.074946988051e-04 vel = 3.000006380636e-01 ------------------- tc state : vr = 0.456247, vf = 0.000000, maxvel = 0.609150, current_vel = 0.285001, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.285001, acc = -15.000000,T = 0.007664, P = 0.004957 on final decel initial results: dx= 0.002708,dt = 0.019000, a_f = -15.000000, v_f = 0.000000 dt = 0.019000, not at end yet tc id = 131, canon_type = 3, mot type = 2 time: 5.970000 primary movement = 2.924955262518e-04 time: 5.970000000000e+00 total movement = 2.924955262518e-04 vel = 2.850006380636e-01 ------------------- tc state : vr = 0.456247, vf = 0.000000, maxvel = 0.609150, current_vel = 0.270001, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.270001, acc = -15.000000,T = 0.007664, P = 0.005234 on final decel initial results: dx= 0.002430,dt = 0.018000, a_f = -15.000000, v_f = 0.000000 dt = 0.018000, not at end yet tc id = 131, canon_type = 3, mot type = 2 time: 5.971000 primary movement = 2.774962730401e-04 time: 5.971000000000e+00 total movement = 2.774962730401e-04 vel = 2.700006380636e-01 ------------------- tc state : vr = 0.456247, vf = 0.000000, maxvel = 0.609150, current_vel = 0.255001, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.255001, acc = -15.000000,T = 0.007664, P = 0.005497 on final decel initial results: dx= 0.002168,dt = 0.017000, a_f = -15.000000, v_f = 0.000000 dt = 0.017000, not at end yet tc id = 131, canon_type = 3, mot type = 2 time: 5.972000 primary movement = 2.624969433061e-04 time: 5.972000000000e+00 total movement = 2.624969433061e-04 vel = 2.550006380636e-01 ------------------- tc state : vr = 0.456247, vf = 0.000000, maxvel = 0.609150, current_vel = 0.240001, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.240001, acc = -15.000000,T = 0.007664, P = 0.005744 on final decel initial results: dx= 0.001920,dt = 0.016000, a_f = -15.000000, v_f = 0.000000 dt = 0.016000, not at end yet tc id = 131, canon_type = 3, mot type = 2 time: 5.973000 primary movement = 2.474975411862e-04 time: 5.973000000000e+00 total movement = 2.474975411862e-04 vel = 2.400006380636e-01 ------------------- tc state : vr = 0.456247, vf = 0.000000, maxvel = 0.609150, current_vel = 0.225001, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.225001, acc = -15.000000,T = 0.007664, P = 0.005977 on final decel initial results: dx= 0.001688,dt = 0.015000, a_f = -15.000000, v_f = 0.000000 dt = 0.015000, not at end yet tc id = 131, canon_type = 3, mot type = 2 time: 5.974000 primary movement = 2.324980708164e-04 time: 5.974000000000e+00 total movement = 2.324980708164e-04 vel = 2.250006380636e-01 ------------------- tc state : vr = 0.456247, vf = 0.000000, maxvel = 0.609150, current_vel = 0.210001, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.210001, acc = -15.000000,T = 0.007664, P = 0.006194 on final decel initial results: dx= 0.001470,dt = 0.014000, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.014000 dt = 0.014000, not at end yet tc id = 131, canon_type = 3, mot type = 2 time: 5.975000 primary movement = 2.174985363331e-04 time: 5.975000000000e+00 total movement = 2.174985363331e-04 vel = 2.100006380636e-01 ------------------- tc state : vr = 0.456247, vf = 0.000000, maxvel = 0.609150, current_vel = 0.195001, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.195001, acc = -15.000000,T = 0.007664, P = 0.006397 on final decel initial results: dx= 0.001268,dt = 0.013000, a_f = -15.000000, v_f = 0.000000 dt = 0.013000, not at end yet tc id = 131, canon_type = 3, mot type = 2 time: 5.976000 primary movement = 2.024989418725e-04 time: 5.976000000000e+00 total movement = 2.024989418725e-04 vel = 1.950006380636e-01 ------------------- tc state : vr = 0.456247, vf = 0.000000, maxvel = 0.609150, current_vel = 0.180001, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.180001, acc = -15.000000,T = 0.007664, P = 0.006584 on final decel initial results: dx= 0.001080,dt = 0.012000, a_f = -15.000000, v_f = 0.000000 dt = 0.012000, not at end yet tc id = 131, canon_type = 3, mot type = 2 time: 5.977000 primary movement = 1.874992915709e-04 time: 5.977000000000e+00 total movement = 1.874992915709e-04 vel = 1.800006380636e-01 ------------------- tc state : vr = 0.456247, vf = 0.000000, maxvel = 0.609150, current_vel = 0.165001, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.165001, acc = -15.000000,T = 0.007664, P = 0.006757 on final decel initial results: dx= 0.000908,dt = 0.011000, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.011000 dt = 0.011000, not at end yet tc id = 131, canon_type = 3, mot type = 2 time: 5.978000 primary movement = 1.724995895646e-04 time: 5.978000000000e+00 total movement = 1.724995895646e-04 vel = 1.650006380636e-01 ------------------- tc state : vr = 0.456247, vf = 0.000000, maxvel = 0.609150, current_vel = 0.150001, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.150001, acc = -15.000000,T = 0.007664, P = 0.006914 on final decel initial results: dx= 0.000750,dt = 0.010000, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.010000 dt = 0.010000, not at end yet tc id = 131, canon_type = 3, mot type = 2 time: 5.979000 primary movement = 1.574998399899e-04 time: 5.979000000000e+00 total movement = 1.574998399899e-04 vel = 1.500006380636e-01 ------------------- tc state : vr = 0.456247, vf = 0.000000, maxvel = 0.609150, current_vel = 0.135001, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.135001, acc = -15.000000,T = 0.007664, P = 0.007057 on final decel initial results: dx= 0.000608,dt = 0.009000, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.009000 dt = 0.009000, not at end yet tc id = 131, canon_type = 3, mot type = 2 time: 5.980000 primary movement = 1.425000469832e-04 time: 5.980000000000e+00 total movement = 1.425000469832e-04 vel = 1.350006380636e-01 ------------------- tc state : vr = 0.456247, vf = 0.000000, maxvel = 0.609150, current_vel = 0.120001, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.120001, acc = -15.000000,T = 0.007664, P = 0.007184 on final decel initial results: dx= 0.000480,dt = 0.008000, a_f = -15.000000, v_f = 0.000000 dt = 0.008000, not at end yet tc id = 131, canon_type = 3, mot type = 2 time: 5.981000 primary movement = 1.275002146807e-04 time: 5.981000000000e+00 total movement = 1.275002146807e-04 vel = 1.200006380636e-01 ------------------- tc state : vr = 0.456247, vf = 0.000000, maxvel = 0.609150, current_vel = 0.105001, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.105001, acc = -15.000000,T = 0.007664, P = 0.007297 on final decel initial results: dx= 0.000368,dt = 0.007000, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.007000 dt = 0.007000, not at end yet tc id = 131, canon_type = 3, mot type = 2 time: 5.982000 primary movement = 1.125003472188e-04 time: 5.982000000000e+00 total movement = 1.125003472188e-04 vel = 1.050006380636e-01 ------------------- tc state : vr = 0.456247, vf = 0.000000, maxvel = 0.609150, current_vel = 0.090001, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.090001, acc = -15.000000,T = 0.007664, P = 0.007394 on final decel initial results: dx= 0.000270,dt = 0.006000, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.006000 dt = 0.006000, not at end yet tc id = 131, canon_type = 3, mot type = 2 time: 5.983000 primary movement = 9.750044873387e-05 time: 5.983000000000e+00 total movement = 9.750044873387e-05 vel = 9.000063806359e-02 ------------------- tc state : vr = 0.456247, vf = 0.000000, maxvel = 0.609150, current_vel = 0.075001, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.075001, acc = -15.000000,T = 0.007664, P = 0.007477 on final decel initial results: dx= 0.000188,dt = 0.005000, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.005000 dt = 0.005000, not at end yet tc id = 131, canon_type = 3, mot type = 2 time: 5.984000 primary movement = 8.250052336227e-05 time: 5.984000000000e+00 total movement = 8.250052336227e-05 vel = 7.500063806359e-02 ------------------- tc state : vr = 0.456247, vf = 0.000000, maxvel = 0.609150, current_vel = 0.060001, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.060001, acc = -15.000000,T = 0.007664, P = 0.007544 on final decel initial results: dx= 0.000120,dt = 0.004000, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.004000 dt = 0.004000, not at end yet tc id = 131, canon_type = 3, mot type = 2 time: 5.985000 primary movement = 6.750057524036e-05 time: 5.985000000000e+00 total movement = 6.750057524036e-05 vel = 6.000063806359e-02 ------------------- tc state : vr = 0.456247, vf = 0.000000, maxvel = 0.609150, current_vel = 0.045001, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.045001, acc = -15.000000,T = 0.007664, P = 0.007597 on final decel initial results: dx= 0.000068,dt = 0.003000, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.003000 dt = 0.003000, not at end yet tc id = 131, canon_type = 3, mot type = 2 time: 5.986000 primary movement = 5.250060850455e-05 time: 5.986000000000e+00 total movement = 5.250060850455e-05 vel = 4.500063806359e-02 ------------------- tc state : vr = 0.456247, vf = 0.000000, maxvel = 0.609150, current_vel = 0.030001, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.030001, acc = -15.000000,T = 0.007664, P = 0.007634 on final decel initial results: dx= 0.000030,dt = 0.002000, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.002000 dt = 0.002000, not at end yet tc id = 131, canon_type = 3, mot type = 2 time: 5.987000 primary movement = 3.750062729119e-05 time: 5.987000000000e+00 total movement = 3.750062729119e-05 vel = 3.000063806359e-02 ------------------- tc state : vr = 0.456247, vf = 0.000000, maxvel = 0.609150, current_vel = 0.015001, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.015001, acc = -15.000000,T = 0.007664, P = 0.007657 on final decel initial results: dx= 0.000008,dt = 0.001000, a_f = -15.000000, v_f = 0.000000 dt = 0.001000, not at end yet tc id = 131, canon_type = 3, mot type = 2 time: 5.988000 primary movement = 2.250063573668e-05 time: 5.988000000000e+00 total movement = 2.250063573668e-05 vel = 1.500063806359e-02 ------------------- tc state : vr = 0.456247, vf = 0.000000, maxvel = 0.609150, current_vel = 0.000001, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.000001, acc = -15.000000,T = 0.007664, P = 0.007664 on final decel close to target, assuming done tc id = 131, canon_type = 3, mot type = 2 time: 5.989000 primary movement = 7.500637977390e-06 time: 5.989000000000e+00 total movement = 7.500637977390e-06 vel = 6.380635895071e-07 ------------------- tc id 131 done Finishing split-cycle on id 131 tc state : vr = 8.676642, vf = 0.000000, maxvel = 8.676642, current_vel = 0.901277, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.901277, acc = -15.618018,T = 0.006485, P = 0.000909 secondary movement = 0.000909 tc id = 131, canon_type = 2, mot type = 1 time: 5.990000 primary movement = 1.357028084448e-14 time: 5.990000000000e+00 total movement = 9.090858267002e-04 vel = 9.012768174665e-01 Finished tc id 131 ------------------- Activate tc id = 131 target_vel = 8.676642 final_vel = 0.000000 length = 0.006485 Activate nexttc id 132 tc state : vr = 8.676642, vf = 0.000000, maxvel = 8.676642, current_vel = 0.885659, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.885659, acc = -15.618018,T = 0.006485, P = 0.001803 tc id = 131, canon_type = 2, mot type = 1 time: 5.991000 primary movement = 8.934678082464e-04 time: 5.991000000000e+00 total movement = 8.934678082464e-04 vel = 8.856587990262e-01 ------------------- tc state : vr = 8.676642, vf = 0.000000, maxvel = 8.676642, current_vel = 0.870041, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.870041, acc = -15.618018,T = 0.006485, P = 0.002680 tc id = 131, canon_type = 2, mot type = 1 time: 5.992000 primary movement = 8.778497898061e-04 time: 5.992000000000e+00 total movement = 8.778497898061e-04 vel = 8.700407805860e-01 ------------------- tc state : vr = 8.676642, vf = 0.000000, maxvel = 8.676642, current_vel = 0.854423, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.854423, acc = -15.618018,T = 0.006485, P = 0.003543 tc id = 131, canon_type = 2, mot type = 1 time: 5.993000 primary movement = 8.622317713659e-04 time: 5.993000000000e+00 total movement = 8.622317713659e-04 vel = 8.544227621457e-01 ------------------- tc state : vr = 8.676642, vf = 0.000000, maxvel = 8.676642, current_vel = 0.838805, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.838805, acc = -15.618018,T = 0.006485, P = 0.004389 tc id = 131, canon_type = 2, mot type = 1 time: 5.994000 primary movement = 8.466137529256e-04 time: 5.994000000000e+00 total movement = 8.466137529256e-04 vel = 8.388047437055e-01 ------------------- tc state : vr = 8.676642, vf = 0.000000, maxvel = 8.676642, current_vel = 0.823187, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.823187, acc = -15.618018,T = 0.006485, P = 0.005220 tc id = 131, canon_type = 2, mot type = 1 time: 5.995000 primary movement = 8.309957344854e-04 time: 5.995000000000e+00 total movement = 8.309957344854e-04 vel = 8.231867252652e-01 ------------------- tc state : vr = 8.676642, vf = 0.000000, maxvel = 8.676642, current_vel = 0.807569, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.807569, acc = -15.618018,T = 0.006485, P = 0.006036 tc id = 131, canon_type = 2, mot type = 1 time: 5.996000 primary movement = 8.153777160451e-04 time: 5.996000000000e+00 total movement = 8.153777160451e-04 vel = 8.075687068250e-01 ------------------- passed target by 0.000350162, cutting off at target! segment 131 at target in runcycle tc state : vr = 8.676642, vf = 0.000000, maxvel = 8.676642, current_vel = 0.791951, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.791951, acc = -15.618018,T = 0.006485, P = 0.006485 tc id = 131, canon_type = 2, mot type = 1 time: 5.997000 primary movement = 4.495979069280e-04 time: 5.997000000000e+00 total movement = 4.495979069280e-04 vel = 7.919506883847e-01 Finished tc id 131 ------------------- Activate nexttc id 133 tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.015154, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.015154, acc = 15.154188,T = 0.016164, P = 0.000008 tc id = 132, canon_type = 2, mot type = 1 time: 5.998000 primary movement = 7.577094002190e-06 time: 5.998000000000e+00 total movement = 7.577094002190e-06 vel = 1.515418800406e-02 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.030308, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.030308, acc = 15.154188,T = 0.016164, P = 0.000030 tc id = 132, canon_type = 2, mot type = 1 time: 5.999000 primary movement = 2.273128200613e-05 time: 5.999000000000e+00 total movement = 2.273128200613e-05 vel = 3.030837600813e-02 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.045463, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.045463, acc = 15.154188,T = 0.016164, P = 0.000068 tc id = 132, canon_type = 2, mot type = 1 time: 6.000000 primary movement = 3.788547001007e-05 time: 6.000000000000e+00 total movement = 3.788547001007e-05 vel = 4.546256401219e-02 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.060617, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.060617, acc = 15.154188,T = 0.016164, P = 0.000121 tc id = 132, canon_type = 2, mot type = 1 time: 6.001000 primary movement = 5.303965801401e-05 time: 6.001000000000e+00 total movement = 5.303965801401e-05 vel = 6.061675201625e-02 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.075771, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.075771, acc = 15.154188,T = 0.016164, P = 0.000189 tc id = 132, canon_type = 2, mot type = 1 time: 6.002000 primary movement = 6.819384601839e-05 time: 6.002000000000e+00 total movement = 6.819384601839e-05 vel = 7.577094002032e-02 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.090925, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.090925, acc = 15.154188,T = 0.016164, P = 0.000273 tc id = 132, canon_type = 2, mot type = 1 time: 6.003000 primary movement = 8.334803402234e-05 time: 6.003000000000e+00 total movement = 8.334803402234e-05 vel = 9.092512802438e-02 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.106079, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.106079, acc = 15.154188,T = 0.016164, P = 0.000371 tc id = 132, canon_type = 2, mot type = 1 time: 6.004000 primary movement = 9.850222202628e-05 time: 6.004000000000e+00 total movement = 9.850222202628e-05 vel = 1.060793160284e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.121234, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.121234, acc = 15.154188,T = 0.016164, P = 0.000485 tc id = 132, canon_type = 2, mot type = 1 time: 6.005000 primary movement = 1.136564100307e-04 time: 6.005000000000e+00 total movement = 1.136564100307e-04 vel = 1.212335040325e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.136388, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.136388, acc = 15.154188,T = 0.016164, P = 0.000614 tc id = 132, canon_type = 2, mot type = 1 time: 6.006000 primary movement = 1.288105980346e-04 time: 6.006000000000e+00 total movement = 1.288105980346e-04 vel = 1.363876920366e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.151542, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.151542, acc = 15.154188,T = 0.016164, P = 0.000758 tc id = 132, canon_type = 2, mot type = 1 time: 6.007000 primary movement = 1.439647860385e-04 time: 6.007000000000e+00 total movement = 1.439647860385e-04 vel = 1.515418800406e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.166696, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.166696, acc = 15.154188,T = 0.016164, P = 0.000917 tc id = 132, canon_type = 2, mot type = 1 time: 6.008000 primary movement = 1.591189740425e-04 time: 6.008000000000e+00 total movement = 1.591189740425e-04 vel = 1.666960680447e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.181850, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.181850, acc = 15.154188,T = 0.016164, P = 0.001091 tc id = 132, canon_type = 2, mot type = 1 time: 6.009000 primary movement = 1.742731620469e-04 time: 6.009000000000e+00 total movement = 1.742731620469e-04 vel = 1.818502560488e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.197004, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.197004, acc = 15.154188,T = 0.016164, P = 0.001281 tc id = 132, canon_type = 2, mot type = 1 time: 6.010000 primary movement = 1.894273500508e-04 time: 6.010000000000e+00 total movement = 1.894273500508e-04 vel = 1.970044440528e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.212159, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.212159, acc = 15.154188,T = 0.016164, P = 0.001485 tc id = 132, canon_type = 2, mot type = 1 time: 6.011000 primary movement = 2.045815380547e-04 time: 6.011000000000e+00 total movement = 2.045815380547e-04 vel = 2.121586320569e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.227313, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.227313, acc = 15.154188,T = 0.016164, P = 0.001705 tc id = 132, canon_type = 2, mot type = 1 time: 6.012000 primary movement = 2.197357260591e-04 time: 6.012000000000e+00 total movement = 2.197357260591e-04 vel = 2.273128200610e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.242467, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.242467, acc = 15.154188,T = 0.016164, P = 0.001940 tc id = 132, canon_type = 2, mot type = 1 time: 6.013000 primary movement = 2.348899140631e-04 time: 6.013000000000e+00 total movement = 2.348899140631e-04 vel = 2.424670080650e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.257621, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.257621, acc = 15.154188,T = 0.016164, P = 0.002190 tc id = 132, canon_type = 2, mot type = 1 time: 6.014000 primary movement = 2.500441020670e-04 time: 6.014000000000e+00 total movement = 2.500441020670e-04 vel = 2.576211960691e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.272775, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.272775, acc = 15.154188,T = 0.016164, P = 0.002455 tc id = 132, canon_type = 2, mot type = 1 time: 6.015000 primary movement = 2.651982900709e-04 time: 6.015000000000e+00 total movement = 2.651982900709e-04 vel = 2.727753840731e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.287930, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.287930, acc = 15.154188,T = 0.016164, P = 0.002735 tc id = 132, canon_type = 2, mot type = 1 time: 6.016000 primary movement = 2.803524780753e-04 time: 6.016000000000e+00 total movement = 2.803524780753e-04 vel = 2.879295720772e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.303084, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.303084, acc = 15.154188,T = 0.016164, P = 0.003031 tc id = 132, canon_type = 2, mot type = 1 time: 6.017000 primary movement = 2.955066660793e-04 time: 6.017000000000e+00 total movement = 2.955066660793e-04 vel = 3.030837600813e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.318238, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.318238, acc = 15.154188,T = 0.016164, P = 0.003341 tc id = 132, canon_type = 2, mot type = 1 time: 6.018000 primary movement = 3.106608540832e-04 time: 6.018000000000e+00 total movement = 3.106608540832e-04 vel = 3.182379480853e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.333392, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.333392, acc = 15.154188,T = 0.016164, P = 0.003667 tc id = 132, canon_type = 2, mot type = 1 time: 6.019000 primary movement = 3.258150420871e-04 time: 6.019000000000e+00 total movement = 3.258150420871e-04 vel = 3.333921360894e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.348546, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.348546, acc = 15.154188,T = 0.016164, P = 0.004008 tc id = 132, canon_type = 2, mot type = 1 time: 6.020000 primary movement = 3.409692300915e-04 time: 6.020000000000e+00 total movement = 3.409692300915e-04 vel = 3.485463240935e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.363701, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.363701, acc = 15.154188,T = 0.016164, P = 0.004364 tc id = 132, canon_type = 2, mot type = 1 time: 6.021000 primary movement = 3.561234180955e-04 time: 6.021000000000e+00 total movement = 3.561234180955e-04 vel = 3.637005120975e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.378855, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.378855, acc = 15.154188,T = 0.016164, P = 0.004736 tc id = 132, canon_type = 2, mot type = 1 time: 6.022000 primary movement = 3.712776060998e-04 time: 6.022000000000e+00 total movement = 3.712776060998e-04 vel = 3.788547001016e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.394009, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.394009, acc = 15.154188,T = 0.016164, P = 0.005122 tc id = 132, canon_type = 2, mot type = 1 time: 6.023000 primary movement = 3.864317941034e-04 time: 6.023000000000e+00 total movement = 3.864317941034e-04 vel = 3.940088881056e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.409163, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.409163, acc = 15.154188,T = 0.016164, P = 0.005524 tc id = 132, canon_type = 2, mot type = 1 time: 6.024000 primary movement = 4.015859821077e-04 time: 6.024000000000e+00 total movement = 4.015859821077e-04 vel = 4.091630761097e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.424317, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.424317, acc = 15.154188,T = 0.016164, P = 0.005940 tc id = 132, canon_type = 2, mot type = 1 time: 6.025000 primary movement = 4.167401701117e-04 time: 6.025000000000e+00 total movement = 4.167401701117e-04 vel = 4.243172641138e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.439471, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.439471, acc = 15.154188,T = 0.016164, P = 0.006372 tc id = 132, canon_type = 2, mot type = 1 time: 6.026000 primary movement = 4.318943581161e-04 time: 6.026000000000e+00 total movement = 4.318943581161e-04 vel = 4.394714521178e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.454626, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.454626, acc = 15.154188,T = 0.016164, P = 0.006819 tc id = 132, canon_type = 2, mot type = 1 time: 6.027000 primary movement = 4.470485461196e-04 time: 6.027000000000e+00 total movement = 4.470485461196e-04 vel = 4.546256401219e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.469780, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.469780, acc = 15.154188,T = 0.016164, P = 0.007282 tc id = 132, canon_type = 2, mot type = 1 time: 6.028000 primary movement = 4.622027341239e-04 time: 6.028000000000e+00 total movement = 4.622027341239e-04 vel = 4.697798281260e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.484934, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.484934, acc = 15.154188,T = 0.016164, P = 0.007759 tc id = 132, canon_type = 2, mot type = 1 time: 6.029000 primary movement = 4.773569221283e-04 time: 6.029000000000e+00 total movement = 4.773569221283e-04 vel = 4.849340161300e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.489883, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.489883, acc = 4.948819,T = 0.016164, P = 0.008246 tc id = 132, canon_type = 2, mot type = 1 time: 6.030000 primary movement = 4.874084256356e-04 time: 6.030000000000e+00 total movement = 4.874084256356e-04 vel = 4.898828351415e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.474729, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.474729, acc = -15.154188,T = 0.016164, P = 0.008729 on final decel tc id = 132, canon_type = 2, mot type = 1 time: 6.031000 primary movement = 4.823057411394e-04 time: 6.031000000000e+00 total movement = 4.823057411394e-04 vel = 4.747286471374e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.459574, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.459574, acc = -15.154188,T = 0.016164, P = 0.009196 on final decel tc id = 132, canon_type = 2, mot type = 1 time: 6.032000 primary movement = 4.671515531355e-04 time: 6.032000000000e+00 total movement = 4.671515531355e-04 vel = 4.595744591334e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.444420, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.444420, acc = -15.154188,T = 0.016164, P = 0.009648 on final decel tc id = 132, canon_type = 2, mot type = 1 time: 6.033000 primary movement = 4.519973651315e-04 time: 6.033000000000e+00 total movement = 4.519973651315e-04 vel = 4.444202711293e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.429266, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.429266, acc = -15.154188,T = 0.016164, P = 0.010085 on final decel tc id = 132, canon_type = 2, mot type = 1 time: 6.034000 primary movement = 4.368431771271e-04 time: 6.034000000000e+00 total movement = 4.368431771271e-04 vel = 4.292660831252e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.414112, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.414112, acc = -15.154188,T = 0.016164, P = 0.010506 on final decel tc id = 132, canon_type = 2, mot type = 1 time: 6.035000 primary movement = 4.216889891232e-04 time: 6.035000000000e+00 total movement = 4.216889891232e-04 vel = 4.141118951212e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.398958, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.398958, acc = -15.154188,T = 0.016164, P = 0.010913 on final decel tc id = 132, canon_type = 2, mot type = 1 time: 6.036000 primary movement = 4.065348011193e-04 time: 6.036000000000e+00 total movement = 4.065348011193e-04 vel = 3.989577071171e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.383804, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.383804, acc = -15.154188,T = 0.016164, P = 0.011304 on final decel tc id = 132, canon_type = 2, mot type = 1 time: 6.037000 primary movement = 3.913806131149e-04 time: 6.037000000000e+00 total movement = 3.913806131149e-04 vel = 3.838035191131e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.368649, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.368649, acc = -15.154188,T = 0.016164, P = 0.011680 on final decel tc id = 132, canon_type = 2, mot type = 1 time: 6.038000 primary movement = 3.762264251114e-04 time: 6.038000000000e+00 total movement = 3.762264251114e-04 vel = 3.686493311090e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.353495, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.353495, acc = -15.154188,T = 0.016164, P = 0.012042 on final decel tc id = 132, canon_type = 2, mot type = 1 time: 6.039000 primary movement = 3.610722371066e-04 time: 6.039000000000e+00 total movement = 3.610722371066e-04 vel = 3.534951431049e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.338341, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.338341, acc = -15.154188,T = 0.016164, P = 0.012387 on final decel tc id = 132, canon_type = 2, mot type = 1 time: 6.040000 primary movement = 3.459180491031e-04 time: 6.040000000000e+00 total movement = 3.459180491031e-04 vel = 3.383409551009e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.323187, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.323187, acc = -15.154188,T = 0.016164, P = 0.012718 on final decel tc id = 132, canon_type = 2, mot type = 1 time: 6.041000 primary movement = 3.307638610991e-04 time: 6.041000000000e+00 total movement = 3.307638610991e-04 vel = 3.231867670968e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.308033, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.308033, acc = -15.154188,T = 0.016164, P = 0.013034 on final decel tc id = 132, canon_type = 2, mot type = 1 time: 6.042000 primary movement = 3.156096730947e-04 time: 6.042000000000e+00 total movement = 3.156096730947e-04 vel = 3.080325790927e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.292878, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.292878, acc = -15.154188,T = 0.016164, P = 0.013334 on final decel tc id = 132, canon_type = 2, mot type = 1 time: 6.043000 primary movement = 3.004554850904e-04 time: 6.043000000000e+00 total movement = 3.004554850904e-04 vel = 2.928783910887e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.277724, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.277724, acc = -15.154188,T = 0.016164, P = 0.013620 on final decel tc id = 132, canon_type = 2, mot type = 1 time: 6.044000 primary movement = 2.853012970868e-04 time: 6.044000000000e+00 total movement = 2.853012970868e-04 vel = 2.777242030846e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.262570, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.262570, acc = -15.154188,T = 0.016164, P = 0.013890 on final decel tc id = 132, canon_type = 2, mot type = 1 time: 6.045000 primary movement = 2.701471090825e-04 time: 6.045000000000e+00 total movement = 2.701471090825e-04 vel = 2.625700150806e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.247416, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.247416, acc = -15.154188,T = 0.016164, P = 0.014145 on final decel tc id = 132, canon_type = 2, mot type = 1 time: 6.046000 primary movement = 2.549929210785e-04 time: 6.046000000000e+00 total movement = 2.549929210785e-04 vel = 2.474158270765e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.232262, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.232262, acc = -15.154188,T = 0.016164, P = 0.014385 on final decel tc id = 132, canon_type = 2, mot type = 1 time: 6.047000 primary movement = 2.398387330746e-04 time: 6.047000000000e+00 total movement = 2.398387330746e-04 vel = 2.322616390724e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.217107, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.217107, acc = -15.154188,T = 0.016164, P = 0.014609 on final decel tc id = 132, canon_type = 2, mot type = 1 time: 6.048000 primary movement = 2.246845450702e-04 time: 6.048000000000e+00 total movement = 2.246845450702e-04 vel = 2.171074510684e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.201953, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.201953, acc = -15.154188,T = 0.016164, P = 0.014819 on final decel tc id = 132, canon_type = 2, mot type = 1 time: 6.049000 primary movement = 2.095303570663e-04 time: 6.049000000000e+00 total movement = 2.095303570663e-04 vel = 2.019532630643e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.186799, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.186799, acc = -15.154188,T = 0.016164, P = 0.015013 on final decel tc id = 132, canon_type = 2, mot type = 1 time: 6.050000 primary movement = 1.943761690623e-04 time: 6.050000000000e+00 total movement = 1.943761690623e-04 vel = 1.867990750602e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.171645, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.171645, acc = -15.154188,T = 0.016164, P = 0.015192 on final decel tc id = 132, canon_type = 2, mot type = 1 time: 6.051000 primary movement = 1.792219810584e-04 time: 6.051000000000e+00 total movement = 1.792219810584e-04 vel = 1.716448870562e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.156491, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.156491, acc = -15.154188,T = 0.016164, P = 0.015356 on final decel tc id = 132, canon_type = 2, mot type = 1 time: 6.052000 primary movement = 1.640677930540e-04 time: 6.052000000000e+00 total movement = 1.640677930540e-04 vel = 1.564906990521e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.141337, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.141337, acc = -15.154188,T = 0.016164, P = 0.015505 on final decel tc id = 132, canon_type = 2, mot type = 1 tc state : vr = 0.015154, vf = 0.015154, maxvel = 10.513602, current_vel = 0.015154, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.015154, acc = 15.154188,T = 0.001894, P = 0.000008 initial results: dx= 0.001886,dt = 0.013337, a_f = 18.939627, v_f = 0.267747 recalculating with a_f = 18.939627, a = 18.924484 revised dt = 0.013342 dt = 0.013342, not at end yet tc id = 132, canon_type = 2, mot type = 1 secondary movement = 0.000008 time: 6.053000 primary movement = 1.489136050501e-04 time: 6.053000000000e+00 total movement = 1.564906990521e-04 vel = 1.564906990521e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.126182, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.126182, acc = -15.154188,T = 0.016164, P = 0.015639 on final decel tc id = 132, canon_type = 2, mot type = 1 tc state : vr = 0.030308, vf = 0.030308, maxvel = 10.513602, current_vel = 0.030308, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.030308, acc = 15.154188,T = 0.001894, P = 0.000030 initial results: dx= 0.001864,dt = 0.012506, a_f = 18.985796, v_f = 0.267747 recalculating with a_f = 18.985796, a = 18.924484 revised dt = 0.012524 dt = 0.012524, not at end yet tc id = 132, canon_type = 2, mot type = 1 secondary movement = 0.000023 time: 6.054000 primary movement = 1.337594170461e-04 time: 6.054000000000e+00 total movement = 1.564906990522e-04 vel = 1.564906990521e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.111028, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.111028, acc = -15.154188,T = 0.016164, P = 0.015758 on final decel tc id = 132, canon_type = 2, mot type = 1 tc state : vr = 0.045463, vf = 0.045463, maxvel = 10.513602, current_vel = 0.045463, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.045463, acc = 15.154188,T = 0.001894, P = 0.000068 initial results: dx= 0.001826,dt = 0.011659, a_f = 19.065299, v_f = 0.267747 recalculating with a_f = 19.065299, a = 18.924484 revised dt = 0.011695 dt = 0.011695, not at end yet tc id = 132, canon_type = 2, mot type = 1 secondary movement = 0.000038 time: 6.055000 primary movement = 1.186052290422e-04 time: 6.055000000000e+00 total movement = 1.564906990523e-04 vel = 1.564906990521e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.095874, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.095874, acc = -15.154188,T = 0.016164, P = 0.015861 on final decel tc id = 132, canon_type = 2, mot type = 1 tc state : vr = 0.060617, vf = 0.060617, maxvel = 10.513602, current_vel = 0.060617, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.060617, acc = 15.154188,T = 0.001894, P = 0.000121 initial results: dx= 0.001773,dt = 0.010798, a_f = 19.182312, v_f = 0.267747 recalculating with a_f = 19.182312, a = 18.924484 revised dt = 0.010855 dt = 0.010855, not at end yet tc id = 132, canon_type = 2, mot type = 1 secondary movement = 0.000053 time: 6.056000 primary movement = 1.034510410378e-04 time: 6.056000000000e+00 total movement = 1.564906990520e-04 vel = 1.564906990521e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.080720, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.080720, acc = -15.154188,T = 0.016164, P = 0.015949 on final decel tc id = 132, canon_type = 2, mot type = 1 tc state : vr = 0.075771, vf = 0.075771, maxvel = 10.513602, current_vel = 0.075771, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.075771, acc = 15.154188,T = 0.001894, P = 0.000189 initial results: dx= 0.001705,dt = 0.009925, a_f = 19.343456, v_f = 0.267747 recalculating with a_f = 19.343456, a = 18.924484 revised dt = 0.010003 dt = 0.010003, not at end yet tc id = 132, canon_type = 2, mot type = 1 secondary movement = 0.000068 time: 6.057000 primary movement = 8.829685303386e-05 time: 6.057000000000e+00 total movement = 1.564906990521e-04 vel = 1.564906990521e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.065566, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.065566, acc = -15.154188,T = 0.016164, P = 0.016023 on final decel tc id = 132, canon_type = 2, mot type = 1 tc state : vr = 0.090925, vf = 0.090925, maxvel = 10.513602, current_vel = 0.090925, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.090925, acc = 15.154188,T = 0.001894, P = 0.000273 initial results: dx= 0.001621,dt = 0.009041, a_f = 19.558820, v_f = 0.267747 recalculating with a_f = 19.558820, a = 18.924484 revised dt = 0.009139 dt = 0.009139, not at end yet tc id = 133, canon_type = 2, mot type = 1 secondary movement = 0.000083 time: 6.058000 primary movement = 7.314266502948e-05 time: 6.058000000000e+00 total movement = 1.564906990518e-04 vel = 1.564906990521e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.050411, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.050411, acc = -15.154188,T = 0.016164, P = 0.016081 on final decel tc id = 132, canon_type = 2, mot type = 1 tc state : vr = 0.106079, vf = 0.106079, maxvel = 10.513602, current_vel = 0.106079, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.106079, acc = 15.154188,T = 0.001894, P = 0.000371 initial results: dx= 0.001523,dt = 0.008147, a_f = 19.843735, v_f = 0.267747 recalculating with a_f = 19.843735, a = 18.924484 revised dt = 0.008264 dt = 0.008264, not at end yet tc id = 133, canon_type = 2, mot type = 1 secondary movement = 0.000099 time: 6.059000 primary movement = 5.798847702598e-05 time: 6.059000000000e+00 total movement = 1.564906990524e-04 vel = 1.564906990521e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.035257, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.035257, acc = -15.154188,T = 0.016164, P = 0.016123 on final decel tc id = 132, canon_type = 2, mot type = 1 tc state : vr = 0.121234, vf = 0.121234, maxvel = 10.513602, current_vel = 0.121234, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.121234, acc = 15.154188,T = 0.001894, P = 0.000485 initial results: dx= 0.001409,dt = 0.007245, a_f = 20.221979, v_f = 0.267747 recalculating with a_f = 20.221979, a = 18.924484 revised dt = 0.007376 dt = 0.007376, not at end yet tc id = 133, canon_type = 2, mot type = 1 secondary movement = 0.000114 time: 6.060000 primary movement = 4.283428902160e-05 time: 6.060000000000e+00 total movement = 1.564906990521e-04 vel = 1.564906990521e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.020103, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.020103, acc = -15.154188,T = 0.016164, P = 0.016151 on final decel tc id = 132, canon_type = 2, mot type = 1 tc state : vr = 0.136388, vf = 0.136388, maxvel = 10.513602, current_vel = 0.136388, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.136388, acc = 15.154188,T = 0.001894, P = 0.000614 initial results: dx= 0.001280,dt = 0.006336, a_f = 20.731838, v_f = 0.267747 recalculating with a_f = 20.731838, a = 18.924484 revised dt = 0.006477 dt = 0.006477, not at end yet tc id = 133, canon_type = 2, mot type = 1 secondary movement = 0.000129 time: 6.061000 primary movement = 2.768010101765e-05 time: 6.061000000000e+00 total movement = 1.564906990522e-04 vel = 1.564906990521e-01 ------------------- tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.004949, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.004949, acc = -15.154188,T = 0.016164, P = 0.016164 on final decel tc id = 132, canon_type = 2, mot type = 1 tc state : vr = 0.151542, vf = 0.151542, maxvel = 10.513602, current_vel = 0.151542, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.151542, acc = 15.154188,T = 0.001894, P = 0.000758 initial results: dx= 0.001136,dt = 0.005420, a_f = 21.438468, v_f = 0.267747 recalculating with a_f = 21.438468, a = 18.924484 revised dt = 0.005565 dt = 0.005565, not at end yet tc id = 133, canon_type = 2, mot type = 1 secondary movement = 0.000144 time: 6.062000 primary movement = 1.252591301327e-05 time: 6.062000000000e+00 total movement = 1.564906990519e-04 vel = 1.564906990521e-01 ------------------- Found newvel = -0.004949, assuming segment is done segment 132 at target in runcycle tc state : vr = 8.418960, vf = 0.000000, maxvel = 8.418960, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.016164, P = 0.016164 tc id = 132, canon_type = 2, mot type = 1 tc state : vr = 0.156491, vf = 0.156491, maxvel = 10.513602, current_vel = 0.156491, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.156491, acc = 4.948819,T = 0.001894, P = 0.000912 initial results: dx= 0.000982,dt = 0.004631, a_f = 24.023793, v_f = 0.267747 recalculating with a_f = 24.023793, a = 18.924484 revised dt = 0.004853 dt = 0.004853, not at end yet tc id = 133, canon_type = 2, mot type = 1 secondary movement = 0.000154 time: 6.063000 primary movement = 8.080541696406e-07 time: 6.063000000000e+00 total movement = 1.548243437160e-04 vel = 1.564906990521e-01 Finished tc id 132 ------------------- tc state : vr = 0.901937, vf = 0.267747, maxvel = 10.513602, current_vel = 0.175415, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.175415, acc = 18.924484,T = 0.001894, P = 0.001078 initial results: dx= 0.000816,dt = 0.003684, a_f = 25.060363, v_f = 0.267747 recalculating with a_f = 25.060363, a = 18.924484 revised dt = 0.003853 dt = 0.003853, not at end yet tc id = 133, canon_type = 2, mot type = 1 time: 6.064000 primary movement = 1.659529410522e-04 time: 6.064000000000e+00 total movement = 1.659529410522e-04 vel = 1.754151830523e-01 ------------------- tc state : vr = 0.901937, vf = 0.267747, maxvel = 10.513602, current_vel = 0.194340, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.194340, acc = 18.924484,T = 0.001894, P = 0.001263 initial results: dx= 0.000632,dt = 0.002733, a_f = 26.856662, v_f = 0.267747 recalculating with a_f = 26.856662, a = 18.924484 revised dt = 0.002853 dt = 0.002853, not at end yet tc id = 133, canon_type = 2, mot type = 1 time: 6.065000 primary movement = 1.848774250524e-04 time: 6.065000000000e+00 total movement = 1.848774250524e-04 vel = 1.943396670525e-01 ------------------- tc state : vr = 0.901937, vf = 0.267747, maxvel = 10.513602, current_vel = 0.213264, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.213264, acc = 18.924484,T = 0.001894, P = 0.001466 initial results: dx= 0.000428,dt = 0.001778, a_f = 30.636306, v_f = 0.267747 recalculating with a_f = 30.636306, a = 18.924484 revised dt = 0.001853 dt = 0.001853, not at end yet tc id = 133, canon_type = 2, mot type = 1 time: 6.066000 primary movement = 2.038019090526e-04 time: 6.066000000000e+00 total movement = 2.038019090526e-04 vel = 2.132641510528e-01 ------------------- tc state : vr = 0.901937, vf = 0.267747, maxvel = 10.513602, current_vel = 0.232189, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.232189, acc = 18.924484,T = 0.001894, P = 0.001689 initial results: dx= 0.000205,dt = 0.000820, a_f = 43.361841, v_f = 0.267747 recalculating with a_f = 43.361841, a = 18.924484 revised dt = 0.000853 actual v_f = 0.248334, a = 18.924484 split time is 0.000853171 tc id = 133, canon_type = 2, mot type = 1 time: 6.067000 primary movement = 2.227263930529e-04 time: 6.067000000000e+00 total movement = 2.227263930529e-04 vel = 2.321886350530e-01 ------------------- tc id 133 done Finishing split-cycle on id 134 tc state : vr = 0.321608, vf = 0.321608, maxvel = 0.321608, current_vel = 0.250537, fs = 1.000000, tc = 0.000147, term = 3 tc result: v = 0.250537, acc = 15.000000,T = 0.002668, P = 0.000037 initial results: dx= 0.002631,dt = 0.009198, a_f = 7.727125, v_f = 0.321608 dt = 0.009198, not at end yet secondary movement = 0.000037 tc id = 134, canon_type = 3, mot type = 2 time: 6.068000 primary movement = 2.049840675572e-04 time: 6.068000000000e+00 total movement = 2.416084441388e-04 vel = 2.505368891667e-01 Finished tc id 133 ------------------- Activate tc id = 134 target_vel = 0.321608 final_vel = 0.321608 length = 0.002668 tc state : vr = 0.321608, vf = 0.321608, maxvel = 0.321608, current_vel = 0.265537, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.265537, acc = 15.000000,T = 0.002668, P = 0.000295 initial results: dx= 0.002373,dt = 0.008084, a_f = 6.936334, v_f = 0.321608 dt = 0.008084, not at end yet tc id = 134, canon_type = 3, mot type = 2 time: 6.069000 primary movement = 2.579917237166e-04 time: 6.069000000000e+00 total movement = 2.579917237166e-04 vel = 2.655368891667e-01 ------------------- tc state : vr = 0.321608, vf = 0.321608, maxvel = 0.321608, current_vel = 0.280537, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.280537, acc = 15.000000,T = 0.002668, P = 0.000568 initial results: dx= 0.002100,dt = 0.006975, a_f = 5.887977, v_f = 0.321608 dt = 0.006975, not at end yet tc id = 134, canon_type = 3, mot type = 2 time: 6.070000 primary movement = 2.729833807374e-04 time: 6.070000000000e+00 total movement = 2.729833807374e-04 vel = 2.805368891667e-01 ------------------- tc state : vr = 0.321608, vf = 0.321608, maxvel = 0.321608, current_vel = 0.295537, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.295537, acc = 15.000000,T = 0.002668, P = 0.000856 initial results: dx= 0.001812,dt = 0.005872, a_f = 4.439590, v_f = 0.321608 dt = 0.005872, not at end yet tc id = 134, canon_type = 3, mot type = 2 time: 6.071000 primary movement = 2.879740689147e-04 time: 6.071000000000e+00 total movement = 2.879740689147e-04 vel = 2.955368891667e-01 ------------------- tc state : vr = 0.321608, vf = 0.321608, maxvel = 0.321608, current_vel = 0.310537, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.310537, acc = 15.000000,T = 0.002668, P = 0.001159 initial results: dx= 0.001509,dt = 0.004774, a_f = 2.318918, v_f = 0.321608 dt = 0.004774, not at end yet tc id = 134, canon_type = 3, mot type = 2 time: 6.072000 primary movement = 3.029637350452e-04 time: 6.072000000000e+00 total movement = 3.029637350452e-04 vel = 3.105368891667e-01 ------------------- tc state : vr = 0.321608, vf = 0.321608, maxvel = 0.321608, current_vel = 0.321608, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.321608, acc = 11.071370,T = 0.002668, P = 0.001475 initial results: dx= 0.001193,dt = 0.003709, a_f = 0.000000, v_f = 0.321608 dt = 0.003709, not at end yet tc id = 134, canon_type = 3, mot type = 2 time: 6.073000 primary movement = 3.159895682402e-04 time: 6.073000000000e+00 total movement = 3.159895682402e-04 vel = 3.216082595021e-01 ------------------- tc state : vr = 0.321608, vf = 0.321608, maxvel = 0.321608, current_vel = 0.321608, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.321608, acc = 0.000000,T = 0.002668, P = 0.001796 initial results: dx= 0.000871,dt = 0.002709, a_f = 0.000000, v_f = 0.321608 dt = 0.002709, not at end yet tc id = 134, canon_type = 3, mot type = 2 time: 6.074000 primary movement = 3.215208155234e-04 time: 6.074000000000e+00 total movement = 3.215208155234e-04 vel = 3.216082595021e-01 ------------------- tc state : vr = 0.321608, vf = 0.321608, maxvel = 0.321608, current_vel = 0.321608, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.321608, acc = 0.000000,T = 0.002668, P = 0.002118 initial results: dx= 0.000550,dt = 0.001709, a_f = 0.000000, v_f = 0.321608 dt = 0.001709, not at end yet tc id = 134, canon_type = 3, mot type = 2 time: 6.075000 primary movement = 3.215208155234e-04 time: 6.075000000000e+00 total movement = 3.215208155234e-04 vel = 3.216082595021e-01 ------------------- tc state : vr = 0.321608, vf = 0.321608, maxvel = 0.321608, current_vel = 0.321608, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.321608, acc = 0.000000,T = 0.002668, P = 0.002440 initial results: dx= 0.000228,dt = 0.000709, a_f = 0.000000, v_f = 0.321608 actual v_f = 0.321608, a = 0.000000 split time is 0.000709403 tc id = 134, canon_type = 3, mot type = 2 time: 6.076000 primary movement = 3.215208155234e-04 time: 6.076000000000e+00 total movement = 3.215208155234e-04 vel = 3.216082595021e-01 ------------------- tc id 134 done Finishing split-cycle on id 134 tc state : vr = 0.321608, vf = 0.316513, maxvel = 8.589769, current_vel = 0.321608, fs = 1.000000, tc = 0.000291, term = 3 tc result: v = 0.321608, acc = 0.000000,T = 0.000902, P = 0.000093 initial results: dx= 0.000808,dt = 0.002533, a_f = -2.011486, v_f = 0.316513 dt = 0.002533, not at end yet secondary movement = 0.000093 tc id = 134, canon_type = 2, mot type = 1 time: 6.077000 primary movement = 2.281186110699e-04 time: 6.077000000000e+00 total movement = 3.215770399707e-04 vel = 3.216082595021e-01 Finished tc id 134 ------------------- Activate tc id = 134 target_vel = 0.321608 final_vel = 0.316513 length = 0.000902 tc state : vr = 0.321608, vf = 0.316513, maxvel = 8.589769, current_vel = 0.321608, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.321608, acc = 0.000000,T = 0.000902, P = 0.000415 initial results: dx= 0.000487,dt = 0.001525, a_f = -3.341096, v_f = 0.316513 dt = 0.001525, not at end yet tc id = 134, canon_type = 2, mot type = 1 time: 6.078000 primary movement = 3.216082595021e-04 time: 6.078000000000e+00 total movement = 3.216082595021e-04 vel = 3.216082595021e-01 ------------------- tc state : vr = 0.321608, vf = 0.316513, maxvel = 8.589769, current_vel = 0.321608, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.321608, acc = 0.000000,T = 0.000902, P = 0.000737 initial results: dx= 0.000165,dt = 0.000517, a_f = -9.855998, v_f = 0.316513 actual v_f = 0.316513, a = -9.855998 split time is 0.000516934 tc id = 134, canon_type = 2, mot type = 1 time: 6.079000 primary movement = 3.216082595021e-04 time: 6.079000000000e+00 total movement = 3.216082595021e-04 vel = 3.216082595021e-01 ------------------- tc id 134 done Finishing split-cycle on id 135 tc state : vr = 0.316513, vf = 0.316513, maxvel = 0.316513, current_vel = 0.316513, fs = 1.000000, tc = 0.000483, term = 3 tc result: v = 0.316513, acc = 0.000000,T = 0.003426, P = 0.000153 initial results: dx= 0.003273,dt = 0.010341, a_f = 0.000000, v_f = 0.316513 dt = 0.010341, not at end yet secondary movement = 0.000153 tc id = 135, canon_type = 3, mot type = 2 time: 6.080000 primary movement = 1.649332705663e-04 time: 6.080000000000e+00 total movement = 3.178202077540e-04 vel = 3.165133622420e-01 Finished tc id 134 ------------------- Activate tc id = 135 target_vel = 0.316513 final_vel = 0.316513 length = 0.003426 tc state : vr = 0.316513, vf = 0.316513, maxvel = 0.316513, current_vel = 0.316513, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.316513, acc = 0.000000,T = 0.003426, P = 0.000469 initial results: dx= 0.002957,dt = 0.009341, a_f = 0.000000, v_f = 0.316513 dt = 0.009341, not at end yet tc id = 135, canon_type = 3, mot type = 2 time: 6.081000 primary movement = 3.164245109179e-04 time: 6.081000000000e+00 total movement = 3.164245109179e-04 vel = 3.165133622420e-01 ------------------- tc state : vr = 0.316513, vf = 0.316513, maxvel = 0.316513, current_vel = 0.316513, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.316513, acc = 0.000000,T = 0.003426, P = 0.000786 initial results: dx= 0.002640,dt = 0.008341, a_f = 0.000000, v_f = 0.316513 dt = 0.008341, not at end yet tc id = 135, canon_type = 3, mot type = 2 time: 6.082000 primary movement = 3.164245109179e-04 time: 6.082000000000e+00 total movement = 3.164245109179e-04 vel = 3.165133622420e-01 ------------------- tc state : vr = 0.316513, vf = 0.316513, maxvel = 0.316513, current_vel = 0.316513, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.316513, acc = 0.000000,T = 0.003426, P = 0.001102 initial results: dx= 0.002324,dt = 0.007341, a_f = 0.000000, v_f = 0.316513 dt = 0.007341, not at end yet tc id = 135, canon_type = 3, mot type = 2 time: 6.083000 primary movement = 3.164245109179e-04 time: 6.083000000000e+00 total movement = 3.164245109179e-04 vel = 3.165133622420e-01 ------------------- tc state : vr = 0.316513, vf = 0.316513, maxvel = 0.316513, current_vel = 0.316513, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.316513, acc = 0.000000,T = 0.003426, P = 0.001419 initial results: dx= 0.002007,dt = 0.006341, a_f = 0.000000, v_f = 0.316513 dt = 0.006341, not at end yet tc id = 135, canon_type = 3, mot type = 2 time: 6.084000 primary movement = 3.164245109179e-04 time: 6.084000000000e+00 total movement = 3.164245109179e-04 vel = 3.165133622420e-01 ------------------- tc state : vr = 0.316513, vf = 0.316513, maxvel = 0.316513, current_vel = 0.316513, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.316513, acc = 0.000000,T = 0.003426, P = 0.001735 initial results: dx= 0.001690,dt = 0.005341, a_f = 0.000000, v_f = 0.316513 dt = 0.005341, not at end yet tc id = 135, canon_type = 3, mot type = 2 time: 6.085000 primary movement = 3.164245109179e-04 time: 6.085000000000e+00 total movement = 3.164245109179e-04 vel = 3.165133622420e-01 ------------------- tc state : vr = 0.316513, vf = 0.316513, maxvel = 0.316513, current_vel = 0.316513, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.316513, acc = 0.000000,T = 0.003426, P = 0.002052 initial results: dx= 0.001374,dt = 0.004341, a_f = 0.000000, v_f = 0.316513 dt = 0.004341, not at end yet tc id = 135, canon_type = 3, mot type = 2 time: 6.086000 primary movement = 3.164245109179e-04 time: 6.086000000000e+00 total movement = 3.164245109179e-04 vel = 3.165133622420e-01 ------------------- tc state : vr = 0.316513, vf = 0.316513, maxvel = 0.316513, current_vel = 0.316513, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.316513, acc = 0.000000,T = 0.003426, P = 0.002368 initial results: dx= 0.001057,dt = 0.003341, a_f = 0.000000, v_f = 0.316513 dt = 0.003341, not at end yet tc id = 135, canon_type = 3, mot type = 2 time: 6.087000 primary movement = 3.164245109179e-04 time: 6.087000000000e+00 total movement = 3.164245109179e-04 vel = 3.165133622420e-01 ------------------- tc state : vr = 0.316513, vf = 0.316513, maxvel = 0.316513, current_vel = 0.316513, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.316513, acc = 0.000000,T = 0.003426, P = 0.002685 initial results: dx= 0.000741,dt = 0.002341, a_f = 0.000000, v_f = 0.316513 dt = 0.002341, not at end yet tc id = 135, canon_type = 3, mot type = 2 time: 6.088000 primary movement = 3.164245109179e-04 time: 6.088000000000e+00 total movement = 3.164245109179e-04 vel = 3.165133622420e-01 ------------------- tc state : vr = 0.316513, vf = 0.316513, maxvel = 0.316513, current_vel = 0.316513, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.316513, acc = 0.000000,T = 0.003426, P = 0.003002 initial results: dx= 0.000424,dt = 0.001341, a_f = 0.000000, v_f = 0.316513 dt = 0.001341, not at end yet tc id = 135, canon_type = 3, mot type = 2 time: 6.089000 primary movement = 3.164245109179e-04 time: 6.089000000000e+00 total movement = 3.164245109179e-04 vel = 3.165133622420e-01 ------------------- tc state : vr = 0.316513, vf = 0.316513, maxvel = 0.316513, current_vel = 0.316513, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.316513, acc = 0.000000,T = 0.003426, P = 0.003318 initial results: dx= 0.000108,dt = 0.000341, a_f = 0.000000, v_f = 0.316513 actual v_f = 0.316513, a = 0.000000 split time is 0.000340932 tc id = 135, canon_type = 3, mot type = 2 time: 6.090000 primary movement = 3.164245109179e-04 time: 6.090000000000e+00 total movement = 3.164245109179e-04 vel = 3.165133622420e-01 ------------------- tc id 135 done Finishing split-cycle on id 135 tc state : vr = 0.808299, vf = 0.283001, maxvel = 10.416625, current_vel = 0.341228, fs = 1.000000, tc = 0.000659, term = 3 tc result: v = 0.341228, acc = 37.500000,T = 0.001697, P = 0.000217 initial results: dx= 0.001481,dt = 0.004744, a_f = -12.273839, v_f = 0.283001 dt = 0.004744, not at end yet secondary movement = 0.000217 tc id = 135, canon_type = 2, mot type = 1 time: 6.091000 primary movement = 1.079059359630e-04 time: 6.091000000000e+00 total movement = 3.246542962293e-04 vel = 3.412284212924e-01 Finished tc id 135 ------------------- Activate tc id = 135 target_vel = 0.808299 final_vel = 0.283001 length = 0.001697 tc state : vr = 0.808299, vf = 0.283001, maxvel = 10.416625, current_vel = 0.378728, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.378728, acc = 37.500000,T = 0.001697, P = 0.000577 initial results: dx= 0.001121,dt = 0.003387, a_f = -28.261612, v_f = 0.283001 dt = 0.003387, not at end yet tc id = 135, canon_type = 2, mot type = 1 time: 6.092000 primary movement = 3.599784212924e-04 time: 6.092000000000e+00 total movement = 3.599784212924e-04 vel = 3.787284212924e-01 ------------------- tc state : vr = 0.808299, vf = 0.283001, maxvel = 10.416625, current_vel = 0.368924, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.368924, acc = -9.804073,T = 0.001697, P = 0.000951 on final decel initial results: dx= 0.000747,dt = 0.002291, a_f = -37.500000, v_f = 0.283001 dt = 0.002291, not at end yet tc id = 135, canon_type = 2, mot type = 1 time: 6.093000 primary movement = 3.738263849366e-04 time: 6.093000000000e+00 total movement = 3.738263849366e-04 vel = 3.689243485809e-01 ------------------- tc state : vr = 0.808299, vf = 0.283001, maxvel = 10.416625, current_vel = 0.331424, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.331424, acc = -37.500000,T = 0.001697, P = 0.001301 on final decel initial results: dx= 0.000397,dt = 0.001291, a_f = -37.500000, v_f = 0.283001 dt = 0.001291, not at end yet tc id = 135, canon_type = 2, mot type = 1 time: 6.094000 primary movement = 3.501743485809e-04 time: 6.094000000000e+00 total movement = 3.501743485809e-04 vel = 3.314243485809e-01 ------------------- tc state : vr = 0.808299, vf = 0.283001, maxvel = 10.416625, current_vel = 0.293924, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.293924, acc = -37.500000,T = 0.001697, P = 0.001613 on final decel initial results: dx= 0.000084,dt = 0.000291, a_f = -37.500000, v_f = 0.283001 actual v_f = 0.283001, a = -37.500000 split time is 0.000291288 tc id = 135, canon_type = 2, mot type = 1 time: 6.095000 primary movement = 3.126743485809e-04 time: 6.095000000000e+00 total movement = 3.126743485809e-04 vel = 2.939243485809e-01 ------------------- tc id 135 done Finishing split-cycle on id 136 tc state : vr = 0.283001, vf = 0.000000, maxvel = 0.283001, current_vel = 0.276085, fs = 1.000000, tc = 0.000709, term = 3 tc result: v = 0.276085, acc = -9.759195,T = 0.002739, P = 0.000198 on final decel initial results: dx= 0.002541,dt = 0.018406, a_f = -15.000000, v_f = 0.000000 dt = 0.018406, not at end yet secondary movement = 0.000198 tc id = 136, canon_type = 3, mot type = 2 time: 6.096000 primary movement = 8.402561592943e-05 time: 6.096000000000e+00 total movement = 2.821069867754e-04 vel = 2.760846001360e-01 Finished tc id 135 ------------------- Activate tc id = 136 target_vel = 0.283001 final_vel = 0.000000 length = 0.002739 tc state : vr = 0.283001, vf = 0.000000, maxvel = 0.283001, current_vel = 0.261085, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.261085, acc = -15.000000,T = 0.002739, P = 0.000467 on final decel initial results: dx= 0.002272,dt = 0.017406, a_f = -15.000000, v_f = 0.000000 dt = 0.017406, not at end yet tc id = 136, canon_type = 3, mot type = 2 time: 6.097000 primary movement = 2.684996542445e-04 time: 6.097000000000e+00 total movement = 2.684996542445e-04 vel = 2.610846001360e-01 ------------------- tc state : vr = 0.283001, vf = 0.000000, maxvel = 0.283001, current_vel = 0.246085, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.246085, acc = -15.000000,T = 0.002739, P = 0.000720 on final decel initial results: dx= 0.002019,dt = 0.016406, a_f = -15.000000, v_f = 0.000000 dt = 0.016406, not at end yet tc id = 136, canon_type = 3, mot type = 2 time: 6.098000 primary movement = 2.535131057144e-04 time: 6.098000000000e+00 total movement = 2.535131057144e-04 vel = 2.460846001360e-01 ------------------- tc state : vr = 0.283001, vf = 0.000000, maxvel = 0.283001, current_vel = 0.231085, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.231085, acc = -15.000000,T = 0.002739, P = 0.000959 on final decel initial results: dx= 0.001780,dt = 0.015406, a_f = -15.000000, v_f = 0.000000 dt = 0.015406, not at end yet tc id = 136, canon_type = 3, mot type = 2 time: 6.099000 primary movement = 2.385250565522e-04 time: 6.099000000000e+00 total movement = 2.385250565522e-04 vel = 2.310846001360e-01 ------------------- tc state : vr = 0.283001, vf = 0.000000, maxvel = 0.283001, current_vel = 0.216085, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.216085, acc = -15.000000,T = 0.002739, P = 0.001182 on final decel initial results: dx= 0.001556,dt = 0.014406, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.014406 dt = 0.014406, not at end yet tc id = 136, canon_type = 3, mot type = 2 time: 6.100000 primary movement = 2.235355954773e-04 time: 6.100000000000e+00 total movement = 2.235355954773e-04 vel = 2.160846001360e-01 ------------------- tc state : vr = 0.283001, vf = 0.000000, maxvel = 0.283001, current_vel = 0.201085, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.201085, acc = -15.000000,T = 0.002739, P = 0.001391 on final decel initial results: dx= 0.001348,dt = 0.013406, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.013406 dt = 0.013406, not at end yet tc id = 136, canon_type = 3, mot type = 2 time: 6.101000 primary movement = 2.085448112176e-04 time: 6.101000000000e+00 total movement = 2.085448112176e-04 vel = 2.010846001360e-01 ------------------- tc state : vr = 0.283001, vf = 0.000000, maxvel = 0.283001, current_vel = 0.186085, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.186085, acc = -15.000000,T = 0.002739, P = 0.001585 on final decel initial results: dx= 0.001154,dt = 0.012406, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.012406 dt = 0.012406, not at end yet tc id = 136, canon_type = 3, mot type = 2 time: 6.102000 primary movement = 1.935527925087e-04 time: 6.102000000000e+00 total movement = 1.935527925087e-04 vel = 1.860846001360e-01 ------------------- tc state : vr = 0.283001, vf = 0.000000, maxvel = 0.283001, current_vel = 0.171085, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.171085, acc = -15.000000,T = 0.002739, P = 0.001763 on final decel initial results: dx= 0.000976,dt = 0.011406, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.011406 dt = 0.011406, not at end yet tc id = 136, canon_type = 3, mot type = 2 time: 6.103000 primary movement = 1.785596280937e-04 time: 6.103000000000e+00 total movement = 1.785596280937e-04 vel = 1.710846001360e-01 ------------------- tc state : vr = 0.283001, vf = 0.000000, maxvel = 0.283001, current_vel = 0.156085, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.156085, acc = -15.000000,T = 0.002739, P = 0.001927 on final decel initial results: dx= 0.000812,dt = 0.010406, a_f = -15.000000, v_f = 0.000000 dt = 0.010406, not at end yet tc id = 136, canon_type = 3, mot type = 2 time: 6.104000 primary movement = 1.635654067221e-04 time: 6.104000000000e+00 total movement = 1.635654067221e-04 vel = 1.560846001360e-01 ------------------- tc state : vr = 0.283001, vf = 0.000000, maxvel = 0.283001, current_vel = 0.141085, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.141085, acc = -15.000000,T = 0.002739, P = 0.002075 on final decel initial results: dx= 0.000663,dt = 0.009406, a_f = -15.000000, v_f = 0.000000 dt = 0.009406, not at end yet tc id = 136, canon_type = 3, mot type = 2 time: 6.105000 primary movement = 1.485702171502e-04 time: 6.105000000000e+00 total movement = 1.485702171502e-04 vel = 1.410846001360e-01 ------------------- tc state : vr = 0.283001, vf = 0.000000, maxvel = 0.283001, current_vel = 0.126085, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.126085, acc = -15.000000,T = 0.002739, P = 0.002209 on final decel initial results: dx= 0.000530,dt = 0.008406, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.008406 dt = 0.008406, not at end yet tc id = 136, canon_type = 3, mot type = 2 time: 6.106000 primary movement = 1.335741481395e-04 time: 6.106000000000e+00 total movement = 1.335741481395e-04 vel = 1.260846001360e-01 ------------------- tc state : vr = 0.283001, vf = 0.000000, maxvel = 0.283001, current_vel = 0.111085, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.111085, acc = -15.000000,T = 0.002739, P = 0.002328 on final decel initial results: dx= 0.000411,dt = 0.007406, a_f = -15.000000, v_f = 0.000000 dt = 0.007406, not at end yet tc id = 136, canon_type = 3, mot type = 2 time: 6.107000 primary movement = 1.185772884571e-04 time: 6.107000000000e+00 total movement = 1.185772884571e-04 vel = 1.110846001360e-01 ------------------- tc state : vr = 0.283001, vf = 0.000000, maxvel = 0.283001, current_vel = 0.096085, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.096085, acc = -15.000000,T = 0.002739, P = 0.002431 on final decel initial results: dx= 0.000308,dt = 0.006406, a_f = -15.000000, v_f = 0.000000 dt = 0.006406, not at end yet tc id = 136, canon_type = 3, mot type = 2 time: 6.108000 primary movement = 1.035797268745e-04 time: 6.108000000000e+00 total movement = 1.035797268745e-04 vel = 9.608460013604e-02 ------------------- tc state : vr = 0.283001, vf = 0.000000, maxvel = 0.283001, current_vel = 0.081085, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.081085, acc = -15.000000,T = 0.002739, P = 0.002520 on final decel initial results: dx= 0.000219,dt = 0.005406, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.005406 dt = 0.005406, not at end yet tc id = 136, canon_type = 3, mot type = 2 time: 6.109000 primary movement = 8.858155216757e-05 time: 6.109000000000e+00 total movement = 8.858155216757e-05 vel = 8.108460013604e-02 ------------------- tc state : vr = 0.283001, vf = 0.000000, maxvel = 0.283001, current_vel = 0.066085, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.066085, acc = -15.000000,T = 0.002739, P = 0.002593 on final decel initial results: dx= 0.000146,dt = 0.004406, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.004406 dt = 0.004406, not at end yet tc id = 136, canon_type = 3, mot type = 2 time: 6.110000 primary movement = 7.358285311565e-05 time: 6.110000000000e+00 total movement = 7.358285311565e-05 vel = 6.608460013604e-02 ------------------- tc state : vr = 0.283001, vf = 0.000000, maxvel = 0.283001, current_vel = 0.051085, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.051085, acc = -15.000000,T = 0.002739, P = 0.002652 on final decel initial results: dx= 0.000087,dt = 0.003406, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.003406 dt = 0.003406, not at end yet tc id = 136, canon_type = 3, mot type = 2 time: 6.111000 primary movement = 5.858371850125e-05 time: 6.111000000000e+00 total movement = 5.858371850125e-05 vel = 5.108460013604e-02 ------------------- tc state : vr = 0.283001, vf = 0.000000, maxvel = 0.283001, current_vel = 0.036085, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.036085, acc = -15.000000,T = 0.002739, P = 0.002695 on final decel initial results: dx= 0.000043,dt = 0.002406, a_f = -15.000000, v_f = 0.000000 dt = 0.002406, not at end yet tc id = 136, canon_type = 3, mot type = 2 time: 6.112000 primary movement = 4.358423710950e-05 time: 6.112000000000e+00 total movement = 4.358423710950e-05 vel = 3.608460013604e-02 ------------------- tc state : vr = 0.283001, vf = 0.000000, maxvel = 0.283001, current_vel = 0.021085, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.021085, acc = -15.000000,T = 0.002739, P = 0.002724 on final decel initial results: dx= 0.000015,dt = 0.001406, a_f = -15.000000, v_f = 0.000000 dt = 0.001406, not at end yet tc id = 136, canon_type = 3, mot type = 2 time: 6.113000 primary movement = 2.858449772750e-05 time: 6.113000000000e+00 total movement = 2.858449772750e-05 vel = 2.108460013604e-02 ------------------- tc state : vr = 0.283001, vf = 0.000000, maxvel = 0.283001, current_vel = 0.006085, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.006085, acc = -15.000000,T = 0.002739, P = 0.002738 on final decel initial results: dx= 0.000001,dt = 0.000406, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.000406 actual v_f = 0.000000, a = -15.000000 split time is 0.00040564 tc id = 136, canon_type = 3, mot type = 2 time: 6.114000 primary movement = 1.358458914394e-05 time: 6.114000000000e+00 total movement = 1.358458914394e-05 vel = 6.084600136039e-03 ------------------- tc id 136 done Finishing split-cycle on id 136 tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.009190, fs = 1.000000, tc = 0.000594, term = 2 tc result: v = 0.009190, acc = 15.461646,T = 0.002656, P = 0.000003 secondary movement = 0.000003 tc id = 136, canon_type = 2, mot type = 1 time: 6.115000 primary movement = 1.234078618942e-06 time: 6.115000000000e+00 total movement = 3.965100481074e-06 vel = 9.189787104486e-03 Finished tc id 136 ------------------- Activate tc id = 136 target_vel = 8.589769 final_vel = 0.000000 length = 0.002656 Activate nexttc id 137 tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.024651, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.024651, acc = 15.461646,T = 0.002656, P = 0.000020 tc id = 136, canon_type = 2, mot type = 1 time: 6.116000 primary movement = 1.692061015252e-05 time: 6.116000000000e+00 total movement = 1.692061015252e-05 vel = 2.465143320055e-02 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.040113, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.040113, acc = 15.461646,T = 0.002656, P = 0.000052 tc id = 136, canon_type = 2, mot type = 1 time: 6.117000 primary movement = 3.238225624858e-05 time: 6.117000000000e+00 total movement = 3.238225624858e-05 vel = 4.011307929662e-02 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.055575, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.055575, acc = 15.461646,T = 0.002656, P = 0.000100 tc id = 136, canon_type = 2, mot type = 1 time: 6.118000 primary movement = 4.784390234465e-05 time: 6.118000000000e+00 total movement = 4.784390234465e-05 vel = 5.557472539268e-02 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.071036, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.071036, acc = 15.461646,T = 0.002656, P = 0.000163 tc id = 136, canon_type = 2, mot type = 1 time: 6.119000 primary movement = 6.330554844072e-05 time: 6.119000000000e+00 total movement = 6.330554844072e-05 vel = 7.103637148875e-02 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.086498, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.086498, acc = 15.461646,T = 0.002656, P = 0.000242 tc id = 136, canon_type = 2, mot type = 1 time: 6.120000 primary movement = 7.876719453678e-05 time: 6.120000000000e+00 total movement = 7.876719453678e-05 vel = 8.649801758482e-02 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.101960, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.101960, acc = 15.461646,T = 0.002656, P = 0.000336 tc id = 136, canon_type = 2, mot type = 1 time: 6.121000 primary movement = 9.422884063285e-05 time: 6.121000000000e+00 total movement = 9.422884063285e-05 vel = 1.019596636809e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.117421, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.117421, acc = 15.461646,T = 0.002656, P = 0.000446 tc id = 136, canon_type = 2, mot type = 1 time: 6.122000 primary movement = 1.096904867289e-04 time: 6.122000000000e+00 total movement = 1.096904867289e-04 vel = 1.174213097769e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.132883, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.132883, acc = 15.461646,T = 0.002656, P = 0.000571 tc id = 136, canon_type = 2, mot type = 1 time: 6.123000 primary movement = 1.251521328250e-04 time: 6.123000000000e+00 total movement = 1.251521328250e-04 vel = 1.328829558730e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.148345, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.148345, acc = 15.461646,T = 0.002656, P = 0.000712 tc id = 136, canon_type = 2, mot type = 1 time: 6.124000 primary movement = 1.406137789210e-04 time: 6.124000000000e+00 total movement = 1.406137789210e-04 vel = 1.483446019691e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.163806, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.163806, acc = 15.461646,T = 0.002656, P = 0.000868 tc id = 136, canon_type = 2, mot type = 1 time: 6.125000 primary movement = 1.560754250171e-04 time: 6.125000000000e+00 total movement = 1.560754250171e-04 vel = 1.638062480651e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.179268, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.179268, acc = 15.461646,T = 0.002656, P = 0.001039 tc id = 136, canon_type = 2, mot type = 1 time: 6.126000 primary movement = 1.715370711132e-04 time: 6.126000000000e+00 total movement = 1.715370711132e-04 vel = 1.792678941612e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.194730, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.194730, acc = 15.461646,T = 0.002656, P = 0.001226 tc id = 136, canon_type = 2, mot type = 1 time: 6.127000 primary movement = 1.869987172093e-04 time: 6.127000000000e+00 total movement = 1.869987172093e-04 vel = 1.947295402573e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.195388, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.195388, acc = 0.658110,T = 0.002656, P = 0.001421 tc id = 136, canon_type = 2, mot type = 1 time: 6.128000 primary movement = 1.950585951383e-04 time: 6.128000000000e+00 total movement = 1.950585951383e-04 vel = 1.953876500192e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.179926, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.179926, acc = -15.461646,T = 0.002656, P = 0.001609 on final decel tc id = 136, canon_type = 2, mot type = 1 tc state : vr = 0.015462, vf = 0.015462, maxvel = 8.771602, current_vel = 0.015462, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.015462, acc = 15.461646,T = 0.013239, P = 0.000008 initial results: dx= 0.013231,dt = 0.078490, a_f = 3.901325, v_f = 0.321677 dt = 0.078490, not at end yet tc id = 136, canon_type = 2, mot type = 1 secondary movement = 0.000008 time: 6.129000 primary movement = 1.876568269712e-04 time: 6.129000000000e+00 total movement = 1.953876500192e-04 vel = 1.953876500192e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.164464, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.164464, acc = -15.461646,T = 0.002656, P = 0.001781 on final decel tc id = 136, canon_type = 2, mot type = 1 tc state : vr = 0.030923, vf = 0.030923, maxvel = 8.771602, current_vel = 0.030923, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.030923, acc = 15.461646,T = 0.013239, P = 0.000031 initial results: dx= 0.013208,dt = 0.074917, a_f = 3.881025, v_f = 0.321677 dt = 0.074917, not at end yet tc id = 136, canon_type = 2, mot type = 1 secondary movement = 0.000023 time: 6.130000 primary movement = 1.721951808751e-04 time: 6.130000000000e+00 total movement = 1.953876500193e-04 vel = 1.953876500192e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.149003, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.149003, acc = -15.461646,T = 0.002656, P = 0.001938 on final decel tc id = 136, canon_type = 2, mot type = 1 tc state : vr = 0.046385, vf = 0.046385, maxvel = 8.771602, current_vel = 0.046385, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.046385, acc = 15.461646,T = 0.013239, P = 0.000070 initial results: dx= 0.013169,dt = 0.071560, a_f = 3.847034, v_f = 0.321677 dt = 0.071560, not at end yet tc id = 136, canon_type = 2, mot type = 1 secondary movement = 0.000039 time: 6.131000 primary movement = 1.567335347791e-04 time: 6.131000000000e+00 total movement = 1.953876500193e-04 vel = 1.953876500192e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.133541, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.133541, acc = -15.461646,T = 0.002656, P = 0.002079 on final decel tc id = 136, canon_type = 2, mot type = 1 tc state : vr = 0.061847, vf = 0.061847, maxvel = 8.771602, current_vel = 0.061847, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.061847, acc = 15.461646,T = 0.013239, P = 0.000124 initial results: dx= 0.013115,dt = 0.068392, a_f = 3.799109, v_f = 0.321677 dt = 0.068392, not at end yet tc id = 136, canon_type = 2, mot type = 1 secondary movement = 0.000054 time: 6.132000 primary movement = 1.412718886830e-04 time: 6.132000000000e+00 total movement = 1.953876500192e-04 vel = 1.953876500192e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.118079, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.118079, acc = -15.461646,T = 0.002656, P = 0.002205 on final decel tc id = 136, canon_type = 2, mot type = 1 tc state : vr = 0.077308, vf = 0.077308, maxvel = 8.771602, current_vel = 0.077308, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.077308, acc = 15.461646,T = 0.013239, P = 0.000193 initial results: dx= 0.013045,dt = 0.065393, a_f = 3.736908, v_f = 0.321677 dt = 0.065393, not at end yet tc id = 136, canon_type = 2, mot type = 1 secondary movement = 0.000070 time: 6.133000 primary movement = 1.258102425870e-04 time: 6.133000000000e+00 total movement = 1.953876500192e-04 vel = 1.953876500192e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.102618, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.102618, acc = -15.461646,T = 0.002656, P = 0.002315 on final decel tc id = 136, canon_type = 2, mot type = 1 tc state : vr = 0.092770, vf = 0.092770, maxvel = 8.771602, current_vel = 0.092770, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.092770, acc = 15.461646,T = 0.013239, P = 0.000278 initial results: dx= 0.012960,dt = 0.062543, a_f = 3.659976, v_f = 0.321677 dt = 0.062543, not at end yet tc id = 136, canon_type = 2, mot type = 1 secondary movement = 0.000085 time: 6.134000 primary movement = 1.103485964909e-04 time: 6.134000000000e+00 total movement = 1.953876500192e-04 vel = 1.953876500192e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.087156, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.087156, acc = -15.461646,T = 0.002656, P = 0.002410 on final decel tc id = 136, canon_type = 2, mot type = 1 tc state : vr = 0.108232, vf = 0.108232, maxvel = 8.771602, current_vel = 0.108232, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.108232, acc = 15.461646,T = 0.013239, P = 0.000379 initial results: dx= 0.012860,dt = 0.059826, a_f = 3.567746, v_f = 0.321677 dt = 0.059826, not at end yet tc id = 137, canon_type = 2, mot type = 1 secondary movement = 0.000101 time: 6.135000 primary movement = 9.488695039482e-05 time: 6.135000000000e+00 total movement = 1.953876500193e-04 vel = 1.953876500192e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.071694, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.071694, acc = -15.461646,T = 0.002656, P = 0.002490 on final decel tc id = 136, canon_type = 2, mot type = 1 tc state : vr = 0.123693, vf = 0.123693, maxvel = 8.771602, current_vel = 0.123693, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.123693, acc = 15.461646,T = 0.013239, P = 0.000495 initial results: dx= 0.012744,dt = 0.057229, a_f = 3.459519, v_f = 0.321677 dt = 0.057229, not at end yet tc id = 137, canon_type = 2, mot type = 1 secondary movement = 0.000116 time: 6.136000 primary movement = 7.942530429875e-05 time: 6.136000000000e+00 total movement = 1.953876500193e-04 vel = 1.953876500192e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.056233, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.056233, acc = -15.461646,T = 0.002656, P = 0.002554 on final decel tc id = 136, canon_type = 2, mot type = 1 tc state : vr = 0.139155, vf = 0.139155, maxvel = 8.771602, current_vel = 0.139155, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.139155, acc = 15.461646,T = 0.013239, P = 0.000626 initial results: dx= 0.012613,dt = 0.054738, a_f = 3.334455, v_f = 0.321677 dt = 0.054738, not at end yet tc id = 137, canon_type = 2, mot type = 1 secondary movement = 0.000131 time: 6.137000 primary movement = 6.396365820269e-05 time: 6.137000000000e+00 total movement = 1.953876500193e-04 vel = 1.953876500192e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.040771, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.040771, acc = -15.461646,T = 0.002656, P = 0.002602 on final decel tc id = 136, canon_type = 2, mot type = 1 tc state : vr = 0.154616, vf = 0.154616, maxvel = 8.771602, current_vel = 0.154616, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.154616, acc = 15.461646,T = 0.013239, P = 0.000773 initial results: dx= 0.012466,dt = 0.052344, a_f = 3.191558, v_f = 0.321677 dt = 0.052344, not at end yet tc id = 137, canon_type = 2, mot type = 1 secondary movement = 0.000147 time: 6.138000 primary movement = 4.850201210663e-05 time: 6.138000000000e+00 total movement = 1.953876500192e-04 vel = 1.953876500192e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.025310, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.025310, acc = -15.461646,T = 0.002656, P = 0.002635 on final decel tc id = 136, canon_type = 2, mot type = 1 tc state : vr = 0.170078, vf = 0.170078, maxvel = 8.771602, current_vel = 0.170078, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.170078, acc = 15.461646,T = 0.013239, P = 0.000935 initial results: dx= 0.012303,dt = 0.050038, a_f = 3.029649, v_f = 0.321677 dt = 0.050038, not at end yet tc id = 137, canon_type = 2, mot type = 1 secondary movement = 0.000162 time: 6.139000 primary movement = 3.304036601055e-05 time: 6.139000000000e+00 total movement = 1.953876500192e-04 vel = 1.953876500192e-01 ------------------- tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.009848, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.009848, acc = -15.461646,T = 0.002656, P = 0.002653 on final decel tc id = 136, canon_type = 2, mot type = 1 tc state : vr = 0.185540, vf = 0.185540, maxvel = 8.771602, current_vel = 0.185540, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.185540, acc = 15.461646,T = 0.013239, P = 0.001113 initial results: dx= 0.012126,dt = 0.047812, a_f = 2.847346, v_f = 0.321677 dt = 0.047812, not at end yet tc id = 137, canon_type = 2, mot type = 1 secondary movement = 0.000178 time: 6.140000 primary movement = 1.757871991448e-05 time: 6.140000000000e+00 total movement = 1.953876500192e-04 vel = 1.953876500192e-01 ------------------- Found newvel = -0.005614, assuming segment is done segment 136 at target in runcycle tc state : vr = 8.589769, vf = 0.000000, maxvel = 8.589769, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.002656, P = 0.002656 tc id = 136, canon_type = 2, mot type = 1 tc state : vr = 0.195388, vf = 0.195388, maxvel = 8.771602, current_vel = 0.195388, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.195388, acc = 9.847897,T = 0.013239, P = 0.001304 initial results: dx= 0.011935,dt = 0.046165, a_f = 2.735628, v_f = 0.321677 dt = 0.046165, not at end yet tc id = 137, canon_type = 2, mot type = 1 secondary movement = 0.000190 time: 6.141000 primary movement = 3.136182010953e-06 time: 6.141000000000e+00 total movement = 1.935998835970e-04 vel = 1.953876500192e-01 Finished tc id 136 ------------------- tc state : vr = 6.304162, vf = 0.321677, maxvel = 8.771602, current_vel = 0.211177, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.211177, acc = 15.788946,T = 0.013239, P = 0.001507 initial results: dx= 0.011732,dt = 0.044034, a_f = 2.509447, v_f = 0.321677 dt = 0.044034, not at end yet tc id = 137, canon_type = 2, mot type = 1 time: 6.142000 primary movement = 2.032821230277e-04 time: 6.142000000000e+00 total movement = 2.032821230277e-04 vel = 2.111765960362e-01 ------------------- tc state : vr = 6.304162, vf = 0.321677, maxvel = 8.771602, current_vel = 0.226966, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.226966, acc = 15.788946,T = 0.013239, P = 0.001726 initial results: dx= 0.011513,dt = 0.041968, a_f = 2.256756, v_f = 0.321677 dt = 0.041968, not at end yet tc id = 137, canon_type = 2, mot type = 1 time: 6.143000 primary movement = 2.190710690447e-04 time: 6.143000000000e+00 total movement = 2.190710690447e-04 vel = 2.269655420532e-01 ------------------- tc state : vr = 6.304162, vf = 0.321677, maxvel = 8.771602, current_vel = 0.242754, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.242754, acc = 15.788946,T = 0.013239, P = 0.001961 initial results: dx= 0.011278,dt = 0.039962, a_f = 1.974949, v_f = 0.321677 dt = 0.039962, not at end yet tc id = 137, canon_type = 2, mot type = 1 time: 6.144000 primary movement = 2.348600150617e-04 time: 6.144000000000e+00 total movement = 2.348600150617e-04 vel = 2.427544880701e-01 ------------------- tc state : vr = 6.304162, vf = 0.321677, maxvel = 8.771602, current_vel = 0.258543, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.258543, acc = 15.788946,T = 0.013239, P = 0.002212 initial results: dx= 0.011027,dt = 0.038010, a_f = 1.660955, v_f = 0.321677 dt = 0.038010, not at end yet tc id = 137, canon_type = 2, mot type = 1 time: 6.145000 primary movement = 2.506489610786e-04 time: 6.145000000000e+00 total movement = 2.506489610786e-04 vel = 2.585434340871e-01 ------------------- tc state : vr = 6.304162, vf = 0.321677, maxvel = 8.771602, current_vel = 0.274332, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.274332, acc = 15.788946,T = 0.013239, P = 0.002478 initial results: dx= 0.010761,dt = 0.036109, a_f = 1.311143, v_f = 0.321677 dt = 0.036109, not at end yet tc id = 137, canon_type = 2, mot type = 1 time: 6.146000 primary movement = 2.664379070956e-04 time: 6.146000000000e+00 total movement = 2.664379070956e-04 vel = 2.743323801041e-01 ------------------- tc state : vr = 6.304162, vf = 0.321677, maxvel = 8.771602, current_vel = 0.290121, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.290121, acc = 15.788946,T = 0.013239, P = 0.002760 initial results: dx= 0.010479,dt = 0.034255, a_f = 0.921200, v_f = 0.321677 dt = 0.034255, not at end yet tc id = 137, canon_type = 2, mot type = 1 time: 6.147000 primary movement = 2.822268531125e-04 time: 6.147000000000e+00 total movement = 2.822268531125e-04 vel = 2.901213261210e-01 ------------------- tc state : vr = 6.304162, vf = 0.321677, maxvel = 8.771602, current_vel = 0.305910, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.305910, acc = 15.788946,T = 0.013239, P = 0.003058 initial results: dx= 0.010180,dt = 0.032443, a_f = 0.485973, v_f = 0.321677 dt = 0.032443, not at end yet tc id = 137, canon_type = 2, mot type = 1 time: 6.148000 primary movement = 2.980157991295e-04 time: 6.148000000000e+00 total movement = 2.980157991295e-04 vel = 3.059102721380e-01 ------------------- tc state : vr = 6.304162, vf = 0.321677, maxvel = 8.771602, current_vel = 0.321699, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.321699, acc = 15.788946,T = 0.013239, P = 0.003372 initial results: dx= 0.009867,dt = 0.030672, a_f = -0.000730, v_f = 0.321677 dt = 0.030672, not at end yet tc id = 137, canon_type = 2, mot type = 1 time: 6.149000 primary movement = 3.138047451465e-04 time: 6.149000000000e+00 total movement = 3.138047451465e-04 vel = 3.216992181549e-01 ------------------- tc state : vr = 6.304162, vf = 0.321677, maxvel = 8.771602, current_vel = 0.337488, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.337488, acc = 15.788946,T = 0.013239, P = 0.003702 initial results: dx= 0.009537,dt = 0.028937, a_f = -0.546407, v_f = 0.321677 dt = 0.028937, not at end yet tc id = 137, canon_type = 2, mot type = 1 time: 6.150000 primary movement = 3.295936911634e-04 time: 6.150000000000e+00 total movement = 3.295936911634e-04 vel = 3.374881641719e-01 ------------------- tc state : vr = 6.304162, vf = 0.321677, maxvel = 8.771602, current_vel = 0.353277, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.353277, acc = 15.788946,T = 0.013239, P = 0.004047 initial results: dx= 0.009192,dt = 0.027237, a_f = -1.160215, v_f = 0.321677 dt = 0.027237, not at end yet tc id = 137, canon_type = 2, mot type = 1 time: 6.151000 primary movement = 3.453826371804e-04 time: 6.151000000000e+00 total movement = 3.453826371804e-04 vel = 3.532771101889e-01 ------------------- tc state : vr = 6.304162, vf = 0.321677, maxvel = 8.771602, current_vel = 0.369066, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.369066, acc = 15.788946,T = 0.013239, P = 0.004408 initial results: dx= 0.008831,dt = 0.025568, a_f = -1.853440, v_f = 0.321677 dt = 0.025568, not at end yet tc id = 137, canon_type = 2, mot type = 1 time: 6.152000 primary movement = 3.611715831973e-04 time: 6.152000000000e+00 total movement = 3.611715831973e-04 vel = 3.690660562058e-01 ------------------- tc state : vr = 6.304162, vf = 0.321677, maxvel = 8.771602, current_vel = 0.384855, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.384855, acc = 15.788946,T = 0.013239, P = 0.004785 initial results: dx= 0.008454,dt = 0.023930, a_f = -2.640146, v_f = 0.321677 dt = 0.023930, not at end yet tc id = 137, canon_type = 2, mot type = 1 time: 6.153000 primary movement = 3.769605292143e-04 time: 6.153000000000e+00 total movement = 3.769605292143e-04 vel = 3.848550022228e-01 ------------------- tc state : vr = 6.304162, vf = 0.321677, maxvel = 8.771602, current_vel = 0.400644, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.400644, acc = 15.788946,T = 0.013239, P = 0.005178 initial results: dx= 0.008061,dt = 0.022319, a_f = -3.538071, v_f = 0.321677 dt = 0.022319, not at end yet tc id = 137, canon_type = 2, mot type = 1 time: 6.154000 primary movement = 3.927494752313e-04 time: 6.154000000000e+00 total movement = 3.927494752313e-04 vel = 4.006439482398e-01 ------------------- tc state : vr = 6.304162, vf = 0.321677, maxvel = 8.771602, current_vel = 0.416433, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.416433, acc = 15.788946,T = 0.013239, P = 0.005586 initial results: dx= 0.007652,dt = 0.020735, a_f = -4.569896, v_f = 0.321677 dt = 0.020735, not at end yet tc id = 137, canon_type = 2, mot type = 1 time: 6.155000 primary movement = 4.085384212482e-04 time: 6.155000000000e+00 total movement = 4.085384212482e-04 vel = 4.164328942567e-01 ------------------- tc state : vr = 6.304162, vf = 0.321677, maxvel = 8.771602, current_vel = 0.432222, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.432222, acc = 15.788946,T = 0.013239, P = 0.006011 initial results: dx= 0.007228,dt = 0.019175, a_f = -5.765089, v_f = 0.321677 dt = 0.019175, not at end yet tc id = 137, canon_type = 2, mot type = 1 time: 6.156000 primary movement = 4.243273672652e-04 time: 6.156000000000e+00 total movement = 4.243273672652e-04 vel = 4.322218402737e-01 ------------------- tc state : vr = 6.304162, vf = 0.321677, maxvel = 8.771602, current_vel = 0.448011, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.448011, acc = 15.788946,T = 0.013239, P = 0.006451 initial results: dx= 0.006788,dt = 0.017638, a_f = -7.162627, v_f = 0.321677 dt = 0.017638, not at end yet tc id = 137, canon_type = 2, mot type = 1 time: 6.157000 primary movement = 4.401163132822e-04 time: 6.157000000000e+00 total movement = 4.401163132822e-04 vel = 4.480107862906e-01 ------------------- tc state : vr = 6.304162, vf = 0.321677, maxvel = 8.771602, current_vel = 0.463800, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.463800, acc = 15.788946,T = 0.013239, P = 0.006907 initial results: dx= 0.006332,dt = 0.016123, a_f = -8.815160, v_f = 0.321677 dt = 0.016123, not at end yet tc id = 137, canon_type = 2, mot type = 1 time: 6.158000 primary movement = 4.559052592991e-04 time: 6.158000000000e+00 total movement = 4.559052592991e-04 vel = 4.637997323076e-01 ------------------- tc state : vr = 6.304162, vf = 0.321677, maxvel = 8.771602, current_vel = 0.479589, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.479589, acc = 15.788946,T = 0.013239, P = 0.007378 initial results: dx= 0.005860,dt = 0.014627, a_f = -10.795555, v_f = 0.321677 dt = 0.014627, not at end yet tc id = 137, canon_type = 2, mot type = 1 time: 6.159000 primary movement = 4.716942053161e-04 time: 6.159000000000e+00 total movement = 4.716942053161e-04 vel = 4.795886783246e-01 ------------------- tc state : vr = 6.304162, vf = 0.321677, maxvel = 8.771602, current_vel = 0.495378, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.495378, acc = 15.788946,T = 0.013239, P = 0.007866 initial results: dx= 0.005373,dt = 0.013152, a_f = -13.207626, v_f = 0.321677 dt = 0.013152, not at end yet tc id = 137, canon_type = 2, mot type = 1 time: 6.160000 primary movement = 4.874831513330e-04 time: 6.160000000000e+00 total movement = 4.874831513330e-04 vel = 4.953776243415e-01 ------------------- tc state : vr = 6.304162, vf = 0.321677, maxvel = 8.771602, current_vel = 0.507254, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.507254, acc = 11.875925,T = 0.013239, P = 0.008367 initial results: dx= 0.004871,dt = 0.011754, a_f = -15.788946, v_f = 0.321677 recalculating with a_f = -15.788946, a = -15.788946 revised dt = 0.011754 dt = 0.011754, not at end yet tc id = 137, canon_type = 2, mot type = 1 time: 6.161000 primary movement = 5.013155866778e-04 time: 6.161000000000e+00 total movement = 5.013155866778e-04 vel = 5.072535490141e-01 ------------------- tc state : vr = 6.304162, vf = 0.321677, maxvel = 8.771602, current_vel = 0.491465, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.491465, acc = -15.788946,T = 0.013239, P = 0.008867 on final decel initial results: dx= 0.004372,dt = 0.010754, a_f = -15.788946, v_f = 0.321677 dt = 0.010754, not at end yet tc id = 137, canon_type = 2, mot type = 1 time: 6.162000 primary movement = 4.993590760056e-04 time: 6.162000000000e+00 total movement = 4.993590760056e-04 vel = 4.914646029972e-01 ------------------- tc state : vr = 6.304162, vf = 0.321677, maxvel = 8.771602, current_vel = 0.475676, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.475676, acc = -15.788946,T = 0.013239, P = 0.009350 on final decel initial results: dx= 0.003889,dt = 0.009754, a_f = -15.788946, v_f = 0.321677 dt = 0.009754, not at end yet tc id = 137, canon_type = 2, mot type = 1 time: 6.163000 primary movement = 4.835701299887e-04 time: 6.163000000000e+00 total movement = 4.835701299887e-04 vel = 4.756756569802e-01 ------------------- tc state : vr = 6.304162, vf = 0.321677, maxvel = 8.771602, current_vel = 0.459887, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.459887, acc = -15.788946,T = 0.013239, P = 0.009818 on final decel initial results: dx= 0.003421,dt = 0.008754, a_f = -15.788946, v_f = 0.321677 dt = 0.008754, not at end yet tc id = 137, canon_type = 2, mot type = 1 time: 6.164000 primary movement = 4.677811839717e-04 time: 6.164000000000e+00 total movement = 4.677811839717e-04 vel = 4.598867109632e-01 ------------------- tc state : vr = 6.304162, vf = 0.321677, maxvel = 8.771602, current_vel = 0.444098, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.444098, acc = -15.788946,T = 0.013239, P = 0.010270 on final decel initial results: dx= 0.002969,dt = 0.007754, a_f = -15.788946, v_f = 0.321677 dt = 0.007754, not at end yet tc id = 137, canon_type = 2, mot type = 1 time: 6.165000 primary movement = 4.519922379548e-04 time: 6.165000000000e+00 total movement = 4.519922379548e-04 vel = 4.440977649463e-01 ------------------- tc state : vr = 6.304162, vf = 0.321677, maxvel = 8.771602, current_vel = 0.428309, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.428309, acc = -15.788946,T = 0.013239, P = 0.010706 on final decel initial results: dx= 0.002533,dt = 0.006754, a_f = -15.788946, v_f = 0.321677 recalculating with a_f = -15.788946, a = -15.788946 revised dt = 0.006754 dt = 0.006754, not at end yet tc id = 137, canon_type = 2, mot type = 1 time: 6.166000 primary movement = 4.362032919378e-04 time: 6.166000000000e+00 total movement = 4.362032919378e-04 vel = 4.283088189293e-01 ------------------- tc state : vr = 6.304162, vf = 0.321677, maxvel = 8.771602, current_vel = 0.412520, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.412520, acc = -15.788946,T = 0.013239, P = 0.011127 on final decel initial results: dx= 0.002112,dt = 0.005754, a_f = -15.788946, v_f = 0.321677 dt = 0.005754, not at end yet tc id = 137, canon_type = 2, mot type = 1 time: 6.167000 primary movement = 4.204143459208e-04 time: 6.167000000000e+00 total movement = 4.204143459208e-04 vel = 4.125198729124e-01 ------------------- tc state : vr = 6.304162, vf = 0.321677, maxvel = 8.771602, current_vel = 0.396731, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.396731, acc = -15.788946,T = 0.013239, P = 0.011531 on final decel initial results: dx= 0.001708,dt = 0.004754, a_f = -15.788946, v_f = 0.321677 dt = 0.004754, not at end yet tc id = 137, canon_type = 2, mot type = 1 time: 6.168000 primary movement = 4.046253999039e-04 time: 6.168000000000e+00 total movement = 4.046253999039e-04 vel = 3.967309268954e-01 ------------------- tc state : vr = 6.304162, vf = 0.321677, maxvel = 8.771602, current_vel = 0.380942, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.380942, acc = -15.788946,T = 0.013239, P = 0.011920 on final decel initial results: dx= 0.001319,dt = 0.003754, a_f = -15.788946, v_f = 0.321677 recalculating with a_f = -15.788946, a = -15.788946 revised dt = 0.003754 dt = 0.003754, not at end yet tc id = 137, canon_type = 2, mot type = 1 time: 6.169000 primary movement = 3.888364538869e-04 time: 6.169000000000e+00 total movement = 3.888364538869e-04 vel = 3.809419808784e-01 ------------------- tc state : vr = 6.304162, vf = 0.321677, maxvel = 8.771602, current_vel = 0.365153, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.365153, acc = -15.788946,T = 0.013239, P = 0.012293 on final decel initial results: dx= 0.000946,dt = 0.002754, a_f = -15.788946, v_f = 0.321677 recalculating with a_f = -15.788946, a = -15.788946 revised dt = 0.002754 dt = 0.002754, not at end yet tc id = 137, canon_type = 2, mot type = 1 time: 6.170000 primary movement = 3.730475078700e-04 time: 6.170000000000e+00 total movement = 3.730475078700e-04 vel = 3.651530348615e-01 ------------------- tc state : vr = 6.304162, vf = 0.321677, maxvel = 8.771602, current_vel = 0.349364, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.349364, acc = -15.788946,T = 0.013239, P = 0.012650 on final decel initial results: dx= 0.000588,dt = 0.001754, a_f = -15.788946, v_f = 0.321677 recalculating with a_f = -15.788946, a = -15.788946 revised dt = 0.001754 dt = 0.001754, not at end yet tc id = 137, canon_type = 2, mot type = 1 time: 6.171000 primary movement = 3.572585618530e-04 time: 6.171000000000e+00 total movement = 3.572585618530e-04 vel = 3.493640888445e-01 ------------------- tc state : vr = 6.304162, vf = 0.321677, maxvel = 8.771602, current_vel = 0.333575, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.333575, acc = -15.788946,T = 0.013239, P = 0.012992 on final decel initial results: dx= 0.000247,dt = 0.000754, a_f = -15.788946, v_f = 0.321677 recalculating with a_f = -15.788946, a = -15.788946 revised dt = 0.000754 actual v_f = 0.321677, a = -15.788946 split time is 0.000753585 tc id = 137, canon_type = 2, mot type = 1 time: 6.172000 primary movement = 3.414696158360e-04 time: 6.172000000000e+00 total movement = 3.414696158360e-04 vel = 3.335751428276e-01 ------------------- tc id 137 done Finishing split-cycle on id 138 tc state : vr = 0.321677, vf = 0.321677, maxvel = 0.321677, current_vel = 0.321677, fs = 1.000000, tc = 0.000246, term = 3 tc result: v = 0.321677, acc = 0.000000,T = 0.002865, P = 0.000079 initial results: dx= 0.002786,dt = 0.008660, a_f = 0.000000, v_f = 0.321677 dt = 0.008660, not at end yet secondary movement = 0.000079 tc id = 138, canon_type = 3, mot type = 2 time: 6.173000 primary movement = 2.468938746674e-04 time: 6.173000000000e+00 total movement = 3.261587186656e-04 vel = 3.216768375161e-01 Finished tc id 137 ------------------- Activate tc id = 138 target_vel = 0.321677 final_vel = 0.321677 length = 0.002865 tc state : vr = 0.321677, vf = 0.321677, maxvel = 0.321677, current_vel = 0.321677, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.321677, acc = 0.000000,T = 0.002865, P = 0.000401 initial results: dx= 0.002464,dt = 0.007660, a_f = 0.000000, v_f = 0.321677 dt = 0.007660, not at end yet tc id = 138, canon_type = 3, mot type = 2 time: 6.174000 primary movement = 3.215894121765e-04 time: 6.174000000000e+00 total movement = 3.215894121765e-04 vel = 3.216768375161e-01 ------------------- tc state : vr = 0.321677, vf = 0.321677, maxvel = 0.321677, current_vel = 0.321677, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.321677, acc = 0.000000,T = 0.002865, P = 0.000723 initial results: dx= 0.002142,dt = 0.006660, a_f = 0.000000, v_f = 0.321677 dt = 0.006660, not at end yet tc id = 138, canon_type = 3, mot type = 2 time: 6.175000 primary movement = 3.215894121765e-04 time: 6.175000000000e+00 total movement = 3.215894121765e-04 vel = 3.216768375161e-01 ------------------- tc state : vr = 0.321677, vf = 0.321677, maxvel = 0.321677, current_vel = 0.321677, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.321677, acc = 0.000000,T = 0.002865, P = 0.001044 initial results: dx= 0.001821,dt = 0.005660, a_f = 0.000000, v_f = 0.321677 dt = 0.005660, not at end yet tc id = 138, canon_type = 3, mot type = 2 time: 6.176000 primary movement = 3.215894121765e-04 time: 6.176000000000e+00 total movement = 3.215894121765e-04 vel = 3.216768375161e-01 ------------------- tc state : vr = 0.321677, vf = 0.321677, maxvel = 0.321677, current_vel = 0.321677, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.321677, acc = 0.000000,T = 0.002865, P = 0.001366 initial results: dx= 0.001499,dt = 0.004660, a_f = 0.000000, v_f = 0.321677 dt = 0.004660, not at end yet tc id = 138, canon_type = 3, mot type = 2 time: 6.177000 primary movement = 3.215894121765e-04 time: 6.177000000000e+00 total movement = 3.215894121765e-04 vel = 3.216768375161e-01 ------------------- tc state : vr = 0.321677, vf = 0.321677, maxvel = 0.321677, current_vel = 0.321677, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.321677, acc = 0.000000,T = 0.002865, P = 0.001688 initial results: dx= 0.001177,dt = 0.003660, a_f = 0.000000, v_f = 0.321677 dt = 0.003660, not at end yet tc id = 138, canon_type = 3, mot type = 2 time: 6.178000 primary movement = 3.215894121765e-04 time: 6.178000000000e+00 total movement = 3.215894121765e-04 vel = 3.216768375161e-01 ------------------- tc state : vr = 0.321677, vf = 0.321677, maxvel = 0.321677, current_vel = 0.321677, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.321677, acc = 0.000000,T = 0.002865, P = 0.002009 initial results: dx= 0.000856,dt = 0.002660, a_f = 0.000000, v_f = 0.321677 dt = 0.002660, not at end yet tc id = 138, canon_type = 3, mot type = 2 time: 6.179000 primary movement = 3.215894121765e-04 time: 6.179000000000e+00 total movement = 3.215894121765e-04 vel = 3.216768375161e-01 ------------------- tc state : vr = 0.321677, vf = 0.321677, maxvel = 0.321677, current_vel = 0.321677, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.321677, acc = 0.000000,T = 0.002865, P = 0.002331 initial results: dx= 0.000534,dt = 0.001660, a_f = 0.000000, v_f = 0.321677 dt = 0.001660, not at end yet tc id = 138, canon_type = 3, mot type = 2 time: 6.180000 primary movement = 3.215894121765e-04 time: 6.180000000000e+00 total movement = 3.215894121765e-04 vel = 3.216768375161e-01 ------------------- tc state : vr = 0.321677, vf = 0.321677, maxvel = 0.321677, current_vel = 0.321677, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.321677, acc = 0.000000,T = 0.002865, P = 0.002653 initial results: dx= 0.000212,dt = 0.000660, a_f = 0.000000, v_f = 0.321677 actual v_f = 0.321677, a = 0.000000 split time is 0.000659851 tc id = 138, canon_type = 3, mot type = 2 time: 6.181000 primary movement = 3.215894121765e-04 time: 6.181000000000e+00 total movement = 3.215894121765e-04 vel = 3.216768375161e-01 ------------------- tc id 138 done Finishing split-cycle on id 138 tc state : vr = 0.401048, vf = 0.401048, maxvel = 9.054678, current_vel = 0.332765, fs = 1.000000, tc = 0.000340, term = 3 tc result: v = 0.332765, acc = 32.596971,T = 0.000880, P = 0.000111 initial results: dx= 0.000769,dt = 0.002095, a_f = 32.596971, v_f = 0.401048 dt = 0.002095, not at end yet secondary movement = 0.000111 tc id = 138, canon_type = 2, mot type = 1 time: 6.182000 primary movement = 2.122337909674e-04 time: 6.182000000000e+00 total movement = 3.235374711639e-04 vel = 3.327646516725e-01 Finished tc id 138 ------------------- Activate tc id = 138 target_vel = 0.401048 final_vel = 0.401048 length = 0.000880 tc state : vr = 0.401048, vf = 0.401048, maxvel = 9.054678, current_vel = 0.365362, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.365362, acc = 32.596971,T = 0.000880, P = 0.000460 initial results: dx= 0.000420,dt = 0.001095, a_f = 32.596971, v_f = 0.401048 dt = 0.001095, not at end yet tc id = 138, canon_type = 2, mot type = 1 time: 6.183000 primary movement = 3.490631370316e-04 time: 6.183000000000e+00 total movement = 3.490631370316e-04 vel = 3.653616223906e-01 ------------------- tc state : vr = 0.401048, vf = 0.401048, maxvel = 9.054678, current_vel = 0.397959, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.397959, acc = 32.596971,T = 0.000880, P = 0.000842 initial results: dx= 0.000038,dt = 0.000095, a_f = 32.596971, v_f = 0.401048 actual v_f = 0.401048, a = 32.596971 split time is 9.47755e-05 tc id = 138, canon_type = 2, mot type = 1 time: 6.184000 primary movement = 3.816601077497e-04 time: 6.184000000000e+00 total movement = 3.816601077497e-04 vel = 3.979585931088e-01 ------------------- tc id 138 done Finishing split-cycle on id 139 tc state : vr = 0.418995, vf = 0.418995, maxvel = 0.418995, current_vel = 0.414626, fs = 1.000000, tc = 0.000905, term = 3 tc result: v = 0.414626, acc = 15.000000,T = 0.003831, P = 0.000369 initial results: dx= 0.003462,dt = 0.008307, a_f = 0.525958, v_f = 0.418995 dt = 0.008307, not at end yet secondary movement = 0.000369 tc id = 139, canon_type = 3, mot type = 2 time: 6.185000 primary movement = 3.786313713397e-05 time: 6.185000000000e+00 total movement = 4.070014073141e-04 vel = 4.146263553798e-01 Finished tc id 138 ------------------- Activate tc id = 139 target_vel = 0.418995 final_vel = 0.418995 length = 0.003831 tc state : vr = 0.418995, vf = 0.418995, maxvel = 0.418995, current_vel = 0.418995, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.418995, acc = 4.368912,T = 0.003831, P = 0.000786 initial results: dx= 0.003045,dt = 0.007268, a_f = 0.000000, v_f = 0.418995 dt = 0.007268, not at end yet tc id = 139, canon_type = 3, mot type = 2 time: 6.186000 primary movement = 4.167447342197e-04 time: 6.186000000000e+00 total movement = 4.167447342197e-04 vel = 4.189952676723e-01 ------------------- tc state : vr = 0.418995, vf = 0.418995, maxvel = 0.418995, current_vel = 0.418995, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.418995, acc = 0.000000,T = 0.003831, P = 0.001205 initial results: dx= 0.002626,dt = 0.006268, a_f = 0.000000, v_f = 0.418995 dt = 0.006268, not at end yet tc id = 139, canon_type = 3, mot type = 2 time: 6.187000 primary movement = 4.189281460352e-04 time: 6.187000000000e+00 total movement = 4.189281460352e-04 vel = 4.189952676723e-01 ------------------- tc state : vr = 0.418995, vf = 0.418995, maxvel = 0.418995, current_vel = 0.418995, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.418995, acc = 0.000000,T = 0.003831, P = 0.001624 initial results: dx= 0.002207,dt = 0.005268, a_f = 0.000000, v_f = 0.418995 dt = 0.005268, not at end yet tc id = 139, canon_type = 3, mot type = 2 time: 6.188000 primary movement = 4.189281460352e-04 time: 6.188000000000e+00 total movement = 4.189281460352e-04 vel = 4.189952676723e-01 ------------------- tc state : vr = 0.418995, vf = 0.418995, maxvel = 0.418995, current_vel = 0.418995, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.418995, acc = 0.000000,T = 0.003831, P = 0.002043 initial results: dx= 0.001788,dt = 0.004268, a_f = 0.000000, v_f = 0.418995 dt = 0.004268, not at end yet tc id = 139, canon_type = 3, mot type = 2 time: 6.189000 primary movement = 4.189281460352e-04 time: 6.189000000000e+00 total movement = 4.189281460352e-04 vel = 4.189952676723e-01 ------------------- tc state : vr = 0.418995, vf = 0.418995, maxvel = 0.418995, current_vel = 0.418995, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.418995, acc = 0.000000,T = 0.003831, P = 0.002462 initial results: dx= 0.001369,dt = 0.003268, a_f = 0.000000, v_f = 0.418995 dt = 0.003268, not at end yet tc id = 139, canon_type = 3, mot type = 2 time: 6.190000 primary movement = 4.189281460352e-04 time: 6.190000000000e+00 total movement = 4.189281460352e-04 vel = 4.189952676723e-01 ------------------- tc state : vr = 0.418995, vf = 0.418995, maxvel = 0.418995, current_vel = 0.418995, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.418995, acc = 0.000000,T = 0.003831, P = 0.002881 initial results: dx= 0.000950,dt = 0.002268, a_f = 0.000000, v_f = 0.418995 dt = 0.002268, not at end yet tc id = 139, canon_type = 3, mot type = 2 time: 6.191000 primary movement = 4.189281460352e-04 time: 6.191000000000e+00 total movement = 4.189281460352e-04 vel = 4.189952676723e-01 ------------------- tc state : vr = 0.418995, vf = 0.418995, maxvel = 0.418995, current_vel = 0.418995, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.418995, acc = 0.000000,T = 0.003831, P = 0.003300 initial results: dx= 0.000531,dt = 0.001268, a_f = 0.000000, v_f = 0.418995 dt = 0.001268, not at end yet tc id = 139, canon_type = 3, mot type = 2 time: 6.192000 primary movement = 4.189281460352e-04 time: 6.192000000000e+00 total movement = 4.189281460352e-04 vel = 4.189952676723e-01 ------------------- tc state : vr = 0.418995, vf = 0.418995, maxvel = 0.418995, current_vel = 0.418995, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.418995, acc = 0.000000,T = 0.003831, P = 0.003719 initial results: dx= 0.000112,dt = 0.000268, a_f = 0.000000, v_f = 0.418995 actual v_f = 0.418995, a = 0.000000 split time is 0.000268493 tc id = 139, canon_type = 3, mot type = 2 time: 6.193000 primary movement = 4.189281460352e-04 time: 6.193000000000e+00 total movement = 4.189281460352e-04 vel = 4.189952676723e-01 ------------------- tc id 139 done Finishing split-cycle on id 139 tc state : vr = 0.423847, vf = 0.423847, maxvel = 8.448247, current_vel = 0.423847, fs = 1.000000, tc = 0.000732, term = 3 tc result: v = 0.423847, acc = 6.632733,T = 0.001426, P = 0.000308 initial results: dx= 0.001118,dt = 0.002637, a_f = 0.000000, v_f = 0.423847 dt = 0.002637, not at end yet secondary movement = 0.000308 tc id = 139, canon_type = 2, mot type = 1 time: 6.194000 primary movement = 1.124960695354e-04 time: 6.194000000000e+00 total movement = 4.207685635179e-04 vel = 4.238471569402e-01 Finished tc id 139 ------------------- Activate tc id = 139 target_vel = 0.423847 final_vel = 0.423847 length = 0.001426 tc state : vr = 0.423847, vf = 0.423847, maxvel = 8.448247, current_vel = 0.423847, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.423847, acc = 0.000000,T = 0.001426, P = 0.000732 initial results: dx= 0.000694,dt = 0.001637, a_f = 0.000000, v_f = 0.423847 dt = 0.001637, not at end yet tc id = 139, canon_type = 2, mot type = 1 time: 6.195000 primary movement = 4.238471569402e-04 time: 6.195000000000e+00 total movement = 4.238471569402e-04 vel = 4.238471569402e-01 ------------------- tc state : vr = 0.423847, vf = 0.423847, maxvel = 8.448247, current_vel = 0.423847, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.423847, acc = 0.000000,T = 0.001426, P = 0.001156 initial results: dx= 0.000270,dt = 0.000637, a_f = 0.000000, v_f = 0.423847 actual v_f = 0.423847, a = 0.000000 split time is 0.000637149 tc id = 139, canon_type = 2, mot type = 1 time: 6.196000 primary movement = 4.238471569402e-04 time: 6.196000000000e+00 total movement = 4.238471569402e-04 vel = 4.238471569402e-01 ------------------- tc id 139 done Finishing split-cycle on id 140 tc state : vr = 0.423847, vf = 0.423847, maxvel = 0.423847, current_vel = 0.423847, fs = 1.000000, tc = 0.000363, term = 3 tc result: v = 0.423847, acc = 0.000000,T = 0.005127, P = 0.000154 initial results: dx= 0.004974,dt = 0.011734, a_f = 0.000000, v_f = 0.423847 dt = 0.011734, not at end yet secondary movement = 0.000154 tc id = 140, canon_type = 3, mot type = 2 time: 6.197000 primary movement = 2.700539415648e-04 time: 6.197000000000e+00 total movement = 4.238439869035e-04 vel = 4.238471569402e-01 Finished tc id 139 ------------------- Activate tc id = 140 target_vel = 0.423847 final_vel = 0.423847 length = 0.005127 tc state : vr = 0.423847, vf = 0.423847, maxvel = 0.423847, current_vel = 0.423847, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.423847, acc = 0.000000,T = 0.005127, P = 0.000578 initial results: dx= 0.004550,dt = 0.010734, a_f = 0.000000, v_f = 0.423847 dt = 0.010734, not at end yet tc id = 140, canon_type = 3, mot type = 2 time: 6.198000 primary movement = 4.237808035894e-04 time: 6.198000000000e+00 total movement = 4.237808035894e-04 vel = 4.238471569402e-01 ------------------- tc state : vr = 0.423847, vf = 0.423847, maxvel = 0.423847, current_vel = 0.423847, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.423847, acc = 0.000000,T = 0.005127, P = 0.001001 initial results: dx= 0.004126,dt = 0.009734, a_f = 0.000000, v_f = 0.423847 dt = 0.009734, not at end yet tc id = 140, canon_type = 3, mot type = 2 time: 6.199000 primary movement = 4.237808035894e-04 time: 6.199000000000e+00 total movement = 4.237808035894e-04 vel = 4.238471569402e-01 ------------------- tc state : vr = 0.423847, vf = 0.423847, maxvel = 0.423847, current_vel = 0.423847, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.423847, acc = 0.000000,T = 0.005127, P = 0.001425 initial results: dx= 0.003702,dt = 0.008734, a_f = 0.000000, v_f = 0.423847 dt = 0.008734, not at end yet tc id = 140, canon_type = 3, mot type = 2 time: 6.200000 primary movement = 4.237808035894e-04 time: 6.200000000000e+00 total movement = 4.237808035894e-04 vel = 4.238471569402e-01 ------------------- tc state : vr = 0.423847, vf = 0.423847, maxvel = 0.423847, current_vel = 0.423847, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.423847, acc = 0.000000,T = 0.005127, P = 0.001849 initial results: dx= 0.003278,dt = 0.007734, a_f = 0.000000, v_f = 0.423847 dt = 0.007734, not at end yet tc id = 140, canon_type = 3, mot type = 2 time: 6.201000 primary movement = 4.237808035894e-04 time: 6.201000000000e+00 total movement = 4.237808035894e-04 vel = 4.238471569402e-01 ------------------- tc state : vr = 0.423847, vf = 0.423847, maxvel = 0.423847, current_vel = 0.423847, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.423847, acc = 0.000000,T = 0.005127, P = 0.002273 initial results: dx= 0.002854,dt = 0.006734, a_f = 0.000000, v_f = 0.423847 dt = 0.006734, not at end yet tc id = 140, canon_type = 3, mot type = 2 time: 6.202000 primary movement = 4.237808035894e-04 time: 6.202000000000e+00 total movement = 4.237808035894e-04 vel = 4.238471569402e-01 ------------------- tc state : vr = 0.423847, vf = 0.423847, maxvel = 0.423847, current_vel = 0.423847, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.423847, acc = 0.000000,T = 0.005127, P = 0.002697 initial results: dx= 0.002430,dt = 0.005734, a_f = 0.000000, v_f = 0.423847 dt = 0.005734, not at end yet tc id = 140, canon_type = 3, mot type = 2 time: 6.203000 primary movement = 4.237808035894e-04 time: 6.203000000000e+00 total movement = 4.237808035894e-04 vel = 4.238471569402e-01 ------------------- tc state : vr = 0.423847, vf = 0.423847, maxvel = 0.423847, current_vel = 0.423847, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.423847, acc = 0.000000,T = 0.005127, P = 0.003121 initial results: dx= 0.002007,dt = 0.004734, a_f = 0.000000, v_f = 0.423847 dt = 0.004734, not at end yet tc id = 140, canon_type = 3, mot type = 2 time: 6.204000 primary movement = 4.237808035894e-04 time: 6.204000000000e+00 total movement = 4.237808035894e-04 vel = 4.238471569402e-01 ------------------- tc state : vr = 0.423847, vf = 0.423847, maxvel = 0.423847, current_vel = 0.423847, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.423847, acc = 0.000000,T = 0.005127, P = 0.003545 initial results: dx= 0.001583,dt = 0.003734, a_f = 0.000000, v_f = 0.423847 dt = 0.003734, not at end yet tc id = 140, canon_type = 3, mot type = 2 time: 6.205000 primary movement = 4.237808035894e-04 time: 6.205000000000e+00 total movement = 4.237808035894e-04 vel = 4.238471569402e-01 ------------------- tc state : vr = 0.423847, vf = 0.423847, maxvel = 0.423847, current_vel = 0.423847, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.423847, acc = 0.000000,T = 0.005127, P = 0.003968 initial results: dx= 0.001159,dt = 0.002734, a_f = 0.000000, v_f = 0.423847 dt = 0.002734, not at end yet tc id = 140, canon_type = 3, mot type = 2 time: 6.206000 primary movement = 4.237808035894e-04 time: 6.206000000000e+00 total movement = 4.237808035894e-04 vel = 4.238471569402e-01 ------------------- tc state : vr = 0.423847, vf = 0.423847, maxvel = 0.423847, current_vel = 0.423847, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.423847, acc = 0.000000,T = 0.005127, P = 0.004392 initial results: dx= 0.000735,dt = 0.001734, a_f = 0.000000, v_f = 0.423847 dt = 0.001734, not at end yet tc id = 140, canon_type = 3, mot type = 2 time: 6.207000 primary movement = 4.237808035894e-04 time: 6.207000000000e+00 total movement = 4.237808035894e-04 vel = 4.238471569402e-01 ------------------- tc state : vr = 0.423847, vf = 0.423847, maxvel = 0.423847, current_vel = 0.423847, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.423847, acc = 0.000000,T = 0.005127, P = 0.004816 initial results: dx= 0.000311,dt = 0.000734, a_f = 0.000000, v_f = 0.423847 actual v_f = 0.423847, a = 0.000000 split time is 0.000734285 tc id = 140, canon_type = 3, mot type = 2 time: 6.208000 primary movement = 4.237808035894e-04 time: 6.208000000000e+00 total movement = 4.237808035894e-04 vel = 4.238471569402e-01 ------------------- tc id 140 done Finishing split-cycle on id 140 tc state : vr = 0.517696, vf = 0.517696, maxvel = 9.939011, current_vel = 0.433355, fs = 1.000000, tc = 0.000266, term = 3 tc result: v = 0.433355, acc = 35.780581,T = 0.001235, P = 0.000114 initial results: dx= 0.001121,dt = 0.002357, a_f = 35.780581, v_f = 0.517696 dt = 0.002357, not at end yet secondary movement = 0.000114 tc id = 140, canon_type = 2, mot type = 1 time: 6.209000 primary movement = 3.111982162491e-04 time: 6.209000000000e+00 total movement = 4.250840236924e-04 vel = 4.333546044943e-01 Finished tc id 140 ------------------- Activate tc id = 140 target_vel = 0.517696 final_vel = 0.517696 length = 0.001235 tc state : vr = 0.517696, vf = 0.517696, maxvel = 9.939011, current_vel = 0.469135, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.469135, acc = 35.780581,T = 0.001235, P = 0.000565 initial results: dx= 0.000670,dt = 0.001357, a_f = 35.780581, v_f = 0.517696 recalculating with a_f = 35.780581, a = 35.780581 revised dt = 0.001357 dt = 0.001357, not at end yet tc id = 140, canon_type = 2, mot type = 1 time: 6.210000 primary movement = 4.512448951571e-04 time: 6.210000000000e+00 total movement = 4.512448951571e-04 vel = 4.691351858199e-01 ------------------- tc state : vr = 0.517696, vf = 0.517696, maxvel = 9.939011, current_vel = 0.504916, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.504916, acc = 35.780581,T = 0.001235, P = 0.001052 initial results: dx= 0.000183,dt = 0.000357, a_f = 35.780581, v_f = 0.517696 actual v_f = 0.517696, a = 35.780581 split time is 0.000357191 tc id = 140, canon_type = 2, mot type = 1 time: 6.211000 primary movement = 4.870254764827e-04 time: 6.211000000000e+00 total movement = 4.870254764827e-04 vel = 5.049157671455e-01 ------------------- tc id 140 done Finishing split-cycle on id 141 tc state : vr = 0.587995, vf = 0.587995, maxvel = 0.587995, current_vel = 0.527338, fs = 1.000000, tc = 0.000643, term = 3 tc result: v = 0.527338, acc = 15.000000,T = 0.006344, P = 0.000336 initial results: dx= 0.006008,dt = 0.010773, a_f = 5.630330, v_f = 0.587995 dt = 0.010773, not at end yet secondary movement = 0.000336 tc id = 141, canon_type = 3, mot type = 2 time: 6.212000 primary movement = 1.826341160809e-04 time: 6.212000000000e+00 total movement = 5.185038442481e-04 vel = 5.273384121279e-01 Finished tc id 140 ------------------- Activate tc id = 141 target_vel = 0.587995 final_vel = 0.587995 length = 0.006344 tc state : vr = 0.587995, vf = 0.587995, maxvel = 0.587995, current_vel = 0.542338, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.542338, acc = 15.000000,T = 0.006344, P = 0.000871 initial results: dx= 0.005473,dt = 0.009684, a_f = 4.714705, v_f = 0.587995 dt = 0.009684, not at end yet tc id = 141, canon_type = 3, mot type = 2 time: 6.213000 primary movement = 5.348024159919e-04 time: 6.213000000000e+00 total movement = 5.348024159919e-04 vel = 5.423384121279e-01 ------------------- tc state : vr = 0.587995, vf = 0.587995, maxvel = 0.587995, current_vel = 0.557338, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.557338, acc = 15.000000,T = 0.006344, P = 0.001421 initial results: dx= 0.004923,dt = 0.008597, a_f = 3.566013, v_f = 0.587995 dt = 0.008597, not at end yet tc id = 141, canon_type = 3, mot type = 2 time: 6.214000 primary movement = 5.497993016752e-04 time: 6.214000000000e+00 total movement = 5.497993016752e-04 vel = 5.573384121279e-01 ------------------- tc state : vr = 0.587995, vf = 0.587995, maxvel = 0.587995, current_vel = 0.572338, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.572338, acc = 15.000000,T = 0.006344, P = 0.001985 initial results: dx= 0.004358,dt = 0.007512, a_f = 2.084186, v_f = 0.587995 dt = 0.007512, not at end yet tc id = 141, canon_type = 3, mot type = 2 time: 6.215000 primary movement = 5.647960127221e-04 time: 6.215000000000e+00 total movement = 5.647960127221e-04 vel = 5.723384121279e-01 ------------------- tc state : vr = 0.587995, vf = 0.587995, maxvel = 0.587995, current_vel = 0.587338, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.587338, acc = 15.000000,T = 0.006344, P = 0.002565 initial results: dx= 0.003779,dt = 0.006430, a_f = 0.102177, v_f = 0.587995 dt = 0.006430, not at end yet tc id = 141, canon_type = 3, mot type = 2 time: 6.216000 primary movement = 5.797925443690e-04 time: 6.216000000000e+00 total movement = 5.797925443690e-04 vel = 5.873384121279e-01 ------------------- tc state : vr = 0.587995, vf = 0.587995, maxvel = 0.587995, current_vel = 0.587995, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.587995, acc = 0.656967,T = 0.006344, P = 0.003153 initial results: dx= 0.003191,dt = 0.005427, a_f = 0.000000, v_f = 0.587995 dt = 0.005427, not at end yet tc id = 141, canon_type = 3, mot type = 2 time: 6.217000 primary movement = 5.876191446633e-04 time: 6.217000000000e+00 total movement = 5.876191446633e-04 vel = 5.879953786495e-01 ------------------- tc state : vr = 0.587995, vf = 0.587995, maxvel = 0.587995, current_vel = 0.587995, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.587995, acc = 0.000000,T = 0.006344, P = 0.003741 initial results: dx= 0.002603,dt = 0.004427, a_f = 0.000000, v_f = 0.587995 dt = 0.004427, not at end yet tc id = 141, canon_type = 3, mot type = 2 time: 6.218000 primary movement = 5.879475478082e-04 time: 6.218000000000e+00 total movement = 5.879475478082e-04 vel = 5.879953786495e-01 ------------------- tc state : vr = 0.587995, vf = 0.587995, maxvel = 0.587995, current_vel = 0.587995, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.587995, acc = 0.000000,T = 0.006344, P = 0.004329 initial results: dx= 0.002015,dt = 0.003427, a_f = 0.000000, v_f = 0.587995 dt = 0.003427, not at end yet tc id = 141, canon_type = 3, mot type = 2 time: 6.219000 primary movement = 5.879475478082e-04 time: 6.219000000000e+00 total movement = 5.879475478082e-04 vel = 5.879953786495e-01 ------------------- tc state : vr = 0.587995, vf = 0.587995, maxvel = 0.587995, current_vel = 0.587995, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.587995, acc = 0.000000,T = 0.006344, P = 0.004917 initial results: dx= 0.001427,dt = 0.002427, a_f = 0.000000, v_f = 0.587995 dt = 0.002427, not at end yet tc id = 141, canon_type = 3, mot type = 2 time: 6.220000 primary movement = 5.879475478082e-04 time: 6.220000000000e+00 total movement = 5.879475478082e-04 vel = 5.879953786495e-01 ------------------- tc state : vr = 0.587995, vf = 0.587995, maxvel = 0.587995, current_vel = 0.587995, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.587995, acc = 0.000000,T = 0.006344, P = 0.005505 initial results: dx= 0.000839,dt = 0.001427, a_f = 0.000000, v_f = 0.587995 dt = 0.001427, not at end yet tc id = 141, canon_type = 3, mot type = 2 time: 6.221000 primary movement = 5.879475478082e-04 time: 6.221000000000e+00 total movement = 5.879475478082e-04 vel = 5.879953786495e-01 ------------------- tc state : vr = 0.587995, vf = 0.587995, maxvel = 0.587995, current_vel = 0.587995, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.587995, acc = 0.000000,T = 0.006344, P = 0.006093 initial results: dx= 0.000251,dt = 0.000427, a_f = 0.000000, v_f = 0.587995 actual v_f = 0.587995, a = 0.000000 split time is 0.000426685 tc id = 141, canon_type = 3, mot type = 2 time: 6.222000 primary movement = 5.879475478082e-04 time: 6.222000000000e+00 total movement = 5.879475478082e-04 vel = 5.879953786495e-01 ------------------- tc id 141 done Finishing split-cycle on id 141 tc state : vr = 2.544784, vf = 0.363613, maxvel = 8.374863, current_vel = 0.605281, fs = 1.000000, tc = 0.000573, term = 3 tc result: v = 0.605281, acc = 30.149627,T = 0.005344, P = 0.000342 initial results: dx= 0.005002,dt = 0.010325, a_f = -23.405761, v_f = 0.363613 dt = 0.010325, not at end yet secondary movement = 0.000342 tc id = 141, canon_type = 2, mot type = 1 time: 6.223000 primary movement = 2.508850327553e-04 time: 6.223000000000e+00 total movement = 5.929466064947e-04 vel = 6.052806150359e-01 Finished tc id 141 ------------------- Activate tc id = 141 target_vel = 2.544784 final_vel = 0.363613 length = 0.005344 tc state : vr = 2.544784, vf = 0.363613, maxvel = 8.374863, current_vel = 0.629757, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.629757, acc = 24.476585,T = 0.005344, P = 0.000960 initial results: dx= 0.004384,dt = 0.008827, a_f = -30.149627, v_f = 0.363613 dt = 0.008827, not at end yet tc id = 141, canon_type = 2, mot type = 1 time: 6.224000 primary movement = 6.175189076873e-04 time: 6.224000000000e+00 total movement = 6.175189076873e-04 vel = 6.297572003387e-01 ------------------- tc state : vr = 2.544784, vf = 0.363613, maxvel = 8.374863, current_vel = 0.599608, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.599608, acc = -30.149627,T = 0.005344, P = 0.001574 on final decel initial results: dx= 0.003770,dt = 0.007827, a_f = -30.149627, v_f = 0.363613 recalculating with a_f = -30.149627, a = -30.149627 revised dt = 0.007827 dt = 0.007827, not at end yet tc id = 141, canon_type = 2, mot type = 1 time: 6.225000 primary movement = 6.146823869070e-04 time: 6.225000000000e+00 total movement = 6.146823869070e-04 vel = 5.996075734753e-01 ------------------- tc state : vr = 2.544784, vf = 0.363613, maxvel = 8.374863, current_vel = 0.569458, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.569458, acc = -30.149627,T = 0.005344, P = 0.002159 on final decel initial results: dx= 0.003185,dt = 0.006827, a_f = -30.149627, v_f = 0.363613 recalculating with a_f = -30.149627, a = -30.149627 revised dt = 0.006827 dt = 0.006827, not at end yet tc id = 141, canon_type = 2, mot type = 1 time: 6.226000 primary movement = 5.845327600436e-04 time: 6.226000000000e+00 total movement = 5.845327600436e-04 vel = 5.694579466119e-01 ------------------- tc state : vr = 2.544784, vf = 0.363613, maxvel = 8.374863, current_vel = 0.539308, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.539308, acc = -30.149627,T = 0.005344, P = 0.002713 on final decel initial results: dx= 0.002631,dt = 0.005827, a_f = -30.149627, v_f = 0.363613 recalculating with a_f = -30.149627, a = -30.149627 revised dt = 0.005827 dt = 0.005827, not at end yet tc id = 141, canon_type = 2, mot type = 1 time: 6.227000 primary movement = 5.543831331803e-04 time: 6.227000000000e+00 total movement = 5.543831331803e-04 vel = 5.393083197486e-01 ------------------- tc state : vr = 2.544784, vf = 0.363613, maxvel = 8.374863, current_vel = 0.509159, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.509159, acc = -30.149627,T = 0.005344, P = 0.003237 on final decel initial results: dx= 0.002107,dt = 0.004827, a_f = -30.149627, v_f = 0.363613 recalculating with a_f = -30.149627, a = -30.149627 revised dt = 0.004827 dt = 0.004827, not at end yet tc id = 141, canon_type = 2, mot type = 1 time: 6.228000 primary movement = 5.242335063169e-04 time: 6.228000000000e+00 total movement = 5.242335063169e-04 vel = 5.091586928852e-01 ------------------- tc state : vr = 2.544784, vf = 0.363613, maxvel = 8.374863, current_vel = 0.479009, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.479009, acc = -30.149627,T = 0.005344, P = 0.003731 on final decel initial results: dx= 0.001613,dt = 0.003827, a_f = -30.149627, v_f = 0.363613 recalculating with a_f = -30.149627, a = -30.149627 revised dt = 0.003827 dt = 0.003827, not at end yet tc id = 141, canon_type = 2, mot type = 1 time: 6.229000 primary movement = 4.940838794535e-04 time: 6.229000000000e+00 total movement = 4.940838794535e-04 vel = 4.790090660219e-01 ------------------- tc state : vr = 2.544784, vf = 0.363613, maxvel = 8.374863, current_vel = 0.448859, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.448859, acc = -30.149627,T = 0.005344, P = 0.004195 on final decel initial results: dx= 0.001149,dt = 0.002827, a_f = -30.149627, v_f = 0.363613 recalculating with a_f = -30.149627, a = -30.149627 revised dt = 0.002827 dt = 0.002827, not at end yet tc id = 141, canon_type = 2, mot type = 1 time: 6.230000 primary movement = 4.639342525902e-04 time: 6.230000000000e+00 total movement = 4.639342525902e-04 vel = 4.488594391585e-01 ------------------- tc state : vr = 2.544784, vf = 0.363613, maxvel = 8.374863, current_vel = 0.418710, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.418710, acc = -30.149627,T = 0.005344, P = 0.004629 on final decel initial results: dx= 0.000715,dt = 0.001827, a_f = -30.149627, v_f = 0.363613 recalculating with a_f = -30.149627, a = -30.149627 revised dt = 0.001827 dt = 0.001827, not at end yet tc id = 141, canon_type = 2, mot type = 1 time: 6.231000 primary movement = 4.337846257268e-04 time: 6.231000000000e+00 total movement = 4.337846257268e-04 vel = 4.187098122951e-01 ------------------- tc state : vr = 2.544784, vf = 0.363613, maxvel = 8.374863, current_vel = 0.388560, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.388560, acc = -30.149627,T = 0.005344, P = 0.005033 on final decel initial results: dx= 0.000311,dt = 0.000827, a_f = -30.149627, v_f = 0.363613 recalculating with a_f = -30.149627, a = -30.149627 revised dt = 0.000827 actual v_f = 0.363613, a = -30.149627 split time is 0.000827462 tc id = 141, canon_type = 2, mot type = 1 time: 6.232000 primary movement = 4.036349988635e-04 time: 6.232000000000e+00 total movement = 4.036349988635e-04 vel = 3.885601854318e-01 ------------------- tc id 141 done Finishing split-cycle on id 142 tc state : vr = 0.363613, vf = 0.363613, maxvel = 0.363613, current_vel = 0.363613, fs = 1.000000, tc = 0.000173, term = 3 tc result: v = 0.363613, acc = -0.000000,T = 0.002867, P = 0.000063 initial results: dx= 0.002804,dt = 0.007711, a_f = 0.000000, v_f = 0.363613 dt = 0.007711, not at end yet secondary movement = 0.000063 tc id = 142, canon_type = 3, mot type = 2 time: 6.233000 primary movement = 3.111970526944e-04 time: 6.233000000000e+00 total movement = 3.739337438630e-04 vel = 3.636125240738e-01 Finished tc id 141 ------------------- Activate tc id = 142 target_vel = 0.363613 final_vel = 0.363613 length = 0.002867 tc state : vr = 0.363613, vf = 0.363613, maxvel = 0.363613, current_vel = 0.363613, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.363613, acc = 0.000000,T = 0.002867, P = 0.000426 initial results: dx= 0.002440,dt = 0.006711, a_f = 0.000000, v_f = 0.363613 dt = 0.006711, not at end yet tc id = 142, canon_type = 3, mot type = 2 time: 6.234000 primary movement = 3.635351801890e-04 time: 6.234000000000e+00 total movement = 3.635351801890e-04 vel = 3.636125240738e-01 ------------------- tc state : vr = 0.363613, vf = 0.363613, maxvel = 0.363613, current_vel = 0.363613, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.363613, acc = 0.000000,T = 0.002867, P = 0.000790 initial results: dx= 0.002077,dt = 0.005711, a_f = 0.000000, v_f = 0.363613 dt = 0.005711, not at end yet tc id = 142, canon_type = 3, mot type = 2 time: 6.235000 primary movement = 3.635351801890e-04 time: 6.235000000000e+00 total movement = 3.635351801890e-04 vel = 3.636125240738e-01 ------------------- tc state : vr = 0.363613, vf = 0.363613, maxvel = 0.363613, current_vel = 0.363613, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.363613, acc = 0.000000,T = 0.002867, P = 0.001154 initial results: dx= 0.001713,dt = 0.004711, a_f = 0.000000, v_f = 0.363613 dt = 0.004711, not at end yet tc id = 142, canon_type = 3, mot type = 2 time: 6.236000 primary movement = 3.635351801890e-04 time: 6.236000000000e+00 total movement = 3.635351801890e-04 vel = 3.636125240738e-01 ------------------- tc state : vr = 0.363613, vf = 0.363613, maxvel = 0.363613, current_vel = 0.363613, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.363613, acc = 0.000000,T = 0.002867, P = 0.001517 initial results: dx= 0.001349,dt = 0.003711, a_f = 0.000000, v_f = 0.363613 dt = 0.003711, not at end yet tc id = 142, canon_type = 3, mot type = 2 time: 6.237000 primary movement = 3.635351801890e-04 time: 6.237000000000e+00 total movement = 3.635351801890e-04 vel = 3.636125240738e-01 ------------------- tc state : vr = 0.363613, vf = 0.363613, maxvel = 0.363613, current_vel = 0.363613, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.363613, acc = 0.000000,T = 0.002867, P = 0.001881 initial results: dx= 0.000986,dt = 0.002711, a_f = 0.000000, v_f = 0.363613 dt = 0.002711, not at end yet tc id = 142, canon_type = 3, mot type = 2 time: 6.238000 primary movement = 3.635351801890e-04 time: 6.238000000000e+00 total movement = 3.635351801890e-04 vel = 3.636125240738e-01 ------------------- tc state : vr = 0.363613, vf = 0.363613, maxvel = 0.363613, current_vel = 0.363613, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.363613, acc = 0.000000,T = 0.002867, P = 0.002244 initial results: dx= 0.000622,dt = 0.001711, a_f = 0.000000, v_f = 0.363613 dt = 0.001711, not at end yet tc id = 142, canon_type = 3, mot type = 2 time: 6.239000 primary movement = 3.635351801890e-04 time: 6.239000000000e+00 total movement = 3.635351801890e-04 vel = 3.636125240738e-01 ------------------- tc state : vr = 0.363613, vf = 0.363613, maxvel = 0.363613, current_vel = 0.363613, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.363613, acc = 0.000000,T = 0.002867, P = 0.002608 initial results: dx= 0.000259,dt = 0.000711, a_f = 0.000000, v_f = 0.363613 actual v_f = 0.363613, a = 0.000000 split time is 0.000711328 tc id = 142, canon_type = 3, mot type = 2 time: 6.240000 primary movement = 3.635351801889e-04 time: 6.240000000000e+00 total movement = 3.635351801889e-04 vel = 3.636125240738e-01 ------------------- tc id 142 done Finishing split-cycle on id 142 tc state : vr = 0.760561, vf = 0.313846, maxvel = 9.316913, current_vel = 0.373295, fs = 1.000000, tc = 0.000289, term = 3 tc result: v = 0.373295, acc = 33.541020,T = 0.001597, P = 0.000106 initial results: dx= 0.001491,dt = 0.004339, a_f = -13.700366, v_f = 0.313846 dt = 0.004339, not at end yet secondary movement = 0.000106 tc id = 142, canon_type = 2, mot type = 1 time: 6.241000 primary movement = 2.586198286124e-04 time: 6.241000000000e+00 total movement = 3.649822002363e-04 vel = 3.732948867307e-01 Finished tc id 142 ------------------- Activate tc id = 142 target_vel = 0.760561 final_vel = 0.313846 length = 0.001597 tc state : vr = 0.760561, vf = 0.313846, maxvel = 9.316913, current_vel = 0.406836, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.406836, acc = 33.541020,T = 0.001597, P = 0.000496 initial results: dx= 0.001101,dt = 0.003055, a_f = -30.440959, v_f = 0.313846 dt = 0.003055, not at end yet tc id = 142, canon_type = 2, mot type = 1 time: 6.242000 primary movement = 3.900653965620e-04 time: 6.242000000000e+00 total movement = 3.900653965620e-04 vel = 4.068359063932e-01 ------------------- tc state : vr = 0.760561, vf = 0.313846, maxvel = 9.316913, current_vel = 0.381947, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.381947, acc = -24.888716,T = 0.001597, P = 0.000891 on final decel initial results: dx= 0.000706,dt = 0.002030, a_f = -33.541020, v_f = 0.313846 dt = 0.002030, not at end yet tc id = 142, canon_type = 2, mot type = 1 time: 6.243000 primary movement = 3.943915483062e-04 time: 6.243000000000e+00 total movement = 3.943915483062e-04 vel = 3.819471902191e-01 ------------------- tc state : vr = 0.760561, vf = 0.313846, maxvel = 9.316913, current_vel = 0.348406, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.348406, acc = -33.541020,T = 0.001597, P = 0.001256 on final decel initial results: dx= 0.000341,dt = 0.001030, a_f = -33.541020, v_f = 0.313846 dt = 0.001030, not at end yet tc id = 142, canon_type = 2, mot type = 1 time: 6.244000 primary movement = 3.651766803878e-04 time: 6.244000000000e+00 total movement = 3.651766803878e-04 vel = 3.484061705566e-01 ------------------- tc state : vr = 0.760561, vf = 0.313846, maxvel = 9.316913, current_vel = 0.314865, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.314865, acc = -33.541020,T = 0.001597, P = 0.001588 on final decel initial results: dx= 0.000010,dt = 0.000030, a_f = -33.541020, v_f = 0.313846 recalculating with a_f = -33.541020, a = -33.541020 revised dt = 0.000030 actual v_f = 0.313846, a = -33.541020 split time is 3.03713e-05 tc id = 142, canon_type = 2, mot type = 1 time: 6.245000 primary movement = 3.316356607253e-04 time: 6.245000000000e+00 total movement = 3.316356607253e-04 vel = 3.148651508941e-01 ------------------- tc id 142 done Finishing split-cycle on id 143 tc state : vr = 0.313846, vf = 0.313846, maxvel = 0.313846, current_vel = 0.313846, fs = 1.000000, tc = 0.000970, term = 3 tc result: v = 0.313846, acc = 0.000000,T = 0.002687, P = 0.000304 initial results: dx= 0.002382,dt = 0.007591, a_f = 0.000000, v_f = 0.313846 dt = 0.007591, not at end yet secondary movement = 0.000304 tc id = 143, canon_type = 3, mot type = 2 time: 6.246000 primary movement = 9.547388666115e-06 time: 6.246000000000e+00 total movement = 3.137802488102e-04 vel = 3.138464671549e-01 Finished tc id 142 ------------------- Activate tc id = 143 target_vel = 0.313846 final_vel = 0.313846 length = 0.002687 tc state : vr = 0.313846, vf = 0.313846, maxvel = 0.313846, current_vel = 0.313846, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.313846, acc = 0.000000,T = 0.002687, P = 0.000618 initial results: dx= 0.002068,dt = 0.006591, a_f = 0.000000, v_f = 0.313846 dt = 0.006591, not at end yet tc id = 143, canon_type = 3, mot type = 2 time: 6.247000 primary movement = 3.137568609498e-04 time: 6.247000000000e+00 total movement = 3.137568609498e-04 vel = 3.138464671549e-01 ------------------- tc state : vr = 0.313846, vf = 0.313846, maxvel = 0.313846, current_vel = 0.313846, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.313846, acc = 0.000000,T = 0.002687, P = 0.000932 initial results: dx= 0.001755,dt = 0.005591, a_f = 0.000000, v_f = 0.313846 dt = 0.005591, not at end yet tc id = 143, canon_type = 3, mot type = 2 time: 6.248000 primary movement = 3.137568609498e-04 time: 6.248000000000e+00 total movement = 3.137568609498e-04 vel = 3.138464671549e-01 ------------------- tc state : vr = 0.313846, vf = 0.313846, maxvel = 0.313846, current_vel = 0.313846, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.313846, acc = 0.000000,T = 0.002687, P = 0.001246 initial results: dx= 0.001441,dt = 0.004591, a_f = 0.000000, v_f = 0.313846 dt = 0.004591, not at end yet tc id = 143, canon_type = 3, mot type = 2 time: 6.249000 primary movement = 3.137568609498e-04 time: 6.249000000000e+00 total movement = 3.137568609498e-04 vel = 3.138464671549e-01 ------------------- tc state : vr = 0.313846, vf = 0.313846, maxvel = 0.313846, current_vel = 0.313846, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.313846, acc = 0.000000,T = 0.002687, P = 0.001560 initial results: dx= 0.001127,dt = 0.003591, a_f = 0.000000, v_f = 0.313846 dt = 0.003591, not at end yet tc id = 143, canon_type = 3, mot type = 2 time: 6.250000 primary movement = 3.137568609498e-04 time: 6.250000000000e+00 total movement = 3.137568609498e-04 vel = 3.138464671549e-01 ------------------- tc state : vr = 0.313846, vf = 0.313846, maxvel = 0.313846, current_vel = 0.313846, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.313846, acc = 0.000000,T = 0.002687, P = 0.001874 initial results: dx= 0.000813,dt = 0.002591, a_f = 0.000000, v_f = 0.313846 dt = 0.002591, not at end yet tc id = 143, canon_type = 3, mot type = 2 time: 6.251000 primary movement = 3.137568609498e-04 time: 6.251000000000e+00 total movement = 3.137568609498e-04 vel = 3.138464671549e-01 ------------------- tc state : vr = 0.313846, vf = 0.313846, maxvel = 0.313846, current_vel = 0.313846, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.313846, acc = 0.000000,T = 0.002687, P = 0.002187 initial results: dx= 0.000499,dt = 0.001591, a_f = 0.000000, v_f = 0.313846 dt = 0.001591, not at end yet tc id = 143, canon_type = 3, mot type = 2 time: 6.252000 primary movement = 3.137568609498e-04 time: 6.252000000000e+00 total movement = 3.137568609498e-04 vel = 3.138464671549e-01 ------------------- tc state : vr = 0.313846, vf = 0.313846, maxvel = 0.313846, current_vel = 0.313846, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.313846, acc = 0.000000,T = 0.002687, P = 0.002501 initial results: dx= 0.000185,dt = 0.000591, a_f = 0.000000, v_f = 0.313846 actual v_f = 0.313846, a = 0.000000 split time is 0.000590546 tc id = 143, canon_type = 3, mot type = 2 time: 6.253000 primary movement = 3.137568609498e-04 time: 6.253000000000e+00 total movement = 3.137568609498e-04 vel = 3.138464671549e-01 ------------------- tc id 143 done Finishing split-cycle on id 143 tc state : vr = 0.314835, vf = 0.314835, maxvel = 8.589769, current_vel = 0.314835, fs = 1.000000, tc = 0.000409, term = 3 tc result: v = 0.314835, acc = 2.415331,T = 0.000691, P = 0.000129 initial results: dx= 0.000562,dt = 0.001786, a_f = 0.000000, v_f = 0.314835 dt = 0.001786, not at end yet secondary movement = 0.000129 tc id = 143, canon_type = 2, mot type = 1 time: 6.254000 primary movement = 1.853221877974e-04 time: 6.254000000000e+00 total movement = 3.140304804762e-04 vel = 3.148354352672e-01 Finished tc id 143 ------------------- Activate tc id = 143 target_vel = 0.314835 final_vel = 0.314835 length = 0.000691 tc state : vr = 0.314835, vf = 0.314835, maxvel = 8.589769, current_vel = 0.314835, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.314835, acc = 0.000000,T = 0.000691, P = 0.000444 initial results: dx= 0.000248,dt = 0.000786, a_f = 0.000000, v_f = 0.314835 actual v_f = 0.314835, a = 0.000000 split time is 0.000786177 tc id = 143, canon_type = 2, mot type = 1 time: 6.255000 primary movement = 3.148354352672e-04 time: 6.255000000000e+00 total movement = 3.148354352672e-04 vel = 3.148354352672e-01 ------------------- tc id 143 done Finishing split-cycle on id 144 tc state : vr = 0.314835, vf = 0.314835, maxvel = 0.314835, current_vel = 0.314835, fs = 1.000000, tc = 0.000214, term = 3 tc result: v = 0.314835, acc = 0.000000,T = 0.003730, P = 0.000067 initial results: dx= 0.003663,dt = 0.011635, a_f = 0.000000, v_f = 0.314835 dt = 0.011635, not at end yet secondary movement = 0.000067 tc id = 144, canon_type = 3, mot type = 2 time: 6.256000 primary movement = 2.475162705344e-04 time: 6.256000000000e+00 total movement = 3.148345619488e-04 vel = 3.148354352672e-01 Finished tc id 143 ------------------- Activate tc id = 144 target_vel = 0.314835 final_vel = 0.314835 length = 0.003730 tc state : vr = 0.314835, vf = 0.314835, maxvel = 0.314835, current_vel = 0.314835, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.314835, acc = 0.000000,T = 0.003730, P = 0.000382 initial results: dx= 0.003348,dt = 0.010635, a_f = 0.000000, v_f = 0.314835 dt = 0.010635, not at end yet tc id = 144, canon_type = 3, mot type = 2 time: 6.257000 primary movement = 3.147461104871e-04 time: 6.257000000000e+00 total movement = 3.147461104871e-04 vel = 3.148354352672e-01 ------------------- tc state : vr = 0.314835, vf = 0.314835, maxvel = 0.314835, current_vel = 0.314835, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.314835, acc = 0.000000,T = 0.003730, P = 0.000697 initial results: dx= 0.003033,dt = 0.009635, a_f = 0.000000, v_f = 0.314835 dt = 0.009635, not at end yet tc id = 144, canon_type = 3, mot type = 2 time: 6.258000 primary movement = 3.147461104871e-04 time: 6.258000000000e+00 total movement = 3.147461104871e-04 vel = 3.148354352672e-01 ------------------- tc state : vr = 0.314835, vf = 0.314835, maxvel = 0.314835, current_vel = 0.314835, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.314835, acc = 0.000000,T = 0.003730, P = 0.001012 initial results: dx= 0.002719,dt = 0.008635, a_f = 0.000000, v_f = 0.314835 dt = 0.008635, not at end yet tc id = 144, canon_type = 3, mot type = 2 time: 6.259000 primary movement = 3.147461104871e-04 time: 6.259000000000e+00 total movement = 3.147461104871e-04 vel = 3.148354352672e-01 ------------------- tc state : vr = 0.314835, vf = 0.314835, maxvel = 0.314835, current_vel = 0.314835, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.314835, acc = 0.000000,T = 0.003730, P = 0.001327 initial results: dx= 0.002404,dt = 0.007635, a_f = 0.000000, v_f = 0.314835 dt = 0.007635, not at end yet tc id = 144, canon_type = 3, mot type = 2 time: 6.260000 primary movement = 3.147461104871e-04 time: 6.260000000000e+00 total movement = 3.147461104871e-04 vel = 3.148354352672e-01 ------------------- tc state : vr = 0.314835, vf = 0.314835, maxvel = 0.314835, current_vel = 0.314835, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.314835, acc = 0.000000,T = 0.003730, P = 0.001641 initial results: dx= 0.002089,dt = 0.006635, a_f = 0.000000, v_f = 0.314835 dt = 0.006635, not at end yet tc id = 144, canon_type = 3, mot type = 2 time: 6.261000 primary movement = 3.147461104871e-04 time: 6.261000000000e+00 total movement = 3.147461104871e-04 vel = 3.148354352672e-01 ------------------- tc state : vr = 0.314835, vf = 0.314835, maxvel = 0.314835, current_vel = 0.314835, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.314835, acc = 0.000000,T = 0.003730, P = 0.001956 initial results: dx= 0.001774,dt = 0.005635, a_f = 0.000000, v_f = 0.314835 dt = 0.005635, not at end yet tc id = 144, canon_type = 3, mot type = 2 time: 6.262000 primary movement = 3.147461104871e-04 time: 6.262000000000e+00 total movement = 3.147461104871e-04 vel = 3.148354352672e-01 ------------------- tc state : vr = 0.314835, vf = 0.314835, maxvel = 0.314835, current_vel = 0.314835, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.314835, acc = 0.000000,T = 0.003730, P = 0.002271 initial results: dx= 0.001459,dt = 0.004635, a_f = 0.000000, v_f = 0.314835 dt = 0.004635, not at end yet tc id = 144, canon_type = 3, mot type = 2 time: 6.263000 primary movement = 3.147461104871e-04 time: 6.263000000000e+00 total movement = 3.147461104871e-04 vel = 3.148354352672e-01 ------------------- tc state : vr = 0.314835, vf = 0.314835, maxvel = 0.314835, current_vel = 0.314835, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.314835, acc = 0.000000,T = 0.003730, P = 0.002586 initial results: dx= 0.001144,dt = 0.003635, a_f = 0.000000, v_f = 0.314835 dt = 0.003635, not at end yet tc id = 144, canon_type = 3, mot type = 2 time: 6.264000 primary movement = 3.147461104871e-04 time: 6.264000000000e+00 total movement = 3.147461104871e-04 vel = 3.148354352672e-01 ------------------- tc state : vr = 0.314835, vf = 0.314835, maxvel = 0.314835, current_vel = 0.314835, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.314835, acc = 0.000000,T = 0.003730, P = 0.002901 initial results: dx= 0.000830,dt = 0.002635, a_f = 0.000000, v_f = 0.314835 dt = 0.002635, not at end yet tc id = 144, canon_type = 3, mot type = 2 time: 6.265000 primary movement = 3.147461104871e-04 time: 6.265000000000e+00 total movement = 3.147461104871e-04 vel = 3.148354352672e-01 ------------------- tc state : vr = 0.314835, vf = 0.314835, maxvel = 0.314835, current_vel = 0.314835, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.314835, acc = 0.000000,T = 0.003730, P = 0.003216 initial results: dx= 0.000515,dt = 0.001635, a_f = 0.000000, v_f = 0.314835 dt = 0.001635, not at end yet tc id = 144, canon_type = 3, mot type = 2 time: 6.266000 primary movement = 3.147461104871e-04 time: 6.266000000000e+00 total movement = 3.147461104871e-04 vel = 3.148354352672e-01 ------------------- tc state : vr = 0.314835, vf = 0.314835, maxvel = 0.314835, current_vel = 0.314835, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.314835, acc = 0.000000,T = 0.003730, P = 0.003531 initial results: dx= 0.000200,dt = 0.000635, a_f = 0.000000, v_f = 0.314835 actual v_f = 0.314835, a = 0.000000 split time is 0.000635103 tc id = 144, canon_type = 3, mot type = 2 time: 6.267000 primary movement = 3.147461104871e-04 time: 6.267000000000e+00 total movement = 3.147461104871e-04 vel = 3.148354352672e-01 ------------------- tc id 144 done Finishing split-cycle on id 144 tc state : vr = 0.412836, vf = 0.412836, maxvel = 11.211309, current_vel = 0.329563, fs = 1.000000, tc = 0.000365, term = 3 tc result: v = 0.329563, acc = 40.360872,T = 0.000883, P = 0.000118 initial results: dx= 0.000766,dt = 0.002063, a_f = 40.360872, v_f = 0.412836 dt = 0.002063, not at end yet secondary movement = 0.000118 tc id = 144, canon_type = 2, mot type = 1 time: 6.268000 primary movement = 1.999299125216e-04 time: 6.268000000000e+00 total movement = 3.174995792753e-04 vel = 3.295630135117e-01 Finished tc id 144 ------------------- Activate tc id = 144 target_vel = 0.412836 final_vel = 0.412836 length = 0.000883 tc state : vr = 0.412836, vf = 0.412836, maxvel = 11.211309, current_vel = 0.369924, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.369924, acc = 40.360872,T = 0.000883, P = 0.000467 initial results: dx= 0.000416,dt = 0.001063, a_f = 40.360872, v_f = 0.412836 dt = 0.001063, not at end yet tc id = 144, canon_type = 2, mot type = 1 time: 6.269000 primary movement = 3.497434495823e-04 time: 6.269000000000e+00 total movement = 3.497434495823e-04 vel = 3.699238856529e-01 ------------------- tc state : vr = 0.412836, vf = 0.412836, maxvel = 11.211309, current_vel = 0.410285, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.410285, acc = 40.360872,T = 0.000883, P = 0.000857 initial results: dx= 0.000026,dt = 0.000063, a_f = 40.360872, v_f = 0.412836 actual v_f = 0.412836, a = 40.360872 split time is 6.32023e-05 tc id = 144, canon_type = 2, mot type = 1 time: 6.270000 primary movement = 3.901043217236e-04 time: 6.270000000000e+00 total movement = 3.901043217236e-04 vel = 4.102847577942e-01 ------------------- tc id 144 done Finishing split-cycle on id 145 tc state : vr = 0.420680, vf = 0.420680, maxvel = 0.420680, current_vel = 0.420680, fs = 1.000000, tc = 0.000937, term = 3 tc result: v = 0.420680, acc = 8.374075,T = 0.004736, P = 0.000390 initial results: dx= 0.004346,dt = 0.010331, a_f = 0.000000, v_f = 0.420680 dt = 0.010331, not at end yet secondary movement = 0.000390 tc id = 145, canon_type = 3, mot type = 2 time: 6.271000 primary movement = 2.601155256834e-05 time: 6.271000000000e+00 total movement = 4.163761096880e-04 vel = 4.206804717276e-01 Finished tc id 144 ------------------- Activate tc id = 145 target_vel = 0.420680 final_vel = 0.420680 length = 0.004736 tc state : vr = 0.420680, vf = 0.420680, maxvel = 0.420680, current_vel = 0.420680, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.420680, acc = 0.000000,T = 0.004736, P = 0.000811 initial results: dx= 0.003925,dt = 0.009331, a_f = 0.000000, v_f = 0.420680 dt = 0.009331, not at end yet tc id = 145, canon_type = 3, mot type = 2 time: 6.272000 primary movement = 4.206136189474e-04 time: 6.272000000000e+00 total movement = 4.206136189474e-04 vel = 4.206804717276e-01 ------------------- tc state : vr = 0.420680, vf = 0.420680, maxvel = 0.420680, current_vel = 0.420680, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.420680, acc = 0.000000,T = 0.004736, P = 0.001232 initial results: dx= 0.003505,dt = 0.008331, a_f = 0.000000, v_f = 0.420680 dt = 0.008331, not at end yet tc id = 145, canon_type = 3, mot type = 2 time: 6.273000 primary movement = 4.206136189474e-04 time: 6.273000000000e+00 total movement = 4.206136189474e-04 vel = 4.206804717276e-01 ------------------- tc state : vr = 0.420680, vf = 0.420680, maxvel = 0.420680, current_vel = 0.420680, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.420680, acc = 0.000000,T = 0.004736, P = 0.001652 initial results: dx= 0.003084,dt = 0.007331, a_f = 0.000000, v_f = 0.420680 dt = 0.007331, not at end yet tc id = 145, canon_type = 3, mot type = 2 time: 6.274000 primary movement = 4.206136189474e-04 time: 6.274000000000e+00 total movement = 4.206136189474e-04 vel = 4.206804717276e-01 ------------------- tc state : vr = 0.420680, vf = 0.420680, maxvel = 0.420680, current_vel = 0.420680, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.420680, acc = 0.000000,T = 0.004736, P = 0.002073 initial results: dx= 0.002663,dt = 0.006331, a_f = 0.000000, v_f = 0.420680 dt = 0.006331, not at end yet tc id = 145, canon_type = 3, mot type = 2 time: 6.275000 primary movement = 4.206136189474e-04 time: 6.275000000000e+00 total movement = 4.206136189474e-04 vel = 4.206804717276e-01 ------------------- tc state : vr = 0.420680, vf = 0.420680, maxvel = 0.420680, current_vel = 0.420680, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.420680, acc = 0.000000,T = 0.004736, P = 0.002494 initial results: dx= 0.002243,dt = 0.005331, a_f = 0.000000, v_f = 0.420680 dt = 0.005331, not at end yet tc id = 145, canon_type = 3, mot type = 2 time: 6.276000 primary movement = 4.206136189474e-04 time: 6.276000000000e+00 total movement = 4.206136189474e-04 vel = 4.206804717276e-01 ------------------- tc state : vr = 0.420680, vf = 0.420680, maxvel = 0.420680, current_vel = 0.420680, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.420680, acc = 0.000000,T = 0.004736, P = 0.002915 initial results: dx= 0.001822,dt = 0.004331, a_f = 0.000000, v_f = 0.420680 dt = 0.004331, not at end yet tc id = 145, canon_type = 3, mot type = 2 time: 6.277000 primary movement = 4.206136189474e-04 time: 6.277000000000e+00 total movement = 4.206136189474e-04 vel = 4.206804717276e-01 ------------------- tc state : vr = 0.420680, vf = 0.420680, maxvel = 0.420680, current_vel = 0.420680, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.420680, acc = 0.000000,T = 0.004736, P = 0.003335 initial results: dx= 0.001401,dt = 0.003331, a_f = 0.000000, v_f = 0.420680 dt = 0.003331, not at end yet tc id = 145, canon_type = 3, mot type = 2 time: 6.278000 primary movement = 4.206136189474e-04 time: 6.278000000000e+00 total movement = 4.206136189474e-04 vel = 4.206804717276e-01 ------------------- tc state : vr = 0.420680, vf = 0.420680, maxvel = 0.420680, current_vel = 0.420680, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.420680, acc = 0.000000,T = 0.004736, P = 0.003756 initial results: dx= 0.000981,dt = 0.002331, a_f = 0.000000, v_f = 0.420680 dt = 0.002331, not at end yet tc id = 145, canon_type = 3, mot type = 2 time: 6.279000 primary movement = 4.206136189474e-04 time: 6.279000000000e+00 total movement = 4.206136189474e-04 vel = 4.206804717276e-01 ------------------- tc state : vr = 0.420680, vf = 0.420680, maxvel = 0.420680, current_vel = 0.420680, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.420680, acc = 0.000000,T = 0.004736, P = 0.004177 initial results: dx= 0.000560,dt = 0.001331, a_f = 0.000000, v_f = 0.420680 dt = 0.001331, not at end yet tc id = 145, canon_type = 3, mot type = 2 time: 6.280000 primary movement = 4.206136189474e-04 time: 6.280000000000e+00 total movement = 4.206136189474e-04 vel = 4.206804717276e-01 ------------------- tc state : vr = 0.420680, vf = 0.420680, maxvel = 0.420680, current_vel = 0.420680, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.420680, acc = 0.000000,T = 0.004736, P = 0.004597 initial results: dx= 0.000139,dt = 0.000331, a_f = 0.000000, v_f = 0.420680 actual v_f = 0.420680, a = 0.000000 split time is 0.000330763 tc id = 145, canon_type = 3, mot type = 2 time: 6.281000 primary movement = 4.206136189474e-04 time: 6.281000000000e+00 total movement = 4.206136189474e-04 vel = 4.206804717276e-01 ------------------- tc id 145 done Finishing split-cycle on id 145 tc state : vr = 0.524683, vf = 0.524683, maxvel = 8.339157, current_vel = 0.440772, fs = 1.000000, tc = 0.000669, term = 3 tc result: v = 0.440772, acc = 30.021086,T = 0.001638, P = 0.000288 initial results: dx= 0.001349,dt = 0.002795, a_f = 30.021086, v_f = 0.524683 dt = 0.002795, not at end yet secondary movement = 0.000288 tc id = 145, canon_type = 2, mot type = 1 time: 6.282000 primary movement = 1.391429965160e-04 time: 6.282000000000e+00 total movement = 4.274009526141e-04 vel = 4.407717019831e-01 Finished tc id 145 ------------------- Activate tc id = 145 target_vel = 0.524683 final_vel = 0.524683 length = 0.001638 tc state : vr = 0.524683, vf = 0.524683, maxvel = 8.339157, current_vel = 0.470793, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.470793, acc = 30.021086,T = 0.001638, P = 0.000744 initial results: dx= 0.000893,dt = 0.001795, a_f = 30.021086, v_f = 0.524683 dt = 0.001795, not at end yet tc id = 145, canon_type = 2, mot type = 1 time: 6.283000 primary movement = 4.557822451528e-04 time: 6.283000000000e+00 total movement = 4.557822451528e-04 vel = 4.707927883225e-01 ------------------- tc state : vr = 0.524683, vf = 0.524683, maxvel = 8.339157, current_vel = 0.500814, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.500814, acc = 30.021086,T = 0.001638, P = 0.001230 initial results: dx= 0.000408,dt = 0.000795, a_f = 30.021086, v_f = 0.524683 actual v_f = 0.524683, a = 30.021086 split time is 0.000795066 tc id = 145, canon_type = 2, mot type = 1 time: 6.284000 primary movement = 4.858033314922e-04 time: 6.284000000000e+00 total movement = 4.858033314922e-04 vel = 5.008138746620e-01 ------------------- tc id 145 done Finishing split-cycle on id 146 tc state : vr = 0.698636, vf = 0.698636, maxvel = 0.698636, current_vel = 0.527757, fs = 1.000000, tc = 0.000205, term = 3 tc result: v = 0.527757, acc = 15.000000,T = 0.007690, P = 0.000108 initial results: dx= 0.007582,dt = 0.012365, a_f = 13.819422, v_f = 0.698636 dt = 0.012365, not at end yet secondary movement = 0.000108 tc id = 146, canon_type = 3, mot type = 2 time: 6.285000 primary movement = 4.076688579048e-04 time: 6.285000000000e+00 total movement = 5.155088433391e-04 vel = 5.277566342746e-01 Finished tc id 145 ------------------- Activate tc id = 146 target_vel = 0.698636 final_vel = 0.698636 length = 0.007690 tc state : vr = 0.698636, vf = 0.698636, maxvel = 0.698636, current_vel = 0.542757, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.542757, acc = 15.000000,T = 0.007690, P = 0.000643 initial results: dx= 0.007047,dt = 0.011353, a_f = 13.729751, v_f = 0.698636 dt = 0.011353, not at end yet tc id = 146, canon_type = 3, mot type = 2 time: 6.286000 primary movement = 5.352385304479e-04 time: 6.286000000000e+00 total movement = 5.352385304479e-04 vel = 5.427566342746e-01 ------------------- tc state : vr = 0.698636, vf = 0.698636, maxvel = 0.698636, current_vel = 0.557757, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.557757, acc = 15.000000,T = 0.007690, P = 0.001193 initial results: dx= 0.006497,dt = 0.010342, a_f = 13.622165, v_f = 0.698636 dt = 0.010342, not at end yet tc id = 146, canon_type = 3, mot type = 2 time: 6.287000 primary movement = 5.502369653861e-04 time: 6.287000000000e+00 total movement = 5.502369653861e-04 vel = 5.577566342746e-01 ------------------- tc state : vr = 0.698636, vf = 0.698636, maxvel = 0.698636, current_vel = 0.572757, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.572757, acc = 15.000000,T = 0.007690, P = 0.001759 initial results: dx= 0.005932,dt = 0.009331, a_f = 13.490861, v_f = 0.698636 dt = 0.009331, not at end yet tc id = 146, canon_type = 3, mot type = 2 time: 6.288000 primary movement = 5.652353126298e-04 time: 6.288000000000e+00 total movement = 5.652353126298e-04 vel = 5.727566342746e-01 ------------------- tc state : vr = 0.698636, vf = 0.698636, maxvel = 0.698636, current_vel = 0.587757, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.587757, acc = 15.000000,T = 0.007690, P = 0.002339 initial results: dx= 0.005351,dt = 0.008320, a_f = 13.327219, v_f = 0.698636 dt = 0.008320, not at end yet tc id = 146, canon_type = 3, mot type = 2 time: 6.289000 primary movement = 5.802335697887e-04 time: 6.289000000000e+00 total movement = 5.802335697887e-04 vel = 5.877566342746e-01 ------------------- tc state : vr = 0.698636, vf = 0.698636, maxvel = 0.698636, current_vel = 0.602757, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.602757, acc = 15.000000,T = 0.007690, P = 0.002934 initial results: dx= 0.004756,dt = 0.007309, a_f = 13.117855, v_f = 0.698636 dt = 0.007309, not at end yet tc id = 146, canon_type = 3, mot type = 2 time: 6.290000 primary movement = 5.952317344724e-04 time: 6.290000000000e+00 total movement = 5.952317344724e-04 vel = 6.027566342746e-01 ------------------- tc state : vr = 0.698636, vf = 0.698636, maxvel = 0.698636, current_vel = 0.617757, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.617757, acc = 15.000000,T = 0.007690, P = 0.003544 initial results: dx= 0.004146,dt = 0.006299, a_f = 12.840801, v_f = 0.698636 dt = 0.006299, not at end yet tc id = 146, canon_type = 3, mot type = 2 time: 6.291000 primary movement = 6.102298042906e-04 time: 6.291000000000e+00 total movement = 6.102298042906e-04 vel = 6.177566342746e-01 ------------------- tc state : vr = 0.698636, vf = 0.698636, maxvel = 0.698636, current_vel = 0.632757, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.632757, acc = 15.000000,T = 0.007690, P = 0.004170 initial results: dx= 0.003520,dt = 0.005288, a_f = 12.457315, v_f = 0.698636 dt = 0.005288, not at end yet tc id = 146, canon_type = 3, mot type = 2 time: 6.292000 primary movement = 6.252277768529e-04 time: 6.292000000000e+00 total movement = 6.252277768529e-04 vel = 6.327566342746e-01 ------------------- tc state : vr = 0.698636, vf = 0.698636, maxvel = 0.698636, current_vel = 0.647757, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.647757, acc = 15.000000,T = 0.007690, P = 0.004810 initial results: dx= 0.002880,dt = 0.004278, a_f = 11.892090, v_f = 0.698636 dt = 0.004278, not at end yet tc id = 146, canon_type = 3, mot type = 2 time: 6.293000 primary movement = 6.402256497691e-04 time: 6.293000000000e+00 total movement = 6.402256497691e-04 vel = 6.477566342746e-01 ------------------- tc state : vr = 0.698636, vf = 0.698636, maxvel = 0.698636, current_vel = 0.662757, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.662757, acc = 15.000000,T = 0.007690, P = 0.005465 initial results: dx= 0.002225,dt = 0.003269, a_f = 10.976803, v_f = 0.698636 dt = 0.003269, not at end yet tc id = 146, canon_type = 3, mot type = 2 time: 6.294000 primary movement = 6.552234206488e-04 time: 6.294000000000e+00 total movement = 6.552234206488e-04 vel = 6.627566342746e-01 ------------------- tc state : vr = 0.698636, vf = 0.698636, maxvel = 0.698636, current_vel = 0.677757, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.677757, acc = 15.000000,T = 0.007690, P = 0.006135 initial results: dx= 0.001555,dt = 0.002259, a_f = 9.242343, v_f = 0.698636 dt = 0.002259, not at end yet tc id = 146, canon_type = 3, mot type = 2 time: 6.295000 primary movement = 6.702210871017e-04 time: 6.295000000000e+00 total movement = 6.702210871017e-04 vel = 6.777566342746e-01 ------------------- tc state : vr = 0.698636, vf = 0.698636, maxvel = 0.698636, current_vel = 0.692757, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.692757, acc = 15.000000,T = 0.007690, P = 0.006821 initial results: dx= 0.000869,dt = 0.001250, a_f = 4.704444, v_f = 0.698636 dt = 0.001250, not at end yet tc id = 146, canon_type = 3, mot type = 2 time: 6.296000 primary movement = 6.852186467376e-04 time: 6.296000000000e+00 total movement = 6.852186467376e-04 vel = 6.927566342746e-01 ------------------- tc state : vr = 0.698636, vf = 0.698636, maxvel = 0.698636, current_vel = 0.698636, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.698636, acc = 5.879396,T = 0.007690, P = 0.007516 initial results: dx= 0.000174,dt = 0.000249, a_f = 0.000000, v_f = 0.698636 actual v_f = 0.698636, a = 0.000000 split time is 0.000248703 tc id = 146, canon_type = 3, mot type = 2 time: 6.297000 primary movement = 6.956565821651e-04 time: 6.297000000000e+00 total movement = 6.956565821651e-04 vel = 6.986360306372e-01 ------------------- tc id 146 done Finishing split-cycle on id 146 tc state : vr = 1.961774, vf = 0.612283, maxvel = 8.944624, current_vel = 0.722828, fs = 1.000000, tc = 0.000751, term = 3 tc result: v = 0.722828, acc = 32.200776,T = 0.004120, P = 0.000534 initial results: dx= 0.003586,dt = 0.005371, a_f = -20.580081, v_f = 0.612283 dt = 0.005371, not at end yet secondary movement = 0.000534 tc id = 146, canon_type = 2, mot type = 1 time: 6.298000 primary movement = 1.737521664813e-04 time: 6.298000000000e+00 total movement = 7.077232332611e-04 vel = 7.228283815283e-01 Finished tc id 146 ------------------- Activate tc id = 146 target_vel = 1.961774 final_vel = 0.612283 length = 0.004120 tc state : vr = 1.961774, vf = 0.612283, maxvel = 8.944624, current_vel = 0.747315, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.747315, acc = 24.486183,T = 0.004120, P = 0.001269 initial results: dx= 0.002851,dt = 0.004193, a_f = -32.200776, v_f = 0.612283 dt = 0.004193, not at end yet tc id = 146, canon_type = 2, mot type = 1 time: 6.299000 primary movement = 7.350714732645e-04 time: 6.299000000000e+00 total movement = 7.350714732645e-04 vel = 7.473145650008e-01 ------------------- tc state : vr = 1.961774, vf = 0.612283, maxvel = 8.944624, current_vel = 0.715114, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.715114, acc = -32.200776,T = 0.004120, P = 0.002000 on final decel initial results: dx= 0.002119,dt = 0.003193, a_f = -32.200776, v_f = 0.612283 dt = 0.003193, not at end yet tc id = 146, canon_type = 2, mot type = 1 time: 6.300000 primary movement = 7.312141768067e-04 time: 6.300000000000e+00 total movement = 7.312141768067e-04 vel = 7.151137886127e-01 ------------------- tc state : vr = 1.961774, vf = 0.612283, maxvel = 8.944624, current_vel = 0.682913, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.682913, acc = -32.200776,T = 0.004120, P = 0.002699 on final decel initial results: dx= 0.001420,dt = 0.002193, a_f = -32.200776, v_f = 0.612283 dt = 0.002193, not at end yet tc id = 146, canon_type = 2, mot type = 1 time: 6.301000 primary movement = 6.990134004186e-04 time: 6.301000000000e+00 total movement = 6.990134004186e-04 vel = 6.829130122245e-01 ------------------- tc state : vr = 1.961774, vf = 0.612283, maxvel = 8.944624, current_vel = 0.650712, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.650712, acc = -32.200776,T = 0.004120, P = 0.003366 on final decel initial results: dx= 0.000754,dt = 0.001193, a_f = -32.200776, v_f = 0.612283 dt = 0.001193, not at end yet tc id = 146, canon_type = 2, mot type = 1 time: 6.302000 primary movement = 6.668126240304e-04 time: 6.302000000000e+00 total movement = 6.668126240304e-04 vel = 6.507122358363e-01 ------------------- tc state : vr = 1.961774, vf = 0.612283, maxvel = 8.944624, current_vel = 0.618511, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.618511, acc = -32.200776,T = 0.004120, P = 0.004001 on final decel initial results: dx= 0.000119,dt = 0.000193, a_f = -32.200776, v_f = 0.612283 recalculating with a_f = -32.200776, a = -32.200776 revised dt = 0.000193 actual v_f = 0.612283, a = -32.200776 split time is 0.000193422 tc id = 146, canon_type = 2, mot type = 1 time: 6.303000 primary movement = 6.346118476423e-04 time: 6.303000000000e+00 total movement = 6.346118476423e-04 vel = 6.185114594482e-01 ------------------- tc id 146 done Finishing split-cycle on id 147 tc state : vr = 0.612283, vf = 0.576219, maxvel = 0.612283, current_vel = 0.612283, fs = 1.000000, tc = 0.000807, term = 3 tc result: v = 0.612283, acc = 0.000000,T = 0.005366, P = 0.000494 initial results: dx= 0.004872,dt = 0.008198, a_f = -4.398970, v_f = 0.576219 dt = 0.008198, not at end yet secondary movement = 0.000494 tc id = 147, canon_type = 3, mot type = 2 time: 6.304000 primary movement = 1.190316621774e-04 time: 6.304000000000e+00 total movement = 6.128613544689e-04 vel = 6.122831057566e-01 Finished tc id 146 ------------------- Activate tc id = 147 target_vel = 0.612283 final_vel = 0.576219 length = 0.005366 tc state : vr = 0.612283, vf = 0.576219, maxvel = 0.612283, current_vel = 0.612283, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.612283, acc = 0.000000,T = 0.005366, P = 0.001106 initial results: dx= 0.004260,dt = 0.007168, a_f = -5.031290, v_f = 0.576219 dt = 0.007168, not at end yet tc id = 147, canon_type = 3, mot type = 2 time: 6.305000 primary movement = 6.122371721570e-04 time: 6.305000000000e+00 total movement = 6.122371721570e-04 vel = 6.122831057566e-01 ------------------- tc state : vr = 0.612283, vf = 0.576219, maxvel = 0.612283, current_vel = 0.612283, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.612283, acc = 0.000000,T = 0.005366, P = 0.001718 initial results: dx= 0.003647,dt = 0.006138, a_f = -5.875909, v_f = 0.576219 dt = 0.006138, not at end yet tc id = 147, canon_type = 3, mot type = 2 time: 6.306000 primary movement = 6.122371721570e-04 time: 6.306000000000e+00 total movement = 6.122371721570e-04 vel = 6.122831057566e-01 ------------------- tc state : vr = 0.612283, vf = 0.576219, maxvel = 0.612283, current_vel = 0.612283, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.612283, acc = 0.000000,T = 0.005366, P = 0.002331 initial results: dx= 0.003035,dt = 0.005107, a_f = -7.061315, v_f = 0.576219 dt = 0.005107, not at end yet tc id = 147, canon_type = 3, mot type = 2 time: 6.307000 primary movement = 6.122371721570e-04 time: 6.307000000000e+00 total movement = 6.122371721570e-04 vel = 6.122831057566e-01 ------------------- tc state : vr = 0.612283, vf = 0.576219, maxvel = 0.612283, current_vel = 0.612283, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.612283, acc = 0.000000,T = 0.005366, P = 0.002943 initial results: dx= 0.002423,dt = 0.004077, a_f = -8.845883, v_f = 0.576219 dt = 0.004077, not at end yet tc id = 147, canon_type = 3, mot type = 2 time: 6.308000 primary movement = 6.122371721570e-04 time: 6.308000000000e+00 total movement = 6.122371721570e-04 vel = 6.122831057566e-01 ------------------- tc state : vr = 0.612283, vf = 0.576219, maxvel = 0.612283, current_vel = 0.612283, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.612283, acc = 0.000000,T = 0.005366, P = 0.003555 initial results: dx= 0.001810,dt = 0.003047, a_f = -11.837515, v_f = 0.576219 dt = 0.003047, not at end yet tc id = 147, canon_type = 3, mot type = 2 time: 6.309000 primary movement = 6.122371721570e-04 time: 6.309000000000e+00 total movement = 6.122371721570e-04 vel = 6.122831057566e-01 ------------------- tc state : vr = 0.612283, vf = 0.576219, maxvel = 0.612283, current_vel = 0.606677, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.606677, acc = -5.605920,T = 0.005366, P = 0.004165 on final decel initial results: dx= 0.001201,dt = 0.002031, a_f = -15.000000, v_f = 0.576219 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.002031 dt = 0.002031, not at end yet tc id = 147, canon_type = 3, mot type = 2 time: 6.310000 primary movement = 6.094348403371e-04 time: 6.310000000000e+00 total movement = 6.094348403371e-04 vel = 6.066771862308e-01 ------------------- tc state : vr = 0.612283, vf = 0.576219, maxvel = 0.612283, current_vel = 0.591677, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.591677, acc = -15.000000,T = 0.005366, P = 0.004764 on final decel initial results: dx= 0.000602,dt = 0.001031, a_f = -15.000000, v_f = 0.576219 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.001031 dt = 0.001031, not at end yet tc id = 147, canon_type = 3, mot type = 2 time: 6.311000 primary movement = 5.991341395300e-04 time: 6.311000000000e+00 total movement = 5.991341395300e-04 vel = 5.916771862308e-01 ------------------- tc state : vr = 0.612283, vf = 0.576219, maxvel = 0.612283, current_vel = 0.576677, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.576677, acc = -15.000000,T = 0.005366, P = 0.005348 on final decel initial results: dx= 0.000018,dt = 0.000031, a_f = -15.000000, v_f = 0.576219 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.000031 actual v_f = 0.576219, a = -15.000000 split time is 3.055e-05 tc id = 147, canon_type = 3, mot type = 2 time: 6.312000 primary movement = 5.841372921645e-04 time: 6.312000000000e+00 total movement = 5.841372921645e-04 vel = 5.766771862308e-01 ------------------- tc id 147 done Finishing split-cycle on id 147 tc state : vr = 1.597357, vf = 0.361609, maxvel = 8.333300, current_vel = 0.547135, fs = 1.000000, tc = 0.000969, term = 3 tc result: v = 0.547135, acc = -30.000000,T = 0.003354, P = 0.000545 on final decel initial results: dx= 0.002810,dt = 0.006184, a_f = -30.000000, v_f = 0.361609 dt = 0.006184, not at end yet secondary movement = 0.000545 tc id = 147, canon_type = 2, mot type = 1 time: 6.313000 primary movement = 1.761047303131e-05 time: 6.313000000000e+00 total movement = 5.621284350121e-04 vel = 5.471354358626e-01 Finished tc id 147 ------------------- Activate tc id = 147 target_vel = 1.597357 final_vel = 0.361609 length = 0.003354 tc state : vr = 1.597357, vf = 0.361609, maxvel = 8.333300, current_vel = 0.517135, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.517135, acc = -30.000000,T = 0.003354, P = 0.001077 on final decel initial results: dx= 0.002278,dt = 0.005184, a_f = -30.000000, v_f = 0.361609 recalculating with a_f = -30.000000, a = -30.000000 revised dt = 0.005184 dt = 0.005184, not at end yet tc id = 147, canon_type = 2, mot type = 1 time: 6.314000 primary movement = 5.321354358626e-04 time: 6.314000000000e+00 total movement = 5.321354358626e-04 vel = 5.171354358626e-01 ------------------- tc state : vr = 1.597357, vf = 0.361609, maxvel = 8.333300, current_vel = 0.487135, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.487135, acc = -30.000000,T = 0.003354, P = 0.001579 on final decel initial results: dx= 0.001776,dt = 0.004184, a_f = -30.000000, v_f = 0.361609 recalculating with a_f = -30.000000, a = -30.000000 revised dt = 0.004184 dt = 0.004184, not at end yet tc id = 147, canon_type = 2, mot type = 1 time: 6.315000 primary movement = 5.021354358626e-04 time: 6.315000000000e+00 total movement = 5.021354358626e-04 vel = 4.871354358626e-01 ------------------- tc state : vr = 1.597357, vf = 0.361609, maxvel = 8.333300, current_vel = 0.457135, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.457135, acc = -30.000000,T = 0.003354, P = 0.002051 on final decel initial results: dx= 0.001304,dt = 0.003184, a_f = -30.000000, v_f = 0.361609 dt = 0.003184, not at end yet tc id = 147, canon_type = 2, mot type = 1 time: 6.316000 primary movement = 4.721354358626e-04 time: 6.316000000000e+00 total movement = 4.721354358626e-04 vel = 4.571354358626e-01 ------------------- tc state : vr = 1.597357, vf = 0.361609, maxvel = 8.333300, current_vel = 0.427135, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.427135, acc = -30.000000,T = 0.003354, P = 0.002493 on final decel initial results: dx= 0.000861,dt = 0.002184, a_f = -30.000000, v_f = 0.361609 recalculating with a_f = -30.000000, a = -30.000000 revised dt = 0.002184 dt = 0.002184, not at end yet tc id = 147, canon_type = 2, mot type = 1 time: 6.317000 primary movement = 4.421354358626e-04 time: 6.317000000000e+00 total movement = 4.421354358626e-04 vel = 4.271354358626e-01 ------------------- tc state : vr = 1.597357, vf = 0.361609, maxvel = 8.333300, current_vel = 0.397135, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.397135, acc = -30.000000,T = 0.003354, P = 0.002905 on final decel initial results: dx= 0.000449,dt = 0.001184, a_f = -30.000000, v_f = 0.361609 recalculating with a_f = -30.000000, a = -30.000000 revised dt = 0.001184 dt = 0.001184, not at end yet tc id = 147, canon_type = 2, mot type = 1 time: 6.318000 primary movement = 4.121354358626e-04 time: 6.318000000000e+00 total movement = 4.121354358626e-04 vel = 3.971354358626e-01 ------------------- tc state : vr = 1.597357, vf = 0.361609, maxvel = 8.333300, current_vel = 0.367135, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.367135, acc = -30.000000,T = 0.003354, P = 0.003287 on final decel initial results: dx= 0.000067,dt = 0.000184, a_f = -30.000000, v_f = 0.361609 recalculating with a_f = -30.000000, a = -30.000000 revised dt = 0.000184 actual v_f = 0.361609, a = -30.000000 split time is 0.000184204 tc id = 147, canon_type = 2, mot type = 1 time: 6.319000 primary movement = 3.821354358626e-04 time: 6.319000000000e+00 total movement = 3.821354358626e-04 vel = 3.671354358626e-01 ------------------- tc id 147 done Finishing split-cycle on id 148 tc state : vr = 0.361609, vf = 0.361609, maxvel = 0.361609, current_vel = 0.361609, fs = 1.000000, tc = 0.000816, term = 3 tc result: v = 0.361609, acc = 0.000000,T = 0.003688, P = 0.000295 initial results: dx= 0.003393,dt = 0.009384, a_f = 0.000000, v_f = 0.361609 dt = 0.009384, not at end yet secondary movement = 0.000295 tc id = 148, canon_type = 3, mot type = 2 time: 6.320000 primary movement = 6.711872112863e-05 time: 6.320000000000e+00 total movement = 3.620760652690e-04 vel = 3.616093264813e-01 Finished tc id 147 ------------------- Activate tc id = 148 target_vel = 0.361609 final_vel = 0.361609 length = 0.003688 tc state : vr = 0.361609, vf = 0.361609, maxvel = 0.361609, current_vel = 0.361609, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.361609, acc = 0.000000,T = 0.003688, P = 0.000657 initial results: dx= 0.003032,dt = 0.008384, a_f = 0.000000, v_f = 0.361609 dt = 0.008384, not at end yet tc id = 148, canon_type = 3, mot type = 2 time: 6.321000 primary movement = 3.615315541917e-04 time: 6.321000000000e+00 total movement = 3.615315541917e-04 vel = 3.616093264813e-01 ------------------- tc state : vr = 0.361609, vf = 0.361609, maxvel = 0.361609, current_vel = 0.361609, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.361609, acc = 0.000000,T = 0.003688, P = 0.001018 initial results: dx= 0.002670,dt = 0.007384, a_f = 0.000000, v_f = 0.361609 dt = 0.007384, not at end yet tc id = 148, canon_type = 3, mot type = 2 time: 6.322000 primary movement = 3.615315541917e-04 time: 6.322000000000e+00 total movement = 3.615315541917e-04 vel = 3.616093264813e-01 ------------------- tc state : vr = 0.361609, vf = 0.361609, maxvel = 0.361609, current_vel = 0.361609, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.361609, acc = 0.000000,T = 0.003688, P = 0.001380 initial results: dx= 0.002308,dt = 0.006384, a_f = 0.000000, v_f = 0.361609 dt = 0.006384, not at end yet tc id = 148, canon_type = 3, mot type = 2 time: 6.323000 primary movement = 3.615315541917e-04 time: 6.323000000000e+00 total movement = 3.615315541917e-04 vel = 3.616093264813e-01 ------------------- tc state : vr = 0.361609, vf = 0.361609, maxvel = 0.361609, current_vel = 0.361609, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.361609, acc = 0.000000,T = 0.003688, P = 0.001741 initial results: dx= 0.001947,dt = 0.005384, a_f = 0.000000, v_f = 0.361609 dt = 0.005384, not at end yet tc id = 148, canon_type = 3, mot type = 2 time: 6.324000 primary movement = 3.615315541917e-04 time: 6.324000000000e+00 total movement = 3.615315541917e-04 vel = 3.616093264813e-01 ------------------- tc state : vr = 0.361609, vf = 0.361609, maxvel = 0.361609, current_vel = 0.361609, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.361609, acc = 0.000000,T = 0.003688, P = 0.002103 initial results: dx= 0.001585,dt = 0.004384, a_f = 0.000000, v_f = 0.361609 dt = 0.004384, not at end yet tc id = 148, canon_type = 3, mot type = 2 time: 6.325000 primary movement = 3.615315541917e-04 time: 6.325000000000e+00 total movement = 3.615315541917e-04 vel = 3.616093264813e-01 ------------------- tc state : vr = 0.361609, vf = 0.361609, maxvel = 0.361609, current_vel = 0.361609, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.361609, acc = 0.000000,T = 0.003688, P = 0.002465 initial results: dx= 0.001224,dt = 0.003384, a_f = 0.000000, v_f = 0.361609 dt = 0.003384, not at end yet tc id = 148, canon_type = 3, mot type = 2 time: 6.326000 primary movement = 3.615315541917e-04 time: 6.326000000000e+00 total movement = 3.615315541917e-04 vel = 3.616093264813e-01 ------------------- tc state : vr = 0.361609, vf = 0.361609, maxvel = 0.361609, current_vel = 0.361609, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.361609, acc = 0.000000,T = 0.003688, P = 0.002826 initial results: dx= 0.000862,dt = 0.002384, a_f = 0.000000, v_f = 0.361609 dt = 0.002384, not at end yet tc id = 148, canon_type = 3, mot type = 2 time: 6.327000 primary movement = 3.615315541917e-04 time: 6.327000000000e+00 total movement = 3.615315541917e-04 vel = 3.616093264813e-01 ------------------- tc state : vr = 0.361609, vf = 0.361609, maxvel = 0.361609, current_vel = 0.361609, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.361609, acc = 0.000000,T = 0.003688, P = 0.003188 initial results: dx= 0.000500,dt = 0.001384, a_f = 0.000000, v_f = 0.361609 dt = 0.001384, not at end yet tc id = 148, canon_type = 3, mot type = 2 time: 6.328000 primary movement = 3.615315541917e-04 time: 6.328000000000e+00 total movement = 3.615315541917e-04 vel = 3.616093264813e-01 ------------------- tc state : vr = 0.361609, vf = 0.361609, maxvel = 0.361609, current_vel = 0.361609, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.361609, acc = 0.000000,T = 0.003688, P = 0.003549 initial results: dx= 0.000139,dt = 0.000384, a_f = 0.000000, v_f = 0.361609 actual v_f = 0.361609, a = 0.000000 split time is 0.00038378 tc id = 148, canon_type = 3, mot type = 2 time: 6.329000 primary movement = 3.615315541917e-04 time: 6.329000000000e+00 total movement = 3.615315541917e-04 vel = 3.616093264813e-01 ------------------- tc id 148 done Finishing split-cycle on id 148 tc state : vr = 0.395661, vf = 0.395661, maxvel = 11.211309, current_vel = 0.386480, fs = 1.000000, tc = 0.000616, term = 3 tc result: v = 0.386480, acc = 40.360872,T = 0.000831, P = 0.000230 initial results: dx= 0.000600,dt = 0.001535, a_f = 5.979968, v_f = 0.395661 dt = 0.001535, not at end yet secondary movement = 0.000230 tc id = 148, canon_type = 2, mot type = 1 time: 6.330000 primary movement = 1.387741489664e-04 time: 6.330000000000e+00 total movement = 3.692679801969e-04 vel = 3.864804899365e-01 Finished tc id 148 ------------------- Activate tc id = 148 target_vel = 0.395661 final_vel = 0.395661 length = 0.000831 tc state : vr = 0.395661, vf = 0.395661, maxvel = 11.211309, current_vel = 0.395661, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.395661, acc = 9.180797,T = 0.000831, P = 0.000622 initial results: dx= 0.000209,dt = 0.000529, a_f = 0.000000, v_f = 0.395661 actual v_f = 0.395661, a = 0.000000 split time is 0.000529048 tc id = 148, canon_type = 2, mot type = 1 time: 6.331000 primary movement = 3.910708883663e-04 time: 6.331000000000e+00 total movement = 3.910708883663e-04 vel = 3.956612867962e-01 ------------------- tc id 148 done Finishing split-cycle on id 149 tc state : vr = 0.395661, vf = 0.395661, maxvel = 0.395661, current_vel = 0.395661, fs = 1.000000, tc = 0.000471, term = 3 tc result: v = 0.395661, acc = 0.000000,T = 0.004941, P = 0.000186 initial results: dx= 0.004755,dt = 0.012018, a_f = 0.000000, v_f = 0.395661 dt = 0.012018, not at end yet secondary movement = 0.000186 tc id = 149, canon_type = 3, mot type = 2 time: 6.332000 primary movement = 2.093239826751e-04 time: 6.332000000000e+00 total movement = 3.956538618634e-04 vel = 3.956612867962e-01 Finished tc id 148 ------------------- Activate tc id = 149 target_vel = 0.395661 final_vel = 0.395661 length = 0.004941 tc state : vr = 0.395661, vf = 0.395661, maxvel = 0.395661, current_vel = 0.395661, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.395661, acc = 0.000000,T = 0.004941, P = 0.000582 initial results: dx= 0.004359,dt = 0.011018, a_f = 0.000000, v_f = 0.395661 dt = 0.011018, not at end yet tc id = 149, canon_type = 3, mot type = 2 time: 6.333000 primary movement = 3.955902070997e-04 time: 6.333000000000e+00 total movement = 3.955902070997e-04 vel = 3.956612867962e-01 ------------------- tc state : vr = 0.395661, vf = 0.395661, maxvel = 0.395661, current_vel = 0.395661, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.395661, acc = 0.000000,T = 0.004941, P = 0.000978 initial results: dx= 0.003964,dt = 0.010018, a_f = 0.000000, v_f = 0.395661 dt = 0.010018, not at end yet tc id = 149, canon_type = 3, mot type = 2 time: 6.334000 primary movement = 3.955902070997e-04 time: 6.334000000000e+00 total movement = 3.955902070997e-04 vel = 3.956612867962e-01 ------------------- tc state : vr = 0.395661, vf = 0.395661, maxvel = 0.395661, current_vel = 0.395661, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.395661, acc = 0.000000,T = 0.004941, P = 0.001373 initial results: dx= 0.003568,dt = 0.009018, a_f = 0.000000, v_f = 0.395661 dt = 0.009018, not at end yet tc id = 149, canon_type = 3, mot type = 2 time: 6.335000 primary movement = 3.955902070997e-04 time: 6.335000000000e+00 total movement = 3.955902070997e-04 vel = 3.956612867962e-01 ------------------- tc state : vr = 0.395661, vf = 0.395661, maxvel = 0.395661, current_vel = 0.395661, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.395661, acc = 0.000000,T = 0.004941, P = 0.001769 initial results: dx= 0.003173,dt = 0.008018, a_f = 0.000000, v_f = 0.395661 dt = 0.008018, not at end yet tc id = 149, canon_type = 3, mot type = 2 time: 6.336000 primary movement = 3.955902070997e-04 time: 6.336000000000e+00 total movement = 3.955902070997e-04 vel = 3.956612867962e-01 ------------------- tc state : vr = 0.395661, vf = 0.395661, maxvel = 0.395661, current_vel = 0.395661, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.395661, acc = 0.000000,T = 0.004941, P = 0.002165 initial results: dx= 0.002777,dt = 0.007018, a_f = 0.000000, v_f = 0.395661 dt = 0.007018, not at end yet tc id = 149, canon_type = 3, mot type = 2 time: 6.337000 primary movement = 3.955902070997e-04 time: 6.337000000000e+00 total movement = 3.955902070997e-04 vel = 3.956612867962e-01 ------------------- tc state : vr = 0.395661, vf = 0.395661, maxvel = 0.395661, current_vel = 0.395661, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.395661, acc = 0.000000,T = 0.004941, P = 0.002560 initial results: dx= 0.002381,dt = 0.006018, a_f = 0.000000, v_f = 0.395661 dt = 0.006018, not at end yet tc id = 149, canon_type = 3, mot type = 2 time: 6.338000 primary movement = 3.955902070997e-04 time: 6.338000000000e+00 total movement = 3.955902070997e-04 vel = 3.956612867962e-01 ------------------- tc state : vr = 0.395661, vf = 0.395661, maxvel = 0.395661, current_vel = 0.395661, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.395661, acc = 0.000000,T = 0.004941, P = 0.002956 initial results: dx= 0.001986,dt = 0.005018, a_f = 0.000000, v_f = 0.395661 dt = 0.005018, not at end yet tc id = 149, canon_type = 3, mot type = 2 time: 6.339000 primary movement = 3.955902070997e-04 time: 6.339000000000e+00 total movement = 3.955902070997e-04 vel = 3.956612867962e-01 ------------------- tc state : vr = 0.395661, vf = 0.395661, maxvel = 0.395661, current_vel = 0.395661, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.395661, acc = 0.000000,T = 0.004941, P = 0.003352 initial results: dx= 0.001590,dt = 0.004018, a_f = 0.000000, v_f = 0.395661 dt = 0.004018, not at end yet tc id = 149, canon_type = 3, mot type = 2 time: 6.340000 primary movement = 3.955902070997e-04 time: 6.340000000000e+00 total movement = 3.955902070997e-04 vel = 3.956612867962e-01 ------------------- tc state : vr = 0.395661, vf = 0.395661, maxvel = 0.395661, current_vel = 0.395661, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.395661, acc = 0.000000,T = 0.004941, P = 0.003747 initial results: dx= 0.001194,dt = 0.003018, a_f = 0.000000, v_f = 0.395661 dt = 0.003018, not at end yet tc id = 149, canon_type = 3, mot type = 2 time: 6.341000 primary movement = 3.955902070997e-04 time: 6.341000000000e+00 total movement = 3.955902070997e-04 vel = 3.956612867962e-01 ------------------- tc state : vr = 0.395661, vf = 0.395661, maxvel = 0.395661, current_vel = 0.395661, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.395661, acc = 0.000000,T = 0.004941, P = 0.004143 initial results: dx= 0.000799,dt = 0.002018, a_f = 0.000000, v_f = 0.395661 dt = 0.002018, not at end yet tc id = 149, canon_type = 3, mot type = 2 time: 6.342000 primary movement = 3.955902070997e-04 time: 6.342000000000e+00 total movement = 3.955902070997e-04 vel = 3.956612867962e-01 ------------------- tc state : vr = 0.395661, vf = 0.395661, maxvel = 0.395661, current_vel = 0.395661, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.395661, acc = 0.000000,T = 0.004941, P = 0.004539 initial results: dx= 0.000403,dt = 0.001018, a_f = 0.000000, v_f = 0.395661 dt = 0.001018, not at end yet tc id = 149, canon_type = 3, mot type = 2 time: 6.343000 primary movement = 3.955902070997e-04 time: 6.343000000000e+00 total movement = 3.955902070997e-04 vel = 3.956612867962e-01 ------------------- tc state : vr = 0.395661, vf = 0.395661, maxvel = 0.395661, current_vel = 0.395661, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.395661, acc = 0.000000,T = 0.004941, P = 0.004934 initial results: dx= 0.000007,dt = 0.000018, a_f = 0.000000, v_f = 0.395661 actual v_f = 0.395661, a = 0.000000 split time is 1.82501e-05 tc id = 149, canon_type = 3, mot type = 2 time: 6.344000 primary movement = 3.955902070997e-04 time: 6.344000000000e+00 total movement = 3.955902070997e-04 vel = 3.956612867962e-01 ------------------- tc id 149 done Finishing split-cycle on id 149 tc state : vr = 0.503588, vf = 0.503588, maxvel = 8.365140, current_vel = 0.425226, fs = 1.000000, tc = 0.000982, term = 3 tc result: v = 0.425226, acc = 30.114625,T = 0.001611, P = 0.000403 initial results: dx= 0.001208,dt = 0.002602, a_f = 30.114625, v_f = 0.503588 dt = 0.002602, not at end yet secondary movement = 0.000403 tc id = 149, canon_type = 2, mot type = 1 time: 6.345000 primary movement = 7.220869801357e-06 time: 6.345000000000e+00 total movement = 4.101740180059e-04 vel = 4.252263157247e-01 Finished tc id 149 ------------------- Activate tc id = 149 target_vel = 0.503588 final_vel = 0.503588 length = 0.001611 tc state : vr = 0.503588, vf = 0.503588, maxvel = 8.365140, current_vel = 0.455341, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.455341, acc = 30.114625,T = 0.001611, P = 0.000843 initial results: dx= 0.000768,dt = 0.001602, a_f = 30.114625, v_f = 0.503588 recalculating with a_f = 30.114625, a = 30.114625 revised dt = 0.001602 dt = 0.001602, not at end yet tc id = 149, canon_type = 2, mot type = 1 time: 6.346000 primary movement = 4.402836281094e-04 time: 6.346000000000e+00 total movement = 4.402836281094e-04 vel = 4.553409404941e-01 ------------------- tc state : vr = 0.503588, vf = 0.503588, maxvel = 8.365140, current_vel = 0.485456, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.485456, acc = 30.114625,T = 0.001611, P = 0.001314 initial results: dx= 0.000298,dt = 0.000602, a_f = 30.114625, v_f = 0.503588 recalculating with a_f = 30.114625, a = 30.114625 revised dt = 0.000602 actual v_f = 0.503588, a = 30.114625 split time is 0.000602118 tc id = 149, canon_type = 2, mot type = 1 time: 6.347000 primary movement = 4.703982528788e-04 time: 6.347000000000e+00 total movement = 4.703982528788e-04 vel = 4.854555652635e-01 ------------------- tc id 149 done Finishing split-cycle on id 150 tc state : vr = 0.692457, vf = 0.692457, maxvel = 0.767331, current_vel = 0.509556, fs = 1.000000, tc = 0.000398, term = 3 tc result: v = 0.509556, acc = 15.000000,T = 0.007530, P = 0.000202 initial results: dx= 0.007328,dt = 0.012193, a_f = 15.000000, v_f = 0.692457 dt = 0.012193, not at end yet secondary movement = 0.000202 tc id = 150, canon_type = 3, mot type = 2 time: 6.348000 primary movement = 2.977606586208e-04 time: 6.348000000000e+00 total movement = 4.993158164522e-04 vel = 5.095563575497e-01 Finished tc id 149 ------------------- Activate tc id = 150 target_vel = 0.692457 final_vel = 0.692457 length = 0.007530 tc state : vr = 0.692457, vf = 0.692457, maxvel = 0.767331, current_vel = 0.524556, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.524556, acc = 15.000000,T = 0.007530, P = 0.000719 initial results: dx= 0.006811,dt = 0.011193, a_f = 15.000000, v_f = 0.692457 dt = 0.011193, not at end yet tc id = 150, canon_type = 3, mot type = 2 time: 6.349000 primary movement = 5.170451432607e-04 time: 6.349000000000e+00 total movement = 5.170451432607e-04 vel = 5.245563575497e-01 ------------------- tc state : vr = 0.692457, vf = 0.692457, maxvel = 0.767331, current_vel = 0.539556, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.539556, acc = 15.000000,T = 0.007530, P = 0.001251 initial results: dx= 0.006279,dt = 0.010193, a_f = 15.000000, v_f = 0.692457 dt = 0.010193, not at end yet tc id = 150, canon_type = 3, mot type = 2 time: 6.350000 primary movement = 5.320441386854e-04 time: 6.350000000000e+00 total movement = 5.320441386854e-04 vel = 5.395563575497e-01 ------------------- tc state : vr = 0.692457, vf = 0.692457, maxvel = 0.767331, current_vel = 0.554556, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.554556, acc = 15.000000,T = 0.007530, P = 0.001798 initial results: dx= 0.005732,dt = 0.009193, a_f = 15.000000, v_f = 0.692457 dt = 0.009193, not at end yet tc id = 150, canon_type = 3, mot type = 2 time: 6.351000 primary movement = 5.470430758405e-04 time: 6.351000000000e+00 total movement = 5.470430758405e-04 vel = 5.545563575497e-01 ------------------- tc state : vr = 0.692457, vf = 0.692457, maxvel = 0.767331, current_vel = 0.569556, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.569556, acc = 15.000000,T = 0.007530, P = 0.002360 initial results: dx= 0.005170,dt = 0.008193, a_f = 15.000000, v_f = 0.692457 dt = 0.008193, not at end yet tc id = 150, canon_type = 3, mot type = 2 time: 6.352000 primary movement = 5.620419530832e-04 time: 6.352000000000e+00 total movement = 5.620419530832e-04 vel = 5.695563575497e-01 ------------------- tc state : vr = 0.692457, vf = 0.692457, maxvel = 0.767331, current_vel = 0.584556, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.584556, acc = 15.000000,T = 0.007530, P = 0.002937 initial results: dx= 0.004593,dt = 0.007193, a_f = 15.000000, v_f = 0.692457 dt = 0.007193, not at end yet tc id = 150, canon_type = 3, mot type = 2 time: 6.353000 primary movement = 5.770407687710e-04 time: 6.353000000000e+00 total movement = 5.770407687710e-04 vel = 5.845563575497e-01 ------------------- tc state : vr = 0.692457, vf = 0.692457, maxvel = 0.767331, current_vel = 0.599556, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.599556, acc = 15.000000,T = 0.007530, P = 0.003529 initial results: dx= 0.004001,dt = 0.006193, a_f = 15.000000, v_f = 0.692457 dt = 0.006193, not at end yet tc id = 150, canon_type = 3, mot type = 2 time: 6.354000 primary movement = 5.920395212610e-04 time: 6.354000000000e+00 total movement = 5.920395212610e-04 vel = 5.995563575497e-01 ------------------- tc state : vr = 0.692457, vf = 0.692457, maxvel = 0.767331, current_vel = 0.614556, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.614556, acc = 15.000000,T = 0.007530, P = 0.004136 initial results: dx= 0.003394,dt = 0.005193, a_f = 15.000000, v_f = 0.692457 dt = 0.005193, not at end yet tc id = 150, canon_type = 3, mot type = 2 time: 6.355000 primary movement = 6.070382089107e-04 time: 6.355000000000e+00 total movement = 6.070382089107e-04 vel = 6.145563575497e-01 ------------------- tc state : vr = 0.692457, vf = 0.692457, maxvel = 0.767331, current_vel = 0.629556, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.629556, acc = 15.000000,T = 0.007530, P = 0.004758 initial results: dx= 0.002772,dt = 0.004193, a_f = 15.000000, v_f = 0.692457 dt = 0.004193, not at end yet tc id = 150, canon_type = 3, mot type = 2 time: 6.356000 primary movement = 6.220368300774e-04 time: 6.356000000000e+00 total movement = 6.220368300774e-04 vel = 6.295563575497e-01 ------------------- tc state : vr = 0.692457, vf = 0.692457, maxvel = 0.767331, current_vel = 0.644556, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.644556, acc = 15.000000,T = 0.007530, P = 0.005395 initial results: dx= 0.002135,dt = 0.003193, a_f = 15.000000, v_f = 0.692457 dt = 0.003193, not at end yet tc id = 150, canon_type = 3, mot type = 2 time: 6.357000 primary movement = 6.370353831184e-04 time: 6.357000000000e+00 total movement = 6.370353831184e-04 vel = 6.445563575497e-01 ------------------- tc state : vr = 0.692457, vf = 0.692457, maxvel = 0.767331, current_vel = 0.659556, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.659556, acc = 15.000000,T = 0.007530, P = 0.006047 initial results: dx= 0.001483,dt = 0.002193, a_f = 15.000000, v_f = 0.692457 dt = 0.002193, not at end yet tc id = 150, canon_type = 3, mot type = 2 time: 6.358000 primary movement = 6.520338663910e-04 time: 6.358000000000e+00 total movement = 6.520338663910e-04 vel = 6.595563575497e-01 ------------------- tc state : vr = 0.692457, vf = 0.692457, maxvel = 0.767331, current_vel = 0.674556, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.674556, acc = 15.000000,T = 0.007530, P = 0.006714 initial results: dx= 0.000816,dt = 0.001193, a_f = 15.000000, v_f = 0.692457 dt = 0.001193, not at end yet tc id = 150, canon_type = 3, mot type = 2 time: 6.359000 primary movement = 6.670322782528e-04 time: 6.359000000000e+00 total movement = 6.670322782528e-04 vel = 6.745563575497e-01 ------------------- tc state : vr = 0.692457, vf = 0.692457, maxvel = 0.767331, current_vel = 0.689556, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.689556, acc = 15.000000,T = 0.007530, P = 0.007396 initial results: dx= 0.000134,dt = 0.000193, a_f = 15.000000, v_f = 0.692457 actual v_f = 0.692457, a = 15.000000 split time is 0.00019339 tc id = 150, canon_type = 3, mot type = 2 time: 6.360000 primary movement = 6.820306170609e-04 time: 6.360000000000e+00 total movement = 6.820306170609e-04 vel = 6.895563575497e-01 ------------------- tc id 150 done Finishing split-cycle on id 150 tc state : vr = 2.442584, vf = 0.491524, maxvel = 8.589769, current_vel = 0.717400, fs = 1.000000, tc = 0.000807, term = 3 tc result: v = 0.717400, acc = 30.923292,T = 0.005129, P = 0.000569 initial results: dx= 0.004561,dt = 0.007545, a_f = -29.936172, v_f = 0.491524 dt = 0.007545, not at end yet secondary movement = 0.000569 tc id = 150, canon_type = 2, mot type = 1 time: 6.361000 primary movement = 1.336336000208e-04 time: 6.361000000000e+00 total movement = 7.022361678288e-04 vel = 7.174002444500e-01 Finished tc id 150 ------------------- Activate tc id = 150 target_vel = 2.442584 final_vel = 0.491524 length = 0.005129 tc state : vr = 2.442584, vf = 0.491524, maxvel = 8.589769, current_vel = 0.692862, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.692862, acc = -24.538546,T = 0.005129, P = 0.001274 on final decel initial results: dx= 0.003856,dt = 0.006511, a_f = -30.923292, v_f = 0.491524 dt = 0.006511, not at end yet tc id = 150, canon_type = 2, mot type = 1 time: 6.362000 primary movement = 7.051309715473e-04 time: 6.362000000000e+00 total movement = 7.051309715473e-04 vel = 6.928616986446e-01 ------------------- tc state : vr = 2.442584, vf = 0.491524, maxvel = 8.589769, current_vel = 0.661938, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.661938, acc = -30.923292,T = 0.005129, P = 0.001951 on final decel initial results: dx= 0.003178,dt = 0.005511, a_f = -30.923292, v_f = 0.491524 recalculating with a_f = -30.923292, a = -30.923292 revised dt = 0.005511 dt = 0.005511, not at end yet tc id = 150, canon_type = 2, mot type = 1 time: 6.363000 primary movement = 6.774000525485e-04 time: 6.363000000000e+00 total movement = 6.774000525485e-04 vel = 6.619384064524e-01 ------------------- tc state : vr = 2.442584, vf = 0.491524, maxvel = 8.589769, current_vel = 0.631015, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.631015, acc = -30.923292,T = 0.005129, P = 0.002598 on final decel initial results: dx= 0.002532,dt = 0.004511, a_f = -30.923292, v_f = 0.491524 recalculating with a_f = -30.923292, a = -30.923292 revised dt = 0.004511 dt = 0.004511, not at end yet tc id = 150, canon_type = 2, mot type = 1 time: 6.364000 primary movement = 6.464767603564e-04 time: 6.364000000000e+00 total movement = 6.464767603564e-04 vel = 6.310151142603e-01 ------------------- tc state : vr = 2.442584, vf = 0.491524, maxvel = 8.589769, current_vel = 0.600092, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.600092, acc = -30.923292,T = 0.005129, P = 0.003213 on final decel initial results: dx= 0.001916,dt = 0.003511, a_f = -30.923292, v_f = 0.491524 recalculating with a_f = -30.923292, a = -30.923292 revised dt = 0.003511 dt = 0.003511, not at end yet tc id = 150, canon_type = 2, mot type = 1 time: 6.365000 primary movement = 6.155534681642e-04 time: 6.365000000000e+00 total movement = 6.155534681642e-04 vel = 6.000918220682e-01 ------------------- tc state : vr = 2.442584, vf = 0.491524, maxvel = 8.589769, current_vel = 0.569169, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.569169, acc = -30.923292,T = 0.005129, P = 0.003798 on final decel initial results: dx= 0.001332,dt = 0.002511, a_f = -30.923292, v_f = 0.491524 recalculating with a_f = -30.923292, a = -30.923292 revised dt = 0.002511 dt = 0.002511, not at end yet tc id = 150, canon_type = 2, mot type = 1 time: 6.366000 primary movement = 5.846301759721e-04 time: 6.366000000000e+00 total movement = 5.846301759721e-04 vel = 5.691685298760e-01 ------------------- tc state : vr = 2.442584, vf = 0.491524, maxvel = 8.589769, current_vel = 0.538245, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.538245, acc = -30.923292,T = 0.005129, P = 0.004352 on final decel initial results: dx= 0.000778,dt = 0.001511, a_f = -30.923292, v_f = 0.491524 recalculating with a_f = -30.923292, a = -30.923292 revised dt = 0.001511 dt = 0.001511, not at end yet tc id = 150, canon_type = 2, mot type = 1 time: 6.367000 primary movement = 5.537068837799e-04 time: 6.367000000000e+00 total movement = 5.537068837799e-04 vel = 5.382452376839e-01 ------------------- tc state : vr = 2.442584, vf = 0.491524, maxvel = 8.589769, current_vel = 0.507322, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.507322, acc = -30.923292,T = 0.005129, P = 0.004874 on final decel initial results: dx= 0.000255,dt = 0.000511, a_f = -30.923292, v_f = 0.491524 recalculating with a_f = -30.923292, a = -30.923292 revised dt = 0.000511 actual v_f = 0.491524, a = -30.923292 split time is 0.000510873 tc id = 150, canon_type = 2, mot type = 1 time: 6.368000 primary movement = 5.227835915878e-04 time: 6.368000000000e+00 total movement = 5.227835915878e-04 vel = 5.073219454918e-01 ------------------- tc id 150 done Finishing split-cycle on id 151 tc state : vr = 0.491524, vf = 0.491524, maxvel = 0.491524, current_vel = 0.491524, fs = 1.000000, tc = 0.000489, term = 3 tc result: v = 0.491524, acc = -0.000000,T = 0.006590, P = 0.000240 initial results: dx= 0.006349,dt = 0.012917, a_f = 0.000000, v_f = 0.491524 dt = 0.012917, not at end yet secondary movement = 0.000240 tc id = 151, canon_type = 3, mot type = 2 time: 6.369000 primary movement = 2.551417683885e-04 time: 6.369000000000e+00 total movement = 4.955527272820e-04 vel = 4.915240680465e-01 Finished tc id 150 ------------------- Activate tc id = 151 target_vel = 0.491524 final_vel = 0.491524 length = 0.006590 tc state : vr = 0.491524, vf = 0.491524, maxvel = 0.491524, current_vel = 0.491524, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.491524, acc = 0.000000,T = 0.006590, P = 0.000732 initial results: dx= 0.005858,dt = 0.011917, a_f = 0.000000, v_f = 0.491524 dt = 0.011917, not at end yet tc id = 151, canon_type = 3, mot type = 2 time: 6.370000 primary movement = 4.914668500594e-04 time: 6.370000000000e+00 total movement = 4.914668500594e-04 vel = 4.915240680465e-01 ------------------- tc state : vr = 0.491524, vf = 0.491524, maxvel = 0.491524, current_vel = 0.491524, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.491524, acc = 0.000000,T = 0.006590, P = 0.001223 initial results: dx= 0.005366,dt = 0.010917, a_f = 0.000000, v_f = 0.491524 dt = 0.010917, not at end yet tc id = 151, canon_type = 3, mot type = 2 time: 6.371000 primary movement = 4.914668500594e-04 time: 6.371000000000e+00 total movement = 4.914668500594e-04 vel = 4.915240680465e-01 ------------------- tc state : vr = 0.491524, vf = 0.491524, maxvel = 0.491524, current_vel = 0.491524, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.491524, acc = 0.000000,T = 0.006590, P = 0.001715 initial results: dx= 0.004875,dt = 0.009917, a_f = 0.000000, v_f = 0.491524 dt = 0.009917, not at end yet tc id = 151, canon_type = 3, mot type = 2 time: 6.372000 primary movement = 4.914668500594e-04 time: 6.372000000000e+00 total movement = 4.914668500594e-04 vel = 4.915240680465e-01 ------------------- tc state : vr = 0.491524, vf = 0.491524, maxvel = 0.491524, current_vel = 0.491524, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.491524, acc = 0.000000,T = 0.006590, P = 0.002207 initial results: dx= 0.004383,dt = 0.008917, a_f = 0.000000, v_f = 0.491524 dt = 0.008917, not at end yet tc id = 151, canon_type = 3, mot type = 2 time: 6.373000 primary movement = 4.914668500594e-04 time: 6.373000000000e+00 total movement = 4.914668500594e-04 vel = 4.915240680465e-01 ------------------- tc state : vr = 0.491524, vf = 0.491524, maxvel = 0.491524, current_vel = 0.491524, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.491524, acc = 0.000000,T = 0.006590, P = 0.002698 initial results: dx= 0.003891,dt = 0.007917, a_f = 0.000000, v_f = 0.491524 dt = 0.007917, not at end yet tc id = 151, canon_type = 3, mot type = 2 time: 6.374000 primary movement = 4.914668500594e-04 time: 6.374000000000e+00 total movement = 4.914668500594e-04 vel = 4.915240680465e-01 ------------------- tc state : vr = 0.491524, vf = 0.491524, maxvel = 0.491524, current_vel = 0.491524, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.491524, acc = 0.000000,T = 0.006590, P = 0.003190 initial results: dx= 0.003400,dt = 0.006917, a_f = 0.000000, v_f = 0.491524 dt = 0.006917, not at end yet tc id = 151, canon_type = 3, mot type = 2 time: 6.375000 primary movement = 4.914668500594e-04 time: 6.375000000000e+00 total movement = 4.914668500594e-04 vel = 4.915240680465e-01 ------------------- tc state : vr = 0.491524, vf = 0.491524, maxvel = 0.491524, current_vel = 0.491524, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.491524, acc = 0.000000,T = 0.006590, P = 0.003681 initial results: dx= 0.002908,dt = 0.005917, a_f = 0.000000, v_f = 0.491524 dt = 0.005917, not at end yet tc id = 151, canon_type = 3, mot type = 2 time: 6.376000 primary movement = 4.914668500594e-04 time: 6.376000000000e+00 total movement = 4.914668500594e-04 vel = 4.915240680465e-01 ------------------- tc state : vr = 0.491524, vf = 0.491524, maxvel = 0.491524, current_vel = 0.491524, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.491524, acc = 0.000000,T = 0.006590, P = 0.004173 initial results: dx= 0.002417,dt = 0.004917, a_f = 0.000000, v_f = 0.491524 dt = 0.004917, not at end yet tc id = 151, canon_type = 3, mot type = 2 time: 6.377000 primary movement = 4.914668500594e-04 time: 6.377000000000e+00 total movement = 4.914668500594e-04 vel = 4.915240680465e-01 ------------------- tc state : vr = 0.491524, vf = 0.491524, maxvel = 0.491524, current_vel = 0.491524, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.491524, acc = 0.000000,T = 0.006590, P = 0.004664 initial results: dx= 0.001925,dt = 0.003917, a_f = 0.000000, v_f = 0.491524 dt = 0.003917, not at end yet tc id = 151, canon_type = 3, mot type = 2 time: 6.378000 primary movement = 4.914668500594e-04 time: 6.378000000000e+00 total movement = 4.914668500594e-04 vel = 4.915240680465e-01 ------------------- tc state : vr = 0.491524, vf = 0.491524, maxvel = 0.491524, current_vel = 0.491524, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.491524, acc = 0.000000,T = 0.006590, P = 0.005156 initial results: dx= 0.001434,dt = 0.002917, a_f = 0.000000, v_f = 0.491524 dt = 0.002917, not at end yet tc id = 151, canon_type = 3, mot type = 2 time: 6.379000 primary movement = 4.914668500594e-04 time: 6.379000000000e+00 total movement = 4.914668500594e-04 vel = 4.915240680465e-01 ------------------- tc state : vr = 0.491524, vf = 0.491524, maxvel = 0.491524, current_vel = 0.491524, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.491524, acc = 0.000000,T = 0.006590, P = 0.005647 initial results: dx= 0.000942,dt = 0.001917, a_f = 0.000000, v_f = 0.491524 dt = 0.001917, not at end yet tc id = 151, canon_type = 3, mot type = 2 time: 6.380000 primary movement = 4.914668500594e-04 time: 6.380000000000e+00 total movement = 4.914668500594e-04 vel = 4.915240680465e-01 ------------------- tc state : vr = 0.491524, vf = 0.491524, maxvel = 0.491524, current_vel = 0.491524, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.491524, acc = 0.000000,T = 0.006590, P = 0.006139 initial results: dx= 0.000451,dt = 0.000917, a_f = 0.000000, v_f = 0.491524 actual v_f = 0.491524, a = 0.000000 split time is 0.000917211 tc id = 151, canon_type = 3, mot type = 2 time: 6.381000 primary movement = 4.914668500594e-04 time: 6.381000000000e+00 total movement = 4.914668500594e-04 vel = 4.915240680465e-01 ------------------- tc id 151 done Finishing split-cycle on id 151 tc state : vr = 0.572253, vf = 0.572253, maxvel = 9.316913, current_vel = 0.494301, fs = 1.000000, tc = 0.000083, term = 3 tc result: v = 0.494301, acc = 33.541020,T = 0.001280, P = 0.000041 initial results: dx= 0.001239,dt = 0.002324, a_f = 33.541020, v_f = 0.572253 dt = 0.002324, not at end yet secondary movement = 0.000041 tc id = 151, canon_type = 2, mot type = 1 time: 6.382000 primary movement = 4.507869722582e-04 time: 6.382000000000e+00 total movement = 4.915948631499e-04 vel = 4.943009063420e-01 Finished tc id 151 ------------------- Activate tc id = 151 target_vel = 0.572253 final_vel = 0.572253 length = 0.001280 tc state : vr = 0.572253, vf = 0.572253, maxvel = 9.316913, current_vel = 0.527842, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.527842, acc = 33.541020,T = 0.001280, P = 0.000552 initial results: dx= 0.000728,dt = 0.001324, a_f = 33.541020, v_f = 0.572253 recalculating with a_f = 33.541020, a = 33.541020 revised dt = 0.001324 dt = 0.001324, not at end yet tc id = 151, canon_type = 2, mot type = 1 time: 6.383000 primary movement = 5.110714161732e-04 time: 6.383000000000e+00 total movement = 5.110714161732e-04 vel = 5.278419260045e-01 ------------------- tc state : vr = 0.572253, vf = 0.572253, maxvel = 9.316913, current_vel = 0.561383, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.561383, acc = 33.541020,T = 0.001280, P = 0.001096 initial results: dx= 0.000184,dt = 0.000324, a_f = 33.541020, v_f = 0.572253 recalculating with a_f = 33.541020, a = 33.541020 revised dt = 0.000324 actual v_f = 0.572253, a = 33.541020 split time is 0.000324078 tc id = 151, canon_type = 2, mot type = 1 time: 6.384000 primary movement = 5.446124358357e-04 time: 6.384000000000e+00 total movement = 5.446124358357e-04 vel = 5.613829456670e-01 ------------------- tc id 151 done Finishing split-cycle on id 152 tc state : vr = 0.609612, vf = 0.609612, maxvel = 0.609612, current_vel = 0.582392, fs = 1.000000, tc = 0.000676, term = 3 tc result: v = 0.582392, acc = 15.000000,T = 0.008215, P = 0.000390 initial results: dx= 0.007825,dt = 0.013128, a_f = 2.073379, v_f = 0.609612 dt = 0.013128, not at end yet secondary movement = 0.000390 tc id = 152, canon_type = 3, mot type = 2 time: 6.385000 primary movement = 1.836933745610e-04 time: 6.385000000000e+00 total movement = 5.739059352238e-04 vel = 5.823916875347e-01 Finished tc id 151 ------------------- Activate tc id = 152 target_vel = 0.609612 final_vel = 0.609612 length = 0.008215 tc state : vr = 0.609612, vf = 0.609612, maxvel = 0.609612, current_vel = 0.597392, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.597392, acc = 15.000000,T = 0.008215, P = 0.000980 initial results: dx= 0.007235,dt = 0.011988, a_f = 1.019388, v_f = 0.609612 dt = 0.011988, not at end yet tc id = 152, canon_type = 3, mot type = 2 time: 6.386000 primary movement = 5.898498865791e-04 time: 6.386000000000e+00 total movement = 5.898498865791e-04 vel = 5.973916875347e-01 ------------------- tc state : vr = 0.609612, vf = 0.609612, maxvel = 0.609612, current_vel = 0.609612, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.609612, acc = 12.220273,T = 0.008215, P = 0.001584 initial results: dx= 0.006631,dt = 0.010878, a_f = 0.000000, v_f = 0.609612 dt = 0.010878, not at end yet tc id = 152, canon_type = 3, mot type = 2 time: 6.387000 primary movement = 6.034570626072e-04 time: 6.387000000000e+00 total movement = 6.034570626072e-04 vel = 6.096119606960e-01 ------------------- tc state : vr = 0.609612, vf = 0.609612, maxvel = 0.609612, current_vel = 0.609612, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.609612, acc = 0.000000,T = 0.008215, P = 0.002193 initial results: dx= 0.006022,dt = 0.009878, a_f = 0.000000, v_f = 0.609612 dt = 0.009878, not at end yet tc id = 152, canon_type = 3, mot type = 2 time: 6.388000 primary movement = 6.095658258377e-04 time: 6.388000000000e+00 total movement = 6.095658258377e-04 vel = 6.096119606960e-01 ------------------- tc state : vr = 0.609612, vf = 0.609612, maxvel = 0.609612, current_vel = 0.609612, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.609612, acc = 0.000000,T = 0.008215, P = 0.002803 initial results: dx= 0.005412,dt = 0.008878, a_f = 0.000000, v_f = 0.609612 dt = 0.008878, not at end yet tc id = 152, canon_type = 3, mot type = 2 time: 6.389000 primary movement = 6.095658258377e-04 time: 6.389000000000e+00 total movement = 6.095658258377e-04 vel = 6.096119606960e-01 ------------------- tc state : vr = 0.609612, vf = 0.609612, maxvel = 0.609612, current_vel = 0.609612, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.609612, acc = 0.000000,T = 0.008215, P = 0.003412 initial results: dx= 0.004802,dt = 0.007878, a_f = 0.000000, v_f = 0.609612 dt = 0.007878, not at end yet tc id = 152, canon_type = 3, mot type = 2 time: 6.390000 primary movement = 6.095658258377e-04 time: 6.390000000000e+00 total movement = 6.095658258377e-04 vel = 6.096119606960e-01 ------------------- tc state : vr = 0.609612, vf = 0.609612, maxvel = 0.609612, current_vel = 0.609612, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.609612, acc = 0.000000,T = 0.008215, P = 0.004022 initial results: dx= 0.004193,dt = 0.006878, a_f = 0.000000, v_f = 0.609612 dt = 0.006878, not at end yet tc id = 152, canon_type = 3, mot type = 2 time: 6.391000 primary movement = 6.095658258377e-04 time: 6.391000000000e+00 total movement = 6.095658258377e-04 vel = 6.096119606960e-01 ------------------- tc state : vr = 0.609612, vf = 0.609612, maxvel = 0.609612, current_vel = 0.609612, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.609612, acc = 0.000000,T = 0.008215, P = 0.004632 initial results: dx= 0.003583,dt = 0.005878, a_f = 0.000000, v_f = 0.609612 dt = 0.005878, not at end yet tc id = 152, canon_type = 3, mot type = 2 time: 6.392000 primary movement = 6.095658258377e-04 time: 6.392000000000e+00 total movement = 6.095658258377e-04 vel = 6.096119606960e-01 ------------------- tc state : vr = 0.609612, vf = 0.609612, maxvel = 0.609612, current_vel = 0.609612, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.609612, acc = 0.000000,T = 0.008215, P = 0.005241 initial results: dx= 0.002974,dt = 0.004878, a_f = 0.000000, v_f = 0.609612 dt = 0.004878, not at end yet tc id = 152, canon_type = 3, mot type = 2 time: 6.393000 primary movement = 6.095658258377e-04 time: 6.393000000000e+00 total movement = 6.095658258377e-04 vel = 6.096119606960e-01 ------------------- tc state : vr = 0.609612, vf = 0.609612, maxvel = 0.609612, current_vel = 0.609612, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.609612, acc = 0.000000,T = 0.008215, P = 0.005851 initial results: dx= 0.002364,dt = 0.003878, a_f = 0.000000, v_f = 0.609612 dt = 0.003878, not at end yet tc id = 152, canon_type = 3, mot type = 2 time: 6.394000 primary movement = 6.095658258377e-04 time: 6.394000000000e+00 total movement = 6.095658258377e-04 vel = 6.096119606960e-01 ------------------- tc state : vr = 0.609612, vf = 0.609612, maxvel = 0.609612, current_vel = 0.609612, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.609612, acc = 0.000000,T = 0.008215, P = 0.006461 initial results: dx= 0.001754,dt = 0.002878, a_f = 0.000000, v_f = 0.609612 dt = 0.002878, not at end yet tc id = 152, canon_type = 3, mot type = 2 time: 6.395000 primary movement = 6.095658258377e-04 time: 6.395000000000e+00 total movement = 6.095658258377e-04 vel = 6.096119606960e-01 ------------------- tc state : vr = 0.609612, vf = 0.609612, maxvel = 0.609612, current_vel = 0.609612, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.609612, acc = 0.000000,T = 0.008215, P = 0.007070 initial results: dx= 0.001145,dt = 0.001878, a_f = 0.000000, v_f = 0.609612 dt = 0.001878, not at end yet tc id = 152, canon_type = 3, mot type = 2 time: 6.396000 primary movement = 6.095658258377e-04 time: 6.396000000000e+00 total movement = 6.095658258377e-04 vel = 6.096119606960e-01 ------------------- tc state : vr = 0.609612, vf = 0.609612, maxvel = 0.609612, current_vel = 0.609612, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.609612, acc = 0.000000,T = 0.008215, P = 0.007680 initial results: dx= 0.000535,dt = 0.000878, a_f = 0.000000, v_f = 0.609612 actual v_f = 0.609612, a = 0.000000 split time is 0.000877726 tc id = 152, canon_type = 3, mot type = 2 time: 6.397000 primary movement = 6.095658258377e-04 time: 6.397000000000e+00 total movement = 6.095658258377e-04 vel = 6.096119606960e-01 ------------------- tc id 152 done Finishing split-cycle on id 152 tc state : vr = 5.747575, vf = 0.570029, maxvel = 8.384582, current_vel = 0.613303, fs = 1.000000, tc = 0.000122, term = 3 tc result: v = 0.613303, acc = 30.184617,T = 0.012070, P = 0.000075 initial results: dx= 0.011995,dt = 0.020274, a_f = -2.134517, v_f = 0.570029 dt = 0.020274, not at end yet secondary movement = 0.000075 tc id = 152, canon_type = 2, mot type = 1 time: 6.398000 primary movement = 5.350413653601e-04 time: 6.398000000000e+00 total movement = 6.098064062504e-04 vel = 6.133027399998e-01 Finished tc id 152 ------------------- Activate tc id = 152 target_vel = 5.747575 final_vel = 0.570029 length = 0.012070 tc state : vr = 5.747575, vf = 0.570029, maxvel = 8.384582, current_vel = 0.643487, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.643487, acc = 30.184617,T = 0.012070, P = 0.000703 initial results: dx= 0.011367,dt = 0.018734, a_f = -3.921236, v_f = 0.570029 dt = 0.018734, not at end yet tc id = 152, canon_type = 2, mot type = 1 time: 6.399000 primary movement = 6.283950485633e-04 time: 6.399000000000e+00 total movement = 6.283950485633e-04 vel = 6.434873571269e-01 ------------------- tc state : vr = 5.747575, vf = 0.570029, maxvel = 8.384582, current_vel = 0.673672, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.673672, acc = 30.184617,T = 0.012070, P = 0.001362 initial results: dx= 0.010708,dt = 0.017220, a_f = -6.018833, v_f = 0.570029 dt = 0.017220, not at end yet tc id = 152, canon_type = 2, mot type = 1 time: 6.400000 primary movement = 6.585796656904e-04 time: 6.400000000000e+00 total movement = 6.585796656904e-04 vel = 6.736719742540e-01 ------------------- tc state : vr = 5.747575, vf = 0.570029, maxvel = 8.384582, current_vel = 0.703857, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.703857, acc = 30.184617,T = 0.012070, P = 0.002051 initial results: dx= 0.010019,dt = 0.015730, a_f = -8.507569, v_f = 0.570029 dt = 0.015730, not at end yet tc id = 152, canon_type = 2, mot type = 1 time: 6.401000 primary movement = 6.887642828176e-04 time: 6.401000000000e+00 total movement = 6.887642828176e-04 vel = 7.038565913811e-01 ------------------- tc state : vr = 5.747575, vf = 0.570029, maxvel = 8.384582, current_vel = 0.734041, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.734041, acc = 30.184617,T = 0.012070, P = 0.002769 initial results: dx= 0.009300,dt = 0.014264, a_f = -11.498574, v_f = 0.570029 dt = 0.014264, not at end yet tc id = 152, canon_type = 2, mot type = 1 time: 6.402000 primary movement = 7.189488999447e-04 time: 6.402000000000e+00 total movement = 7.189488999447e-04 vel = 7.340412085083e-01 ------------------- tc state : vr = 5.747575, vf = 0.570029, maxvel = 8.384582, current_vel = 0.764226, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.764226, acc = 30.184617,T = 0.012070, P = 0.003519 initial results: dx= 0.008551,dt = 0.012818, a_f = -15.150206, v_f = 0.570029 dt = 0.012818, not at end yet tc id = 152, canon_type = 2, mot type = 1 time: 6.403000 primary movement = 7.491335170718e-04 time: 6.403000000000e+00 total movement = 7.491335170718e-04 vel = 7.642258256354e-01 ------------------- tc state : vr = 5.747575, vf = 0.570029, maxvel = 8.384582, current_vel = 0.794410, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.794410, acc = 30.184617,T = 0.012070, P = 0.004298 initial results: dx= 0.007772,dt = 0.011392, a_f = -19.696042, v_f = 0.570029 dt = 0.011392, not at end yet tc id = 152, canon_type = 2, mot type = 1 time: 6.404000 primary movement = 7.793181341990e-04 time: 6.404000000000e+00 total movement = 7.793181341990e-04 vel = 7.944104427625e-01 ------------------- tc state : vr = 5.747575, vf = 0.570029, maxvel = 8.384582, current_vel = 0.824595, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.824595, acc = 30.184617,T = 0.012070, P = 0.005107 initial results: dx= 0.006962,dt = 0.009985, a_f = -25.495472, v_f = 0.570029 dt = 0.009985, not at end yet tc id = 152, canon_type = 2, mot type = 1 time: 6.405000 primary movement = 8.095027513260e-04 time: 6.405000000000e+00 total movement = 8.095027513260e-04 vel = 8.245950598896e-01 ------------------- tc state : vr = 5.747575, vf = 0.570029, maxvel = 8.384582, current_vel = 0.833784, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.833784, acc = 9.188976,T = 0.012070, P = 0.005937 initial results: dx= 0.006133,dt = 0.008738, a_f = -30.184617, v_f = 0.570029 recalculating with a_f = -30.184617, a = -30.184617 revised dt = 0.008738 dt = 0.008738, not at end yet tc id = 152, canon_type = 2, mot type = 1 time: 6.406000 primary movement = 8.291895480099e-04 time: 6.406000000000e+00 total movement = 8.291895480099e-04 vel = 8.337840361302e-01 ------------------- tc state : vr = 5.747575, vf = 0.570029, maxvel = 8.384582, current_vel = 0.803599, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.803599, acc = -30.184617,T = 0.012070, P = 0.006755 on final decel initial results: dx= 0.005315,dt = 0.007738, a_f = -30.184617, v_f = 0.570029 recalculating with a_f = -30.184617, a = -30.184617 revised dt = 0.007738 dt = 0.007738, not at end yet tc id = 152, canon_type = 2, mot type = 1 time: 6.407000 primary movement = 8.186917275667e-04 time: 6.407000000000e+00 total movement = 8.186917275667e-04 vel = 8.035994190031e-01 ------------------- tc state : vr = 5.747575, vf = 0.570029, maxvel = 8.384582, current_vel = 0.773415, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.773415, acc = -30.184617,T = 0.012070, P = 0.007544 on final decel initial results: dx= 0.004526,dt = 0.006738, a_f = -30.184617, v_f = 0.570029 recalculating with a_f = -30.184617, a = -30.184617 revised dt = 0.006738 dt = 0.006738, not at end yet tc id = 152, canon_type = 2, mot type = 1 time: 6.408000 primary movement = 7.885071104395e-04 time: 6.408000000000e+00 total movement = 7.885071104395e-04 vel = 7.734148018760e-01 ------------------- tc state : vr = 5.747575, vf = 0.570029, maxvel = 8.384582, current_vel = 0.743230, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.743230, acc = -30.184617,T = 0.012070, P = 0.008302 on final decel initial results: dx= 0.003768,dt = 0.005738, a_f = -30.184617, v_f = 0.570029 recalculating with a_f = -30.184617, a = -30.184617 revised dt = 0.005738 dt = 0.005738, not at end yet tc id = 152, canon_type = 2, mot type = 1 time: 6.409000 primary movement = 7.583224933124e-04 time: 6.409000000000e+00 total movement = 7.583224933124e-04 vel = 7.432301847489e-01 ------------------- tc state : vr = 5.747575, vf = 0.570029, maxvel = 8.384582, current_vel = 0.713046, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.713046, acc = -30.184617,T = 0.012070, P = 0.009030 on final decel initial results: dx= 0.003040,dt = 0.004738, a_f = -30.184617, v_f = 0.570029 recalculating with a_f = -30.184617, a = -30.184617 revised dt = 0.004738 dt = 0.004738, not at end yet tc id = 152, canon_type = 2, mot type = 1 time: 6.410000 primary movement = 7.281378761853e-04 time: 6.410000000000e+00 total movement = 7.281378761853e-04 vel = 7.130455676217e-01 ------------------- tc state : vr = 5.747575, vf = 0.570029, maxvel = 8.384582, current_vel = 0.682861, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.682861, acc = -30.184617,T = 0.012070, P = 0.009728 on final decel initial results: dx= 0.002342,dt = 0.003738, a_f = -30.184617, v_f = 0.570029 recalculating with a_f = -30.184617, a = -30.184617 revised dt = 0.003738 dt = 0.003738, not at end yet tc id = 152, canon_type = 2, mot type = 1 time: 6.411000 primary movement = 6.979532590582e-04 time: 6.411000000000e+00 total movement = 6.979532590582e-04 vel = 6.828609504946e-01 ------------------- tc state : vr = 5.747575, vf = 0.570029, maxvel = 8.384582, current_vel = 0.652676, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.652676, acc = -30.184617,T = 0.012070, P = 0.010396 on final decel initial results: dx= 0.001674,dt = 0.002738, a_f = -30.184617, v_f = 0.570029 recalculating with a_f = -30.184617, a = -30.184617 revised dt = 0.002738 dt = 0.002738, not at end yet tc id = 152, canon_type = 2, mot type = 1 time: 6.412000 primary movement = 6.677686419310e-04 time: 6.412000000000e+00 total movement = 6.677686419310e-04 vel = 6.526763333675e-01 ------------------- tc state : vr = 5.747575, vf = 0.570029, maxvel = 8.384582, current_vel = 0.622492, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.622492, acc = -30.184617,T = 0.012070, P = 0.011034 on final decel initial results: dx= 0.001036,dt = 0.001738, a_f = -30.184617, v_f = 0.570029 recalculating with a_f = -30.184617, a = -30.184617 revised dt = 0.001738 dt = 0.001738, not at end yet tc id = 152, canon_type = 2, mot type = 1 time: 6.413000 primary movement = 6.375840248039e-04 time: 6.413000000000e+00 total movement = 6.375840248039e-04 vel = 6.224917162404e-01 ------------------- tc state : vr = 5.747575, vf = 0.570029, maxvel = 8.384582, current_vel = 0.592307, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.592307, acc = -30.184617,T = 0.012070, P = 0.011641 on final decel initial results: dx= 0.000429,dt = 0.000738, a_f = -30.184617, v_f = 0.570029 recalculating with a_f = -30.184617, a = -30.184617 revised dt = 0.000738 actual v_f = 0.570029, a = -30.184617 split time is 0.000738075 tc id = 152, canon_type = 2, mot type = 1 time: 6.414000 primary movement = 6.073994076768e-04 time: 6.414000000000e+00 total movement = 6.073994076768e-04 vel = 5.923070991132e-01 ------------------- tc id 152 done Finishing split-cycle on id 153 tc state : vr = 0.583176, vf = 0.465426, maxvel = 0.583176, current_vel = 0.566100, fs = 1.000000, tc = 0.000262, term = 3 tc result: v = 0.566100, acc = -15.000000,T = 0.003610, P = 0.000149 on final decel initial results: dx= 0.003462,dt = 0.006712, a_f = -15.000000, v_f = 0.465426 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.006712 dt = 0.006712, not at end yet secondary movement = 0.000149 tc id = 153, canon_type = 3, mot type = 2 time: 6.415000 primary movement = 4.289455316853e-04 time: 6.415000000000e+00 total movement = 5.777348571466e-04 vel = 5.660997108128e-01 Finished tc id 152 ------------------- Activate tc id = 153 target_vel = 0.583176 final_vel = 0.465426 length = 0.003610 tc state : vr = 0.583176, vf = 0.465426, maxvel = 0.583176, current_vel = 0.551100, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.551100, acc = -15.000000,T = 0.003610, P = 0.000707 on final decel initial results: dx= 0.002903,dt = 0.005712, a_f = -15.000000, v_f = 0.465426 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.005712 dt = 0.005712, not at end yet tc id = 153, canon_type = 3, mot type = 2 time: 6.416000 primary movement = 5.585573283123e-04 time: 6.416000000000e+00 total movement = 5.585573283123e-04 vel = 5.510997108128e-01 ------------------- tc state : vr = 0.583176, vf = 0.465426, maxvel = 0.583176, current_vel = 0.536100, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.536100, acc = -15.000000,T = 0.003610, P = 0.001251 on final decel initial results: dx= 0.002359,dt = 0.004712, a_f = -15.000000, v_f = 0.465426 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.004712 dt = 0.004712, not at end yet tc id = 153, canon_type = 3, mot type = 2 time: 6.417000 primary movement = 5.435606516769e-04 time: 6.417000000000e+00 total movement = 5.435606516769e-04 vel = 5.360997108128e-01 ------------------- tc state : vr = 0.583176, vf = 0.465426, maxvel = 0.583176, current_vel = 0.521100, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.521100, acc = -15.000000,T = 0.003610, P = 0.001780 on final decel initial results: dx= 0.001831,dt = 0.003712, a_f = -15.000000, v_f = 0.465426 dt = 0.003712, not at end yet tc id = 153, canon_type = 3, mot type = 2 time: 6.418000 primary movement = 5.285637966081e-04 time: 6.418000000000e+00 total movement = 5.285637966081e-04 vel = 5.210997108128e-01 ------------------- tc state : vr = 0.583176, vf = 0.465426, maxvel = 0.583176, current_vel = 0.506100, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.506100, acc = -15.000000,T = 0.003610, P = 0.002293 on final decel initial results: dx= 0.001317,dt = 0.002712, a_f = -15.000000, v_f = 0.465426 dt = 0.002712, not at end yet tc id = 153, canon_type = 3, mot type = 2 time: 6.419000 primary movement = 5.135667680290e-04 time: 6.419000000000e+00 total movement = 5.135667680290e-04 vel = 5.060997108128e-01 ------------------- tc state : vr = 0.583176, vf = 0.465426, maxvel = 0.583176, current_vel = 0.491100, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.491100, acc = -15.000000,T = 0.003610, P = 0.002792 on final decel initial results: dx= 0.000819,dt = 0.001712, a_f = -15.000000, v_f = 0.465426 dt = 0.001712, not at end yet tc id = 153, canon_type = 3, mot type = 2 time: 6.420000 primary movement = 4.985695708624e-04 time: 6.420000000000e+00 total movement = 4.985695708624e-04 vel = 4.910997108128e-01 ------------------- tc state : vr = 0.583176, vf = 0.465426, maxvel = 0.583176, current_vel = 0.476100, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.476100, acc = -15.000000,T = 0.003610, P = 0.003275 on final decel initial results: dx= 0.000335,dt = 0.000712, a_f = -15.000000, v_f = 0.465426 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.000712 actual v_f = 0.465426, a = -15.000000 split time is 0.000711555 tc id = 153, canon_type = 3, mot type = 2 time: 6.421000 primary movement = 4.835722100317e-04 time: 6.421000000000e+00 total movement = 4.835722100317e-04 vel = 4.760997108128e-01 ------------------- tc id 153 done Finishing split-cycle on id 153 tc state : vr = 0.465426, vf = 0.328572, maxvel = 8.448247, current_vel = 0.465426, fs = 1.000000, tc = 0.000288, term = 3 tc result: v = 0.465426, acc = 0.000000,T = 0.002128, P = 0.000134 initial results: dx= 0.001993,dt = 0.005021, a_f = -27.255824, v_f = 0.328572 dt = 0.005021, not at end yet secondary movement = 0.000134 tc id = 153, canon_type = 2, mot type = 1 time: 6.422000 primary movement = 3.349645400204e-04 time: 6.422000000000e+00 total movement = 4.692145763173e-04 vel = 4.654263897226e-01 Finished tc id 153 ------------------- Activate tc id = 153 target_vel = 0.465426 final_vel = 0.328572 length = 0.002128 tc state : vr = 0.465426, vf = 0.328572, maxvel = 8.448247, current_vel = 0.448784, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.448784, acc = -16.642249,T = 0.002128, P = 0.000591 on final decel initial results: dx= 0.001536,dt = 0.003953, a_f = -30.413813, v_f = 0.328572 dt = 0.003953, not at end yet tc id = 153, canon_type = 2, mot type = 1 time: 6.423000 primary movement = 4.571052652287e-04 time: 6.423000000000e+00 total movement = 4.571052652287e-04 vel = 4.487841407349e-01 ------------------- tc state : vr = 0.465426, vf = 0.328572, maxvel = 8.448247, current_vel = 0.418370, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.418370, acc = -30.413813,T = 0.002128, P = 0.001025 on final decel initial results: dx= 0.001103,dt = 0.002953, a_f = -30.413813, v_f = 0.328572 recalculating with a_f = -30.413813, a = -30.413813 revised dt = 0.002953 dt = 0.002953, not at end yet tc id = 153, canon_type = 2, mot type = 1 time: 6.424000 primary movement = 4.335772344092e-04 time: 6.424000000000e+00 total movement = 4.335772344092e-04 vel = 4.183703280834e-01 ------------------- tc state : vr = 0.465426, vf = 0.328572, maxvel = 8.448247, current_vel = 0.387957, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.387957, acc = -30.413813,T = 0.002128, P = 0.001428 on final decel initial results: dx= 0.000700,dt = 0.001953, a_f = -30.413813, v_f = 0.328572 recalculating with a_f = -30.413813, a = -30.413813 revised dt = 0.001953 dt = 0.001953, not at end yet tc id = 153, canon_type = 2, mot type = 1 time: 6.425000 primary movement = 4.031634217577e-04 time: 6.425000000000e+00 total movement = 4.031634217577e-04 vel = 3.879565154319e-01 ------------------- tc state : vr = 0.465426, vf = 0.328572, maxvel = 8.448247, current_vel = 0.357543, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.357543, acc = -30.413813,T = 0.002128, P = 0.001801 on final decel initial results: dx= 0.000327,dt = 0.000953, a_f = -30.413813, v_f = 0.328572 actual v_f = 0.328572, a = -30.413813 split time is 0.00095255 tc id = 153, canon_type = 2, mot type = 1 time: 6.426000 primary movement = 3.727496091062e-04 time: 6.426000000000e+00 total movement = 3.727496091062e-04 vel = 3.575427027805e-01 ------------------- tc id 153 done Finishing split-cycle on id 154 tc state : vr = 0.328572, vf = 0.000000, maxvel = 0.328572, current_vel = 0.328572, fs = 1.000000, tc = 0.000047, term = 3 tc result: v = 0.328572, acc = 0.000000,T = 0.003950, P = 0.000016 initial results: dx= 0.003934,dt = 0.023948, a_f = -13.720376, v_f = 0.000000 dt = 0.023948, not at end yet secondary movement = 0.000016 tc id = 154, canon_type = 3, mot type = 2 time: 6.427000 primary movement = 3.267791796103e-04 time: 6.427000000000e+00 total movement = 3.423700261920e-04 vel = 3.285720359638e-01 Finished tc id 153 ------------------- Activate tc id = 154 target_vel = 0.328572 final_vel = 0.000000 length = 0.003950 tc state : vr = 0.328572, vf = 0.000000, maxvel = 0.328572, current_vel = 0.328572, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.328572, acc = 0.000000,T = 0.003950, P = 0.000344 initial results: dx= 0.003606,dt = 0.021948, a_f = -14.970652, v_f = 0.000000 dt = 0.021948, not at end yet tc id = 154, canon_type = 3, mot type = 2 time: 6.428000 primary movement = 3.284864449855e-04 time: 6.428000000000e+00 total movement = 3.284864449855e-04 vel = 3.285720359638e-01 ------------------- tc state : vr = 0.328572, vf = 0.000000, maxvel = 0.328572, current_vel = 0.313901, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.313901, acc = -14.670587,T = 0.003950, P = 0.000665 on final decel initial results: dx= 0.003284,dt = 0.020927, a_f = -15.000000, v_f = 0.000000 dt = 0.020927, not at end yet tc id = 154, canon_type = 3, mot type = 2 time: 6.429000 primary movement = 3.211567565924e-04 time: 6.429000000000e+00 total movement = 3.211567565924e-04 vel = 3.139014489829e-01 ------------------- tc state : vr = 0.328572, vf = 0.000000, maxvel = 0.328572, current_vel = 0.298901, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.298901, acc = -15.000000,T = 0.003950, P = 0.000972 on final decel initial results: dx= 0.002978,dt = 0.019927, a_f = -15.000000, v_f = 0.000000 dt = 0.019927, not at end yet tc id = 154, canon_type = 3, mot type = 2 time: 6.430000 primary movement = 3.063320404181e-04 time: 6.430000000000e+00 total movement = 3.063320404181e-04 vel = 2.989014489829e-01 ------------------- tc state : vr = 0.328572, vf = 0.000000, maxvel = 0.328572, current_vel = 0.283901, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.283901, acc = -15.000000,T = 0.003950, P = 0.001263 on final decel initial results: dx= 0.002687,dt = 0.018927, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.018927 dt = 0.018927, not at end yet tc id = 154, canon_type = 3, mot type = 2 time: 6.431000 primary movement = 2.913417429027e-04 time: 6.431000000000e+00 total movement = 2.913417429027e-04 vel = 2.839014489829e-01 ------------------- tc state : vr = 0.328572, vf = 0.000000, maxvel = 0.328572, current_vel = 0.268901, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.268901, acc = -15.000000,T = 0.003950, P = 0.001540 on final decel initial results: dx= 0.002410,dt = 0.017927, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.017927 dt = 0.017927, not at end yet tc id = 154, canon_type = 3, mot type = 2 time: 6.432000 primary movement = 2.763504962993e-04 time: 6.432000000000e+00 total movement = 2.763504962993e-04 vel = 2.689014489829e-01 ------------------- tc state : vr = 0.328572, vf = 0.000000, maxvel = 0.328572, current_vel = 0.253901, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.253901, acc = -15.000000,T = 0.003950, P = 0.001801 on final decel initial results: dx= 0.002149,dt = 0.016927, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.016927 dt = 0.016927, not at end yet tc id = 154, canon_type = 3, mot type = 2 time: 6.433000 primary movement = 2.613583494439e-04 time: 6.433000000000e+00 total movement = 2.613583494439e-04 vel = 2.539014489829e-01 ------------------- tc state : vr = 0.328572, vf = 0.000000, maxvel = 0.328572, current_vel = 0.238901, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.238901, acc = -15.000000,T = 0.003950, P = 0.002047 on final decel initial results: dx= 0.001902,dt = 0.015927, a_f = -15.000000, v_f = 0.000000 dt = 0.015927, not at end yet tc id = 154, canon_type = 3, mot type = 2 time: 6.434000 primary movement = 2.463653511758e-04 time: 6.434000000000e+00 total movement = 2.463653511758e-04 vel = 2.389014489829e-01 ------------------- tc state : vr = 0.328572, vf = 0.000000, maxvel = 0.328572, current_vel = 0.223901, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.223901, acc = -15.000000,T = 0.003950, P = 0.002279 on final decel initial results: dx= 0.001671,dt = 0.014927, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.014927 dt = 0.014927, not at end yet tc id = 154, canon_type = 3, mot type = 2 time: 6.435000 primary movement = 2.313715503367e-04 time: 6.435000000000e+00 total movement = 2.313715503367e-04 vel = 2.239014489829e-01 ------------------- tc state : vr = 0.328572, vf = 0.000000, maxvel = 0.328572, current_vel = 0.208901, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.208901, acc = -15.000000,T = 0.003950, P = 0.002495 on final decel initial results: dx= 0.001455,dt = 0.013927, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.013927 dt = 0.013927, not at end yet tc id = 154, canon_type = 3, mot type = 2 time: 6.436000 primary movement = 2.163769957713e-04 time: 6.436000000000e+00 total movement = 2.163769957713e-04 vel = 2.089014489829e-01 ------------------- tc state : vr = 0.328572, vf = 0.000000, maxvel = 0.328572, current_vel = 0.193901, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.193901, acc = -15.000000,T = 0.003950, P = 0.002697 on final decel initial results: dx= 0.001253,dt = 0.012927, a_f = -15.000000, v_f = 0.000000 dt = 0.012927, not at end yet tc id = 154, canon_type = 3, mot type = 2 time: 6.437000 primary movement = 2.013817363263e-04 time: 6.437000000000e+00 total movement = 2.013817363263e-04 vel = 1.939014489829e-01 ------------------- tc state : vr = 0.328572, vf = 0.000000, maxvel = 0.328572, current_vel = 0.178901, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.178901, acc = -15.000000,T = 0.003950, P = 0.002883 on final decel initial results: dx= 0.001067,dt = 0.011927, a_f = -15.000000, v_f = 0.000000 dt = 0.011927, not at end yet tc id = 154, canon_type = 3, mot type = 2 time: 6.438000 primary movement = 1.863858208511e-04 time: 6.438000000000e+00 total movement = 1.863858208511e-04 vel = 1.789014489829e-01 ------------------- tc state : vr = 0.328572, vf = 0.000000, maxvel = 0.328572, current_vel = 0.163901, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.163901, acc = -15.000000,T = 0.003950, P = 0.003054 on final decel initial results: dx= 0.000895,dt = 0.010927, a_f = -15.000000, v_f = 0.000000 dt = 0.010927, not at end yet tc id = 154, canon_type = 3, mot type = 2 time: 6.439000 primary movement = 1.713892981970e-04 time: 6.439000000000e+00 total movement = 1.713892981970e-04 vel = 1.639014489829e-01 ------------------- tc state : vr = 0.328572, vf = 0.000000, maxvel = 0.328572, current_vel = 0.148901, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.148901, acc = -15.000000,T = 0.003950, P = 0.003211 on final decel initial results: dx= 0.000739,dt = 0.009927, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.009927 dt = 0.009927, not at end yet tc id = 154, canon_type = 3, mot type = 2 time: 6.440000 primary movement = 1.563922172174e-04 time: 6.440000000000e+00 total movement = 1.563922172174e-04 vel = 1.489014489829e-01 ------------------- tc state : vr = 0.328572, vf = 0.000000, maxvel = 0.328572, current_vel = 0.133901, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.133901, acc = -15.000000,T = 0.003950, P = 0.003352 on final decel initial results: dx= 0.000598,dt = 0.008927, a_f = -15.000000, v_f = 0.000000 dt = 0.008927, not at end yet tc id = 154, canon_type = 3, mot type = 2 time: 6.441000 primary movement = 1.413946267675e-04 time: 6.441000000000e+00 total movement = 1.413946267675e-04 vel = 1.339014489829e-01 ------------------- tc state : vr = 0.328572, vf = 0.000000, maxvel = 0.328572, current_vel = 0.118901, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.118901, acc = -15.000000,T = 0.003950, P = 0.003479 on final decel initial results: dx= 0.000471,dt = 0.007927, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.007927 dt = 0.007927, not at end yet tc id = 154, canon_type = 3, mot type = 2 time: 6.442000 primary movement = 1.263965757039e-04 time: 6.442000000000e+00 total movement = 1.263965757039e-04 vel = 1.189014489829e-01 ------------------- tc state : vr = 0.328572, vf = 0.000000, maxvel = 0.328572, current_vel = 0.103901, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.103901, acc = -15.000000,T = 0.003950, P = 0.003590 on final decel initial results: dx= 0.000360,dt = 0.006927, a_f = -15.000000, v_f = 0.000000 dt = 0.006927, not at end yet tc id = 154, canon_type = 3, mot type = 2 time: 6.443000 primary movement = 1.113981128852e-04 time: 6.443000000000e+00 total movement = 1.113981128852e-04 vel = 1.039014489829e-01 ------------------- tc state : vr = 0.328572, vf = 0.000000, maxvel = 0.328572, current_vel = 0.088901, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.088901, acc = -15.000000,T = 0.003950, P = 0.003686 on final decel initial results: dx= 0.000263,dt = 0.005927, a_f = -15.000000, v_f = 0.000000 dt = 0.005927, not at end yet tc id = 154, canon_type = 3, mot type = 2 time: 6.444000 primary movement = 9.639928717101e-05 time: 6.444000000000e+00 total movement = 9.639928717101e-05 vel = 8.890144898287e-02 ------------------- tc state : vr = 0.328572, vf = 0.000000, maxvel = 0.328572, current_vel = 0.073901, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.073901, acc = -15.000000,T = 0.003950, P = 0.003768 on final decel initial results: dx= 0.000182,dt = 0.004927, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.004927 dt = 0.004927, not at end yet tc id = 154, canon_type = 3, mot type = 2 time: 6.445000 primary movement = 8.140014742207e-05 time: 6.445000000000e+00 total movement = 8.140014742207e-05 vel = 7.390144898287e-02 ------------------- tc state : vr = 0.328572, vf = 0.000000, maxvel = 0.328572, current_vel = 0.058901, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.058901, acc = -15.000000,T = 0.003950, P = 0.003834 on final decel initial results: dx= 0.000116,dt = 0.003927, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.003927 dt = 0.003927, not at end yet tc id = 154, canon_type = 3, mot type = 2 time: 6.446000 primary movement = 6.640074250036e-05 time: 6.446000000000e+00 total movement = 6.640074250036e-05 vel = 5.890144898287e-02 ------------------- tc state : vr = 0.328572, vf = 0.000000, maxvel = 0.328572, current_vel = 0.043901, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.043901, acc = -15.000000,T = 0.003950, P = 0.003886 on final decel initial results: dx= 0.000064,dt = 0.002927, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.002927 dt = 0.002927, not at end yet tc id = 154, canon_type = 3, mot type = 2 time: 6.447000 primary movement = 5.140112126857e-05 time: 6.447000000000e+00 total movement = 5.140112126857e-05 vel = 4.390144898287e-02 ------------------- tc state : vr = 0.328572, vf = 0.000000, maxvel = 0.328572, current_vel = 0.028901, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.028901, acc = -15.000000,T = 0.003950, P = 0.003922 on final decel initial results: dx= 0.000028,dt = 0.001927, a_f = -15.000000, v_f = 0.000000 dt = 0.001927, not at end yet tc id = 154, canon_type = 3, mot type = 2 time: 6.448000 primary movement = 3.640133259018e-05 time: 6.448000000000e+00 total movement = 3.640133259018e-05 vel = 2.890144898287e-02 ------------------- tc state : vr = 0.328572, vf = 0.000000, maxvel = 0.328572, current_vel = 0.013901, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.013901, acc = -15.000000,T = 0.003950, P = 0.003943 on final decel initial results: dx= 0.000006,dt = 0.000927, a_f = -15.000000, v_f = 0.000000 actual v_f = 0.000000, a = -15.000000 split time is 0.000926763 tc id = 154, canon_type = 3, mot type = 2 time: 6.449000 primary movement = 2.140142532914e-05 time: 6.449000000000e+00 total movement = 2.140142532914e-05 vel = 1.390144898287e-02 ------------------- tc id 154 done Finishing split-cycle on id 154 tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.001554, fs = 1.000000, tc = 0.000073, term = 2 tc result: v = 0.001554, acc = 21.213203,T = 0.003518, P = 0.000000 secondary movement = 0.000000 tc id = 154, canon_type = 2, mot type = 1 time: 6.450000 primary movement = 6.441675482442e-06 time: 6.450000000000e+00 total movement = 6.498565255893e-06 vel = 1.553585747378e-03 Finished tc id 154 ------------------- Activate tc id = 154 target_vel = 11.785066 final_vel = 0.000000 length = 0.003518 Activate nexttc id 155 tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.022767, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.022767, acc = 21.213203,T = 0.003518, P = 0.000012 tc id = 154, canon_type = 2, mot type = 1 time: 6.451000 primary movement = 1.216018746517e-05 time: 6.451000000000e+00 total movement = 1.216018746517e-05 vel = 2.276678918297e-02 ------------------- tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.043980, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.043980, acc = 21.213203,T = 0.003518, P = 0.000046 tc id = 154, canon_type = 2, mot type = 1 time: 6.452000 primary movement = 3.337339090075e-05 time: 6.452000000000e+00 total movement = 3.337339090075e-05 vel = 4.397999261857e-02 ------------------- tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.065193, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.065193, acc = 21.213203,T = 0.003518, P = 0.000100 tc id = 154, canon_type = 2, mot type = 1 time: 6.453000 primary movement = 5.458659433640e-05 time: 6.453000000000e+00 total movement = 5.458659433640e-05 vel = 6.519319605417e-02 ------------------- tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.086406, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.086406, acc = 21.213203,T = 0.003518, P = 0.000176 tc id = 154, canon_type = 2, mot type = 1 time: 6.454000 primary movement = 7.579979777194e-05 time: 6.454000000000e+00 total movement = 7.579979777194e-05 vel = 8.640639948976e-02 ------------------- tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.107620, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.107620, acc = 21.213203,T = 0.003518, P = 0.000273 tc id = 154, canon_type = 2, mot type = 1 time: 6.455000 primary movement = 9.701300120756e-05 time: 6.455000000000e+00 total movement = 9.701300120756e-05 vel = 1.076196029254e-01 ------------------- tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.128833, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.128833, acc = 21.213203,T = 0.003518, P = 0.000391 tc id = 154, canon_type = 2, mot type = 1 time: 6.456000 primary movement = 1.182262046432e-04 time: 6.456000000000e+00 total movement = 1.182262046432e-04 vel = 1.288328063610e-01 ------------------- tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.150046, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.150046, acc = 21.213203,T = 0.003518, P = 0.000531 tc id = 154, canon_type = 2, mot type = 1 time: 6.457000 primary movement = 1.394394080788e-04 time: 6.457000000000e+00 total movement = 1.394394080788e-04 vel = 1.500460097966e-01 ------------------- tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.171259, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.171259, acc = 21.213203,T = 0.003518, P = 0.000691 tc id = 154, canon_type = 2, mot type = 1 time: 6.458000 primary movement = 1.606526115143e-04 time: 6.458000000000e+00 total movement = 1.606526115143e-04 vel = 1.712592132321e-01 ------------------- tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.192472, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.192472, acc = 21.213203,T = 0.003518, P = 0.000873 tc id = 154, canon_type = 2, mot type = 1 time: 6.459000 primary movement = 1.818658149500e-04 time: 6.459000000000e+00 total movement = 1.818658149500e-04 vel = 1.924724166677e-01 ------------------- tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.213686, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.213686, acc = 21.213203,T = 0.003518, P = 0.001076 tc id = 154, canon_type = 2, mot type = 1 time: 6.460000 primary movement = 2.030790183855e-04 time: 6.460000000000e+00 total movement = 2.030790183855e-04 vel = 2.136856201033e-01 ------------------- tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.234899, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.234899, acc = 21.213203,T = 0.003518, P = 0.001301 tc id = 154, canon_type = 2, mot type = 1 time: 6.461000 primary movement = 2.242922218211e-04 time: 6.461000000000e+00 total movement = 2.242922218211e-04 vel = 2.348988235389e-01 ------------------- tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.256112, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.256112, acc = 21.213203,T = 0.003518, P = 0.001546 tc id = 154, canon_type = 2, mot type = 1 time: 6.462000 primary movement = 2.455054252567e-04 time: 6.462000000000e+00 total movement = 2.455054252567e-04 vel = 2.561120269745e-01 ------------------- tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.269323, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.269323, acc = 13.210734,T = 0.003518, P = 0.001809 tc id = 154, canon_type = 2, mot type = 1 time: 6.463000 primary movement = 2.627173938568e-04 time: 6.463000000000e+00 total movement = 2.627173938568e-04 vel = 2.693227607391e-01 ------------------- tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.248110, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.248110, acc = -21.213203,T = 0.003518, P = 0.002067 on final decel tc id = 154, canon_type = 2, mot type = 1 time: 6.464000 primary movement = 2.587161590213e-04 time: 6.464000000000e+00 total movement = 2.587161590213e-04 vel = 2.481095573035e-01 ------------------- tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.226896, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.226896, acc = -21.213203,T = 0.003518, P = 0.002305 on final decel tc id = 154, canon_type = 2, mot type = 1 time: 6.465000 primary movement = 2.375029555857e-04 time: 6.465000000000e+00 total movement = 2.375029555857e-04 vel = 2.268963538679e-01 ------------------- tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.205683, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.205683, acc = -21.213203,T = 0.003518, P = 0.002521 on final decel tc id = 154, canon_type = 2, mot type = 1 time: 6.466000 primary movement = 2.162897521501e-04 time: 6.466000000000e+00 total movement = 2.162897521501e-04 vel = 2.056831504323e-01 ------------------- tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.184470, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.184470, acc = -21.213203,T = 0.003518, P = 0.002716 on final decel tc id = 154, canon_type = 2, mot type = 1 time: 6.467000 primary movement = 1.950765487145e-04 time: 6.467000000000e+00 total movement = 1.950765487145e-04 vel = 1.844699469967e-01 ------------------- tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.163257, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.163257, acc = -21.213203,T = 0.003518, P = 0.002890 on final decel tc id = 154, canon_type = 2, mot type = 1 time: 6.468000 primary movement = 1.738633452789e-04 time: 6.468000000000e+00 total movement = 1.738633452789e-04 vel = 1.632567435611e-01 ------------------- tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.142044, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.142044, acc = -21.213203,T = 0.003518, P = 0.003043 on final decel tc id = 154, canon_type = 2, mot type = 1 time: 6.469000 primary movement = 1.526501418433e-04 time: 6.469000000000e+00 total movement = 1.526501418433e-04 vel = 1.420435401255e-01 ------------------- tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.120830, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.120830, acc = -21.213203,T = 0.003518, P = 0.003174 on final decel tc id = 154, canon_type = 2, mot type = 1 tc state : vr = 0.021213, vf = 0.021213, maxvel = 9.316913, current_vel = 0.016771, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.016771, acc = 16.770510,T = 0.001174, P = 0.000008 initial results: dx= 0.001166,dt = 0.010834, a_f = 16.770510, v_f = 0.198456 dt = 0.010834, not at end yet tc id = 154, canon_type = 2, mot type = 1 secondary movement = 0.000008 time: 6.470000 primary movement = 1.314369384077e-04 time: 6.470000000000e+00 total movement = 1.398221933233e-04 vel = 1.376008465211e-01 ------------------- tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.099617, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.099617, acc = -21.213203,T = 0.003518, P = 0.003285 on final decel tc id = 154, canon_type = 2, mot type = 1 tc state : vr = 0.042426, vf = 0.042426, maxvel = 9.316913, current_vel = 0.033541, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.033541, acc = 16.770510,T = 0.001174, P = 0.000034 initial results: dx= 0.001141,dt = 0.009834, a_f = 16.770510, v_f = 0.198456 dt = 0.009834, not at end yet tc id = 154, canon_type = 2, mot type = 1 secondary movement = 0.000025 time: 6.471000 primary movement = 1.102237349721e-04 time: 6.471000000000e+00 total movement = 1.353794997190e-04 vel = 1.331581529168e-01 ------------------- tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.078404, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.078404, acc = -21.213203,T = 0.003518, P = 0.003374 on final decel tc id = 154, canon_type = 2, mot type = 1 tc state : vr = 0.063640, vf = 0.063640, maxvel = 9.316913, current_vel = 0.050312, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.050312, acc = 16.770510,T = 0.001174, P = 0.000075 initial results: dx= 0.001099,dt = 0.008834, a_f = 16.770510, v_f = 0.198456 dt = 0.008834, not at end yet tc id = 154, canon_type = 2, mot type = 1 secondary movement = 0.000042 time: 6.472000 primary movement = 8.901053153651e-05 time: 6.472000000000e+00 total movement = 1.309368061146e-04 vel = 1.287154593124e-01 ------------------- tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.057191, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.057191, acc = -21.213203,T = 0.003518, P = 0.003441 on final decel tc id = 154, canon_type = 2, mot type = 1 tc state : vr = 0.084853, vf = 0.084853, maxvel = 9.316913, current_vel = 0.067082, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.067082, acc = 16.770510,T = 0.001174, P = 0.000134 initial results: dx= 0.001040,dt = 0.007834, a_f = 16.770510, v_f = 0.198456 dt = 0.007834, not at end yet tc id = 155, canon_type = 2, mot type = 1 secondary movement = 0.000059 time: 6.473000 primary movement = 6.779732810089e-05 time: 6.473000000000e+00 total movement = 1.264941125103e-04 vel = 1.242727657081e-01 ------------------- tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.035978, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.035978, acc = -21.213203,T = 0.003518, P = 0.003488 on final decel tc id = 154, canon_type = 2, mot type = 1 tc state : vr = 0.106066, vf = 0.106066, maxvel = 9.316913, current_vel = 0.083853, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.083853, acc = 16.770510,T = 0.001174, P = 0.000210 initial results: dx= 0.000965,dt = 0.006834, a_f = 16.770510, v_f = 0.198456 dt = 0.006834, not at end yet tc id = 155, canon_type = 2, mot type = 1 secondary movement = 0.000075 time: 6.474000 primary movement = 4.658412466531e-05 time: 6.474000000000e+00 total movement = 1.220514189059e-04 vel = 1.198300721037e-01 ------------------- tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.014764, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.014764, acc = -21.213203,T = 0.003518, P = 0.003513 on final decel tc id = 154, canon_type = 2, mot type = 1 tc state : vr = 0.127279, vf = 0.127279, maxvel = 9.316913, current_vel = 0.100623, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.100623, acc = 16.770510,T = 0.001174, P = 0.000302 initial results: dx= 0.000872,dt = 0.005834, a_f = 16.770510, v_f = 0.198456 dt = 0.005834, not at end yet tc id = 155, canon_type = 2, mot type = 1 secondary movement = 0.000092 time: 6.475000 primary movement = 2.537092122969e-05 time: 6.475000000000e+00 total movement = 1.176087253015e-04 vel = 1.153873784994e-01 ------------------- Found newvel = -0.006449, assuming segment is done segment 154 at target in runcycle tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.003518, P = 0.003518 tc id = 154, canon_type = 2, mot type = 1 tc state : vr = 0.142044, vf = 0.142044, maxvel = 9.316913, current_vel = 0.117394, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.117394, acc = 16.770510,T = 0.001174, P = 0.000411 initial results: dx= 0.000763,dt = 0.004834, a_f = 16.770510, v_f = 0.198456 dt = 0.004834, not at end yet tc id = 155, canon_type = 2, mot type = 1 secondary movement = 0.000109 time: 6.476000 primary movement = 5.137958802668e-06 time: 6.476000000000e+00 total movement = 1.141462727058e-04 vel = 1.173935688187e-01 Finished tc id 154 ------------------- tc state : vr = 0.559158, vf = 0.198456, maxvel = 9.316913, current_vel = 0.134164, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.134164, acc = 16.770510,T = 0.001174, P = 0.000537 initial results: dx= 0.000638,dt = 0.003834, a_f = 16.770510, v_f = 0.198456 recalculating with a_f = 16.770510, a = 16.770510 revised dt = 0.003834 dt = 0.003834, not at end yet tc id = 155, canon_type = 2, mot type = 1 time: 6.477000 primary movement = 1.257788237344e-04 time: 6.477000000000e+00 total movement = 1.257788237344e-04 vel = 1.341640786500e-01 ------------------- tc state : vr = 0.559158, vf = 0.198456, maxvel = 9.316913, current_vel = 0.150935, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.150935, acc = 16.770510,T = 0.001174, P = 0.000679 initial results: dx= 0.000495,dt = 0.002834, a_f = 16.770510, v_f = 0.198456 dt = 0.002834, not at end yet tc id = 155, canon_type = 2, mot type = 1 time: 6.478000 primary movement = 1.425493335656e-04 time: 6.478000000000e+00 total movement = 1.425493335656e-04 vel = 1.509345884812e-01 ------------------- tc state : vr = 0.559158, vf = 0.198456, maxvel = 9.316913, current_vel = 0.167705, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.167705, acc = 16.770510,T = 0.001174, P = 0.000839 initial results: dx= 0.000336,dt = 0.001834, a_f = 16.770510, v_f = 0.198456 dt = 0.001834, not at end yet tc id = 155, canon_type = 2, mot type = 1 time: 6.479000 primary movement = 1.593198433969e-04 time: 6.479000000000e+00 total movement = 1.593198433969e-04 vel = 1.677050983125e-01 ------------------- tc state : vr = 0.559158, vf = 0.198456, maxvel = 9.316913, current_vel = 0.184476, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.184476, acc = 16.770510,T = 0.001174, P = 0.001015 initial results: dx= 0.000160,dt = 0.000834, a_f = 16.770510, v_f = 0.198456 actual v_f = 0.198456, a = 16.770510 split time is 0.000833652 tc id = 155, canon_type = 2, mot type = 1 time: 6.480000 primary movement = 1.760903532281e-04 time: 6.480000000000e+00 total movement = 1.760903532281e-04 vel = 1.844756081437e-01 ------------------- tc id 155 done Finishing split-cycle on id 156 tc state : vr = 0.482201, vf = 0.482201, maxvel = 0.559158, current_vel = 0.200952, fs = 1.000000, tc = 0.000166, term = 3 tc result: v = 0.200952, acc = 15.000000,T = 0.006438, P = 0.000033 initial results: dx= 0.006405,dt = 0.018750, a_f = 15.000000, v_f = 0.482201 dt = 0.018750, not at end yet secondary movement = 0.000033 tc id = 156, canon_type = 3, mot type = 2 time: 6.481000 primary movement = 1.596159239493e-04 time: 6.481000000000e+00 total movement = 1.928363559165e-04 vel = 2.009515964582e-01 Finished tc id 155 ------------------- Activate tc id = 156 target_vel = 0.482201 final_vel = 0.482201 length = 0.006438 tc state : vr = 0.482201, vf = 0.482201, maxvel = 0.559158, current_vel = 0.215952, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.215952, acc = 15.000000,T = 0.006438, P = 0.000242 initial results: dx= 0.006196,dt = 0.017750, a_f = 15.000000, v_f = 0.482201 dt = 0.017750, not at end yet tc id = 156, canon_type = 3, mot type = 2 time: 6.482000 primary movement = 2.084489904939e-04 time: 6.482000000000e+00 total movement = 2.084489904939e-04 vel = 2.159515964582e-01 ------------------- tc state : vr = 0.482201, vf = 0.482201, maxvel = 0.559158, current_vel = 0.230952, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.230952, acc = 15.000000,T = 0.006438, P = 0.000465 initial results: dx= 0.005973,dt = 0.016750, a_f = 15.000000, v_f = 0.482201 dt = 0.016750, not at end yet tc id = 156, canon_type = 3, mot type = 2 time: 6.483000 primary movement = 2.234483864738e-04 time: 6.483000000000e+00 total movement = 2.234483864738e-04 vel = 2.309515964582e-01 ------------------- tc state : vr = 0.482201, vf = 0.482201, maxvel = 0.559158, current_vel = 0.245952, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.245952, acc = 15.000000,T = 0.006438, P = 0.000704 initial results: dx= 0.005734,dt = 0.015750, a_f = 15.000000, v_f = 0.482201 dt = 0.015750, not at end yet tc id = 156, canon_type = 3, mot type = 2 time: 6.484000 primary movement = 2.384476956645e-04 time: 6.484000000001e+00 total movement = 2.384476956645e-04 vel = 2.459515964582e-01 ------------------- tc state : vr = 0.482201, vf = 0.482201, maxvel = 0.559158, current_vel = 0.260952, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.260952, acc = 15.000000,T = 0.006438, P = 0.000957 initial results: dx= 0.005481,dt = 0.014750, a_f = 15.000000, v_f = 0.482201 dt = 0.014750, not at end yet tc id = 156, canon_type = 3, mot type = 2 time: 6.485000 primary movement = 2.534469122403e-04 time: 6.485000000001e+00 total movement = 2.534469122403e-04 vel = 2.609515964582e-01 ------------------- tc state : vr = 0.482201, vf = 0.482201, maxvel = 0.559158, current_vel = 0.275952, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.275952, acc = 15.000000,T = 0.006438, P = 0.001225 initial results: dx= 0.005212,dt = 0.013750, a_f = 15.000000, v_f = 0.482201 dt = 0.013750, not at end yet tc id = 156, canon_type = 3, mot type = 2 time: 6.486000 primary movement = 2.684460303752e-04 time: 6.486000000001e+00 total movement = 2.684460303752e-04 vel = 2.759515964582e-01 ------------------- tc state : vr = 0.482201, vf = 0.482201, maxvel = 0.559158, current_vel = 0.290952, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.290952, acc = 15.000000,T = 0.006438, P = 0.001509 initial results: dx= 0.004929,dt = 0.012750, a_f = 15.000000, v_f = 0.482201 dt = 0.012750, not at end yet tc id = 156, canon_type = 3, mot type = 2 time: 6.487000 primary movement = 2.834450442435e-04 time: 6.487000000001e+00 total movement = 2.834450442435e-04 vel = 2.909515964582e-01 ------------------- tc state : vr = 0.482201, vf = 0.482201, maxvel = 0.559158, current_vel = 0.305952, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.305952, acc = 15.000000,T = 0.006438, P = 0.001807 initial results: dx= 0.004630,dt = 0.011750, a_f = 15.000000, v_f = 0.482201 dt = 0.011750, not at end yet tc id = 156, canon_type = 3, mot type = 2 time: 6.488000 primary movement = 2.984439480196e-04 time: 6.488000000001e+00 total movement = 2.984439480196e-04 vel = 3.059515964582e-01 ------------------- tc state : vr = 0.482201, vf = 0.482201, maxvel = 0.559158, current_vel = 0.320952, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.320952, acc = 15.000000,T = 0.006438, P = 0.002121 initial results: dx= 0.004317,dt = 0.010750, a_f = 15.000000, v_f = 0.482201 dt = 0.010750, not at end yet tc id = 156, canon_type = 3, mot type = 2 time: 6.489000 primary movement = 3.134427358776e-04 time: 6.489000000001e+00 total movement = 3.134427358776e-04 vel = 3.209515964582e-01 ------------------- tc state : vr = 0.482201, vf = 0.482201, maxvel = 0.559158, current_vel = 0.335952, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.335952, acc = 15.000000,T = 0.006438, P = 0.002449 initial results: dx= 0.003988,dt = 0.009750, a_f = 15.000000, v_f = 0.482201 dt = 0.009750, not at end yet tc id = 156, canon_type = 3, mot type = 2 time: 6.490000 primary movement = 3.284414019919e-04 time: 6.490000000001e+00 total movement = 3.284414019919e-04 vel = 3.359515964582e-01 ------------------- tc state : vr = 0.482201, vf = 0.482201, maxvel = 0.559158, current_vel = 0.350952, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.350952, acc = 15.000000,T = 0.006438, P = 0.002793 initial results: dx= 0.003645,dt = 0.008750, a_f = 15.000000, v_f = 0.482201 dt = 0.008750, not at end yet tc id = 156, canon_type = 3, mot type = 2 time: 6.491000 primary movement = 3.434399405370e-04 time: 6.491000000001e+00 total movement = 3.434399405370e-04 vel = 3.509515964582e-01 ------------------- tc state : vr = 0.482201, vf = 0.482201, maxvel = 0.559158, current_vel = 0.365952, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.365952, acc = 15.000000,T = 0.006438, P = 0.003151 initial results: dx= 0.003287,dt = 0.007750, a_f = 15.000000, v_f = 0.482201 dt = 0.007750, not at end yet tc id = 156, canon_type = 3, mot type = 2 time: 6.492000 primary movement = 3.584383456872e-04 time: 6.492000000001e+00 total movement = 3.584383456872e-04 vel = 3.659515964582e-01 ------------------- tc state : vr = 0.482201, vf = 0.482201, maxvel = 0.559158, current_vel = 0.380952, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.380952, acc = 15.000000,T = 0.006438, P = 0.003525 initial results: dx= 0.002913,dt = 0.006750, a_f = 15.000000, v_f = 0.482201 dt = 0.006750, not at end yet tc id = 156, canon_type = 3, mot type = 2 time: 6.493000 primary movement = 3.734366116172e-04 time: 6.493000000001e+00 total movement = 3.734366116172e-04 vel = 3.809515964582e-01 ------------------- tc state : vr = 0.482201, vf = 0.482201, maxvel = 0.559158, current_vel = 0.395952, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.395952, acc = 15.000000,T = 0.006438, P = 0.003913 initial results: dx= 0.002525,dt = 0.005750, a_f = 15.000000, v_f = 0.482201 dt = 0.005750, not at end yet tc id = 156, canon_type = 3, mot type = 2 time: 6.494000 primary movement = 3.884347325013e-04 time: 6.494000000001e+00 total movement = 3.884347325013e-04 vel = 3.959515964582e-01 ------------------- tc state : vr = 0.482201, vf = 0.482201, maxvel = 0.559158, current_vel = 0.410952, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.410952, acc = 15.000000,T = 0.006438, P = 0.004317 initial results: dx= 0.002121,dt = 0.004750, a_f = 15.000000, v_f = 0.482201 dt = 0.004750, not at end yet tc id = 156, canon_type = 3, mot type = 2 time: 6.495000 primary movement = 4.034327025144e-04 time: 6.495000000001e+00 total movement = 4.034327025144e-04 vel = 4.109515964582e-01 ------------------- tc state : vr = 0.482201, vf = 0.482201, maxvel = 0.559158, current_vel = 0.425952, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.425952, acc = 15.000000,T = 0.006438, P = 0.004735 initial results: dx= 0.001703,dt = 0.003750, a_f = 15.000000, v_f = 0.482201 dt = 0.003750, not at end yet tc id = 156, canon_type = 3, mot type = 2 time: 6.496000 primary movement = 4.184305158309e-04 time: 6.496000000001e+00 total movement = 4.184305158309e-04 vel = 4.259515964582e-01 ------------------- tc state : vr = 0.482201, vf = 0.482201, maxvel = 0.559158, current_vel = 0.440952, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.440952, acc = 15.000000,T = 0.006438, P = 0.005168 initial results: dx= 0.001269,dt = 0.002750, a_f = 15.000000, v_f = 0.482201 dt = 0.002750, not at end yet tc id = 156, canon_type = 3, mot type = 2 time: 6.497000 primary movement = 4.334281666257e-04 time: 6.497000000001e+00 total movement = 4.334281666257e-04 vel = 4.409515964582e-01 ------------------- tc state : vr = 0.482201, vf = 0.482201, maxvel = 0.559158, current_vel = 0.455952, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.455952, acc = 15.000000,T = 0.006438, P = 0.005617 initial results: dx= 0.000821,dt = 0.001750, a_f = 15.000000, v_f = 0.482201 dt = 0.001750, not at end yet tc id = 156, canon_type = 3, mot type = 2 time: 6.498000 primary movement = 4.484256490735e-04 time: 6.498000000001e+00 total movement = 4.484256490735e-04 vel = 4.559515964582e-01 ------------------- tc state : vr = 0.482201, vf = 0.482201, maxvel = 0.559158, current_vel = 0.470952, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.470952, acc = 15.000000,T = 0.006438, P = 0.006080 initial results: dx= 0.000357,dt = 0.000750, a_f = 15.000000, v_f = 0.482201 actual v_f = 0.482201, a = 15.000000 split time is 0.000749946 tc id = 156, canon_type = 3, mot type = 2 time: 6.499000 primary movement = 4.634229573492e-04 time: 6.499000000001e+00 total movement = 4.634229573492e-04 vel = 4.709515964582e-01 ------------------- tc id 156 done Finishing split-cycle on id 156 tc state : vr = 4.564720, vf = 0.433190, maxvel = 8.354531, current_vel = 0.489722, fs = 1.000000, tc = 0.000250, term = 3 tc result: v = 0.489722, acc = 30.076433,T = 0.009586, P = 0.000122 initial results: dx= 0.009464,dt = 0.020510, a_f = -2.756300, v_f = 0.433190 dt = 0.020510, not at end yet secondary movement = 0.000122 tc id = 156, canon_type = 2, mot type = 1 time: 6.500000 primary movement = 3.573933120679e-04 time: 6.500000000001e+00 total movement = 4.789098030454e-04 vel = 4.897215176840e-01 Finished tc id 156 ------------------- Activate tc id = 156 target_vel = 4.564720 final_vel = 0.433190 length = 0.009586 tc state : vr = 4.564720, vf = 0.433190, maxvel = 8.354531, current_vel = 0.519798, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.519798, acc = 30.076433,T = 0.009586, P = 0.000626 initial results: dx= 0.008960,dt = 0.018803, a_f = -4.606001, v_f = 0.433190 dt = 0.018803, not at end yet tc id = 156, canon_type = 2, mot type = 1 time: 6.501000 primary movement = 5.047597343064e-04 time: 6.501000000001e+00 total movement = 5.047597343064e-04 vel = 5.197979509289e-01 ------------------- tc state : vr = 4.564720, vf = 0.433190, maxvel = 8.354531, current_vel = 0.549874, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.549874, acc = 30.076433,T = 0.009586, P = 0.001161 initial results: dx= 0.008425,dt = 0.017140, a_f = -6.807765, v_f = 0.433190 dt = 0.017140, not at end yet tc id = 156, canon_type = 2, mot type = 1 time: 6.502000 primary movement = 5.348361675513e-04 time: 6.502000000001e+00 total movement = 5.348361675513e-04 vel = 5.498743841738e-01 ------------------- tc state : vr = 4.564720, vf = 0.433190, maxvel = 8.354531, current_vel = 0.579951, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.579951, acc = 30.076433,T = 0.009586, P = 0.001726 initial results: dx= 0.007860,dt = 0.015516, a_f = -9.458738, v_f = 0.433190 dt = 0.015516, not at end yet tc id = 156, canon_type = 2, mot type = 1 time: 6.503000 primary movement = 5.649126007962e-04 time: 6.503000000001e+00 total movement = 5.649126007962e-04 vel = 5.799508174186e-01 ------------------- tc state : vr = 4.564720, vf = 0.433190, maxvel = 8.354531, current_vel = 0.610027, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.610027, acc = 30.076433,T = 0.009586, P = 0.002321 initial results: dx= 0.007265,dt = 0.013928, a_f = -12.696636, v_f = 0.433190 dt = 0.013928, not at end yet tc id = 156, canon_type = 2, mot type = 1 time: 6.504000 primary movement = 5.949890340411e-04 time: 6.504000000001e+00 total movement = 5.949890340411e-04 vel = 6.100272506635e-01 ------------------- tc state : vr = 4.564720, vf = 0.433190, maxvel = 8.354531, current_vel = 0.640104, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.640104, acc = 30.076433,T = 0.009586, P = 0.002946 initial results: dx= 0.006640,dt = 0.012373, a_f = -16.723239, v_f = 0.433190 dt = 0.012373, not at end yet tc id = 156, canon_type = 2, mot type = 1 time: 6.505000 primary movement = 6.250654672860e-04 time: 6.505000000001e+00 total movement = 6.250654672860e-04 vel = 6.401036839084e-01 ------------------- tc state : vr = 4.564720, vf = 0.433190, maxvel = 8.354531, current_vel = 0.670180, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.670180, acc = 30.076433,T = 0.009586, P = 0.003601 initial results: dx= 0.005985,dt = 0.010848, a_f = -21.846383, v_f = 0.433190 dt = 0.010848, not at end yet tc id = 156, canon_type = 2, mot type = 1 time: 6.506000 primary movement = 6.551419005309e-04 time: 6.506000000001e+00 total movement = 6.551419005309e-04 vel = 6.701801171533e-01 ------------------- tc state : vr = 4.564720, vf = 0.433190, maxvel = 8.354531, current_vel = 0.700257, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.700257, acc = 30.076433,T = 0.009586, P = 0.004286 initial results: dx= 0.005299,dt = 0.009351, a_f = -28.559970, v_f = 0.433190 dt = 0.009351, not at end yet tc id = 156, canon_type = 2, mot type = 1 time: 6.507000 primary movement = 6.852183337758e-04 time: 6.507000000001e+00 total movement = 6.852183337758e-04 vel = 7.002565503982e-01 ------------------- tc state : vr = 4.564720, vf = 0.433190, maxvel = 8.354531, current_vel = 0.681810, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.681810, acc = -18.446814,T = 0.009586, P = 0.004977 on final decel initial results: dx= 0.004608,dt = 0.008266, a_f = -30.076433, v_f = 0.433190 recalculating with a_f = -30.076433, a = -30.076433 revised dt = 0.008266 dt = 0.008266, not at end yet tc id = 156, canon_type = 2, mot type = 1 time: 6.508000 primary movement = 6.910331431936e-04 time: 6.508000000001e+00 total movement = 6.910331431936e-04 vel = 6.818097359891e-01 ------------------- tc state : vr = 4.564720, vf = 0.433190, maxvel = 8.354531, current_vel = 0.651733, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.651733, acc = -30.076433,T = 0.009586, P = 0.005644 on final decel initial results: dx= 0.003942,dt = 0.007266, a_f = -30.076433, v_f = 0.433190 recalculating with a_f = -30.076433, a = -30.076433 revised dt = 0.007266 dt = 0.007266, not at end yet tc id = 156, canon_type = 2, mot type = 1 time: 6.509000 primary movement = 6.667715193666e-04 time: 6.509000000001e+00 total movement = 6.667715193666e-04 vel = 6.517333027442e-01 ------------------- tc state : vr = 4.564720, vf = 0.433190, maxvel = 8.354531, current_vel = 0.621657, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.621657, acc = -30.076433,T = 0.009586, P = 0.006281 on final decel initial results: dx= 0.003305,dt = 0.006266, a_f = -30.076433, v_f = 0.433190 recalculating with a_f = -30.076433, a = -30.076433 revised dt = 0.006266 dt = 0.006266, not at end yet tc id = 156, canon_type = 2, mot type = 1 time: 6.510000 primary movement = 6.366950861217e-04 time: 6.510000000001e+00 total movement = 6.366950861217e-04 vel = 6.216568694993e-01 ------------------- tc state : vr = 4.564720, vf = 0.433190, maxvel = 8.354531, current_vel = 0.591580, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.591580, acc = -30.076433,T = 0.009586, P = 0.006888 on final decel initial results: dx= 0.002698,dt = 0.005266, a_f = -30.076433, v_f = 0.433190 dt = 0.005266, not at end yet tc id = 156, canon_type = 2, mot type = 1 time: 6.511000 primary movement = 6.066186528768e-04 time: 6.511000000001e+00 total movement = 6.066186528768e-04 vel = 5.915804362544e-01 ------------------- tc state : vr = 4.564720, vf = 0.433190, maxvel = 8.354531, current_vel = 0.561504, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.561504, acc = -30.076433,T = 0.009586, P = 0.007464 on final decel initial results: dx= 0.002122,dt = 0.004266, a_f = -30.076433, v_f = 0.433190 recalculating with a_f = -30.076433, a = -30.076433 revised dt = 0.004266 dt = 0.004266, not at end yet tc id = 156, canon_type = 2, mot type = 1 time: 6.512000 primary movement = 5.765422196320e-04 time: 6.512000000001e+00 total movement = 5.765422196320e-04 vel = 5.615040030095e-01 ------------------- tc state : vr = 4.564720, vf = 0.433190, maxvel = 8.354531, current_vel = 0.531428, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.531428, acc = -30.076433,T = 0.009586, P = 0.008011 on final decel initial results: dx= 0.001575,dt = 0.003266, a_f = -30.076433, v_f = 0.433190 recalculating with a_f = -30.076433, a = -30.076433 revised dt = 0.003266 dt = 0.003266, not at end yet tc id = 156, canon_type = 2, mot type = 1 time: 6.513000 primary movement = 5.464657863871e-04 time: 6.513000000001e+00 total movement = 5.464657863871e-04 vel = 5.314275697646e-01 ------------------- tc state : vr = 4.564720, vf = 0.433190, maxvel = 8.354531, current_vel = 0.501351, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.501351, acc = -30.076433,T = 0.009586, P = 0.008527 on final decel initial results: dx= 0.001059,dt = 0.002266, a_f = -30.076433, v_f = 0.433190 recalculating with a_f = -30.076433, a = -30.076433 revised dt = 0.002266 dt = 0.002266, not at end yet tc id = 156, canon_type = 2, mot type = 1 time: 6.514000 primary movement = 5.163893531422e-04 time: 6.514000000001e+00 total movement = 5.163893531422e-04 vel = 5.013511365197e-01 ------------------- tc state : vr = 4.564720, vf = 0.433190, maxvel = 8.354531, current_vel = 0.471275, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.471275, acc = -30.076433,T = 0.009586, P = 0.009013 on final decel initial results: dx= 0.000573,dt = 0.001266, a_f = -30.076433, v_f = 0.433190 recalculating with a_f = -30.076433, a = -30.076433 revised dt = 0.001266 dt = 0.001266, not at end yet tc id = 156, canon_type = 2, mot type = 1 time: 6.515000 primary movement = 4.863129198973e-04 time: 6.515000000001e+00 total movement = 4.863129198973e-04 vel = 4.712747032748e-01 ------------------- tc state : vr = 4.564720, vf = 0.433190, maxvel = 8.354531, current_vel = 0.441198, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.441198, acc = -30.076433,T = 0.009586, P = 0.009470 on final decel initial results: dx= 0.000116,dt = 0.000266, a_f = -30.076433, v_f = 0.433190 recalculating with a_f = -30.076433, a = -30.076433 revised dt = 0.000266 actual v_f = 0.433190, a = -30.076433 split time is 0.000266258 tc id = 156, canon_type = 2, mot type = 1 time: 6.516000 primary movement = 4.562364866524e-04 time: 6.516000000001e+00 total movement = 4.562364866524e-04 vel = 4.411982700299e-01 ------------------- tc id 156 done Finishing split-cycle on id 157 tc state : vr = 0.433190, vf = 0.415632, maxvel = 0.433190, current_vel = 0.433190, fs = 1.000000, tc = 0.000734, term = 3 tc result: v = 0.433190, acc = -0.000000,T = 0.002284, P = 0.000318 initial results: dx= 0.001967,dt = 0.004634, a_f = -3.789254, v_f = 0.415632 dt = 0.004634, not at end yet secondary movement = 0.000318 tc id = 157, canon_type = 3, mot type = 2 time: 6.517000 primary movement = 1.164063448250e-04 time: 6.517000000001e+00 total movement = 4.342306472190e-04 vel = 4.331901870525e-01 Finished tc id 156 ------------------- Activate tc id = 157 target_vel = 0.433190 final_vel = 0.415632 length = 0.002284 tc state : vr = 0.433190, vf = 0.415632, maxvel = 0.433190, current_vel = 0.433190, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.433190, acc = 0.000000,T = 0.002284, P = 0.000751 initial results: dx= 0.001533,dt = 0.003613, a_f = -4.859709, v_f = 0.415632 dt = 0.003613, not at end yet tc id = 157, canon_type = 3, mot type = 2 time: 6.518000 primary movement = 4.331252646782e-04 time: 6.518000000001e+00 total movement = 4.331252646782e-04 vel = 4.331901870525e-01 ------------------- tc state : vr = 0.433190, vf = 0.415632, maxvel = 0.433190, current_vel = 0.433190, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.433190, acc = 0.000000,T = 0.002284, P = 0.001184 initial results: dx= 0.001100,dt = 0.002592, a_f = -6.773090, v_f = 0.415632 dt = 0.002592, not at end yet tc id = 157, canon_type = 3, mot type = 2 time: 6.519000 primary movement = 4.331252646783e-04 time: 6.519000000001e+00 total movement = 4.331252646783e-04 vel = 4.331901870525e-01 ------------------- tc state : vr = 0.433190, vf = 0.415632, maxvel = 0.433190, current_vel = 0.433190, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.433190, acc = 0.000000,T = 0.002284, P = 0.001617 initial results: dx= 0.000667,dt = 0.001572, a_f = -11.171618, v_f = 0.415632 dt = 0.001572, not at end yet tc id = 157, canon_type = 3, mot type = 2 time: 6.520000 primary movement = 4.331252646783e-04 time: 6.520000000001e+00 total movement = 4.331252646783e-04 vel = 4.331901870525e-01 ------------------- tc state : vr = 0.433190, vf = 0.415632, maxvel = 0.433190, current_vel = 0.424148, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.424148, acc = -9.042672,T = 0.002284, P = 0.002046 on final decel initial results: dx= 0.000238,dt = 0.000568, a_f = -15.000000, v_f = 0.415632 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.000568 actual v_f = 0.415632, a = -15.000000 split time is 0.000567722 tc id = 157, canon_type = 3, mot type = 2 time: 6.521000 primary movement = 4.286059401955e-04 time: 6.521000000001e+00 total movement = 4.286059401955e-04 vel = 4.241475148057e-01 ------------------- tc id 157 done Finishing split-cycle on id 157 tc state : vr = 0.415632, vf = 0.317142, maxvel = 8.589769, current_vel = 0.402264, fs = 1.000000, tc = 0.000432, term = 3 tc result: v = 0.402264, acc = -30.923292,T = 0.001167, P = 0.000177 on final decel initial results: dx= 0.000990,dt = 0.002753, a_f = -30.923292, v_f = 0.317142 recalculating with a_f = -30.923292, a = -30.923292 revised dt = 0.002753 dt = 0.002753, not at end yet secondary movement = 0.000177 tc id = 157, canon_type = 2, mot type = 1 time: 6.522000 primary movement = 2.383699199699e-04 time: 6.522000000001e+00 total movement = 4.151489515693e-04 vel = 4.022642326291e-01 Finished tc id 157 ------------------- Activate tc id = 157 target_vel = 0.415632 final_vel = 0.317142 length = 0.001167 tc state : vr = 0.415632, vf = 0.317142, maxvel = 8.589769, current_vel = 0.371341, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.371341, acc = -30.923292,T = 0.001167, P = 0.000564 on final decel initial results: dx= 0.000603,dt = 0.001753, a_f = -30.923292, v_f = 0.317142 dt = 0.001753, not at end yet tc id = 157, canon_type = 2, mot type = 1 time: 6.523000 primary movement = 3.868025865330e-04 time: 6.523000000001e+00 total movement = 3.868025865330e-04 vel = 3.713409404369e-01 ------------------- tc state : vr = 0.415632, vf = 0.317142, maxvel = 8.589769, current_vel = 0.340418, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.340418, acc = -30.923292,T = 0.001167, P = 0.000919 on final decel initial results: dx= 0.000247,dt = 0.000753, a_f = -30.923292, v_f = 0.317142 recalculating with a_f = -30.923292, a = -30.923292 revised dt = 0.000753 actual v_f = 0.317142, a = -30.923292 split time is 0.00075268 tc id = 157, canon_type = 2, mot type = 1 time: 6.524000 primary movement = 3.558792943409e-04 time: 6.524000000001e+00 total movement = 3.558792943409e-04 vel = 3.404176482448e-01 ------------------- tc id 157 done Finishing split-cycle on id 158 tc state : vr = 0.317142, vf = 0.317142, maxvel = 0.317142, current_vel = 0.317142, fs = 1.000000, tc = 0.000247, term = 3 tc result: v = 0.317142, acc = -0.000000,T = 0.003377, P = 0.000078 initial results: dx= 0.003298,dt = 0.010401, a_f = 0.000000, v_f = 0.317142 dt = 0.010401, not at end yet secondary movement = 0.000078 tc id = 158, canon_type = 3, mot type = 2 time: 6.525000 primary movement = 2.474662412383e-04 time: 6.525000000001e+00 total movement = 3.259004028105e-04 vel = 3.171422921427e-01 Finished tc id 157 ------------------- Activate tc id = 158 target_vel = 0.317142 final_vel = 0.317142 length = 0.003377 tc state : vr = 0.317142, vf = 0.317142, maxvel = 0.317142, current_vel = 0.317142, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.317142, acc = 0.000000,T = 0.003377, P = 0.000396 initial results: dx= 0.002981,dt = 0.009401, a_f = 0.000000, v_f = 0.317142 dt = 0.009401, not at end yet tc id = 158, canon_type = 3, mot type = 2 time: 6.526000 primary movement = 3.170536169915e-04 time: 6.526000000001e+00 total movement = 3.170536169915e-04 vel = 3.171422921427e-01 ------------------- tc state : vr = 0.317142, vf = 0.317142, maxvel = 0.317142, current_vel = 0.317142, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.317142, acc = 0.000000,T = 0.003377, P = 0.000713 initial results: dx= 0.002664,dt = 0.008401, a_f = 0.000000, v_f = 0.317142 dt = 0.008401, not at end yet tc id = 158, canon_type = 3, mot type = 2 time: 6.527000 primary movement = 3.170536169915e-04 time: 6.527000000001e+00 total movement = 3.170536169915e-04 vel = 3.171422921427e-01 ------------------- tc state : vr = 0.317142, vf = 0.317142, maxvel = 0.317142, current_vel = 0.317142, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.317142, acc = 0.000000,T = 0.003377, P = 0.001030 initial results: dx= 0.002347,dt = 0.007401, a_f = 0.000000, v_f = 0.317142 dt = 0.007401, not at end yet tc id = 158, canon_type = 3, mot type = 2 time: 6.528000 primary movement = 3.170536169915e-04 time: 6.528000000001e+00 total movement = 3.170536169915e-04 vel = 3.171422921427e-01 ------------------- tc state : vr = 0.317142, vf = 0.317142, maxvel = 0.317142, current_vel = 0.317142, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.317142, acc = 0.000000,T = 0.003377, P = 0.001347 initial results: dx= 0.002030,dt = 0.006401, a_f = 0.000000, v_f = 0.317142 dt = 0.006401, not at end yet tc id = 158, canon_type = 3, mot type = 2 time: 6.529000 primary movement = 3.170536169915e-04 time: 6.529000000001e+00 total movement = 3.170536169915e-04 vel = 3.171422921427e-01 ------------------- tc state : vr = 0.317142, vf = 0.317142, maxvel = 0.317142, current_vel = 0.317142, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.317142, acc = 0.000000,T = 0.003377, P = 0.001664 initial results: dx= 0.001713,dt = 0.005401, a_f = 0.000000, v_f = 0.317142 dt = 0.005401, not at end yet tc id = 158, canon_type = 3, mot type = 2 time: 6.530000 primary movement = 3.170536169915e-04 time: 6.530000000001e+00 total movement = 3.170536169915e-04 vel = 3.171422921427e-01 ------------------- tc state : vr = 0.317142, vf = 0.317142, maxvel = 0.317142, current_vel = 0.317142, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.317142, acc = 0.000000,T = 0.003377, P = 0.001981 initial results: dx= 0.001396,dt = 0.004401, a_f = 0.000000, v_f = 0.317142 dt = 0.004401, not at end yet tc id = 158, canon_type = 3, mot type = 2 time: 6.531000 primary movement = 3.170536169915e-04 time: 6.531000000001e+00 total movement = 3.170536169915e-04 vel = 3.171422921427e-01 ------------------- tc state : vr = 0.317142, vf = 0.317142, maxvel = 0.317142, current_vel = 0.317142, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.317142, acc = 0.000000,T = 0.003377, P = 0.002298 initial results: dx= 0.001078,dt = 0.003401, a_f = 0.000000, v_f = 0.317142 dt = 0.003401, not at end yet tc id = 158, canon_type = 3, mot type = 2 time: 6.532000 primary movement = 3.170536169915e-04 time: 6.532000000001e+00 total movement = 3.170536169915e-04 vel = 3.171422921427e-01 ------------------- tc state : vr = 0.317142, vf = 0.317142, maxvel = 0.317142, current_vel = 0.317142, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.317142, acc = 0.000000,T = 0.003377, P = 0.002616 initial results: dx= 0.000761,dt = 0.002401, a_f = 0.000000, v_f = 0.317142 dt = 0.002401, not at end yet tc id = 158, canon_type = 3, mot type = 2 time: 6.533000 primary movement = 3.170536169915e-04 time: 6.533000000001e+00 total movement = 3.170536169915e-04 vel = 3.171422921427e-01 ------------------- tc state : vr = 0.317142, vf = 0.317142, maxvel = 0.317142, current_vel = 0.317142, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.317142, acc = 0.000000,T = 0.003377, P = 0.002933 initial results: dx= 0.000444,dt = 0.001401, a_f = 0.000000, v_f = 0.317142 dt = 0.001401, not at end yet tc id = 158, canon_type = 3, mot type = 2 time: 6.534000 primary movement = 3.170536169914e-04 time: 6.534000000001e+00 total movement = 3.170536169914e-04 vel = 3.171422921427e-01 ------------------- tc state : vr = 0.317142, vf = 0.317142, maxvel = 0.317142, current_vel = 0.317142, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.317142, acc = 0.000000,T = 0.003377, P = 0.003250 initial results: dx= 0.000127,dt = 0.000401, a_f = 0.000000, v_f = 0.317142 actual v_f = 0.317142, a = 0.000000 split time is 0.000400523 tc id = 158, canon_type = 3, mot type = 2 time: 6.535000 primary movement = 3.170536169915e-04 time: 6.535000000001e+00 total movement = 3.170536169915e-04 vel = 3.171422921427e-01 ------------------- tc id 158 done Finishing split-cycle on id 158 tc state : vr = 0.900776, vf = 0.270913, maxvel = 10.292975, current_vel = 0.339356, fs = 1.000000, tc = 0.000599, term = 3 tc result: v = 0.339356, acc = 37.054858,T = 0.001892, P = 0.000197 initial results: dx= 0.001695,dt = 0.005554, a_f = -12.322123, v_f = 0.270913 dt = 0.005554, not at end yet secondary movement = 0.000197 tc id = 158, canon_type = 2, mot type = 1 time: 6.536000 primary movement = 1.270169288142e-04 time: 6.536000000001e+00 total movement = 3.237948568499e-04 vel = 3.393558454187e-01 Finished tc id 158 ------------------- Activate tc id = 158 target_vel = 0.900776 final_vel = 0.270913 length = 0.001892 tc state : vr = 0.900776, vf = 0.270913, maxvel = 10.292975, current_vel = 0.376411, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.376411, acc = 37.054858,T = 0.001892, P = 0.000555 initial results: dx= 0.001337,dt = 0.004131, a_f = -25.539486, v_f = 0.270913 dt = 0.004131, not at end yet tc id = 158, canon_type = 2, mot type = 1 time: 6.537000 primary movement = 3.578832744093e-04 time: 6.537000000001e+00 total movement = 3.578832744093e-04 vel = 3.764107033999e-01 ------------------- tc state : vr = 0.900776, vf = 0.270913, maxvel = 10.292975, current_vel = 0.380060, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.380060, acc = 3.649137,T = 0.001892, P = 0.000933 initial results: dx= 0.000959,dt = 0.002946, a_f = -37.054858, v_f = 0.270913 recalculating with a_f = -37.054858, a = -37.054858 revised dt = 0.002946 dt = 0.002946, not at end yet tc id = 158, canon_type = 2, mot type = 1 time: 6.538000 primary movement = 3.782352719534e-04 time: 6.538000000001e+00 total movement = 3.782352719534e-04 vel = 3.800598405070e-01 ------------------- tc state : vr = 0.900776, vf = 0.270913, maxvel = 10.292975, current_vel = 0.343005, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.343005, acc = -37.054858,T = 0.001892, P = 0.001294 on final decel initial results: dx= 0.000597,dt = 0.001946, a_f = -37.054858, v_f = 0.270913 recalculating with a_f = -37.054858, a = -37.054858 revised dt = 0.001946 dt = 0.001946, not at end yet tc id = 158, canon_type = 2, mot type = 1 time: 6.539000 primary movement = 3.615324115164e-04 time: 6.539000000001e+00 total movement = 3.615324115164e-04 vel = 3.430049825259e-01 ------------------- tc state : vr = 0.900776, vf = 0.270913, maxvel = 10.292975, current_vel = 0.305950, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.305950, acc = -37.054858,T = 0.001892, P = 0.001619 on final decel initial results: dx= 0.000273,dt = 0.000946, a_f = -37.054858, v_f = 0.270913 recalculating with a_f = -37.054858, a = -37.054858 revised dt = 0.000946 actual v_f = 0.270913, a = -37.054858 split time is 0.000945537 tc id = 158, canon_type = 2, mot type = 1 time: 6.540000 primary movement = 3.244775535353e-04 time: 6.540000000001e+00 total movement = 3.244775535353e-04 vel = 3.059501245447e-01 ------------------- tc id 158 done Finishing split-cycle on id 159 tc state : vr = 0.374143, vf = 0.000000, maxvel = 0.374143, current_vel = 0.270096, fs = 1.000000, tc = 0.000054, term = 3 tc result: v = 0.270096, acc = -15.000000,T = 0.002446, P = 0.000015 on final decel initial results: dx= 0.002432,dt = 0.018006, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.018006 dt = 0.018006, not at end yet secondary movement = 0.000015 tc id = 159, canon_type = 3, mot type = 2 time: 6.541000 primary movement = 2.727230249767e-04 time: 6.541000000001e+00 total movement = 2.874554001565e-04 vel = 2.700964298144e-01 Finished tc id 158 ------------------- Activate tc id = 159 target_vel = 0.374143 final_vel = 0.000000 length = 0.002446 tc state : vr = 0.374143, vf = 0.000000, maxvel = 0.374143, current_vel = 0.255096, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.255096, acc = -15.000000,T = 0.002446, P = 0.000277 on final decel initial results: dx= 0.002169,dt = 0.017006, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.017006 dt = 0.017006, not at end yet tc id = 159, canon_type = 3, mot type = 2 time: 6.542000 primary movement = 2.625704405250e-04 time: 6.542000000001e+00 total movement = 2.625704405250e-04 vel = 2.550964298144e-01 ------------------- tc state : vr = 0.374143, vf = 0.000000, maxvel = 0.374143, current_vel = 0.240096, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.240096, acc = -15.000000,T = 0.002446, P = 0.000525 on final decel initial results: dx= 0.001922,dt = 0.016006, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.016006 dt = 0.016006, not at end yet tc id = 159, canon_type = 3, mot type = 2 time: 6.543000 primary movement = 2.475746445658e-04 time: 6.543000000001e+00 total movement = 2.475746445658e-04 vel = 2.400964298144e-01 ------------------- tc state : vr = 0.374143, vf = 0.000000, maxvel = 0.374143, current_vel = 0.225096, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.225096, acc = -15.000000,T = 0.002446, P = 0.000758 on final decel initial results: dx= 0.001689,dt = 0.015006, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.015006 dt = 0.015006, not at end yet tc id = 159, canon_type = 3, mot type = 2 time: 6.544000 primary movement = 2.325783688946e-04 time: 6.544000000001e+00 total movement = 2.325783688946e-04 vel = 2.250964298144e-01 ------------------- tc state : vr = 0.374143, vf = 0.000000, maxvel = 0.374143, current_vel = 0.210096, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.210096, acc = -15.000000,T = 0.002446, P = 0.000975 on final decel initial results: dx= 0.001471,dt = 0.014006, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.014006 dt = 0.014006, not at end yet tc id = 159, canon_type = 3, mot type = 2 time: 6.545000 primary movement = 2.175816425686e-04 time: 6.545000000001e+00 total movement = 2.175816425686e-04 vel = 2.100964298144e-01 ------------------- tc state : vr = 0.374143, vf = 0.000000, maxvel = 0.374143, current_vel = 0.195096, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.195096, acc = -15.000000,T = 0.002446, P = 0.001178 on final decel initial results: dx= 0.001269,dt = 0.013006, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.013006 dt = 0.013006, not at end yet tc id = 159, canon_type = 3, mot type = 2 time: 6.546000 primary movement = 2.025844946464e-04 time: 6.546000000001e+00 total movement = 2.025844946464e-04 vel = 1.950964298144e-01 ------------------- tc state : vr = 0.374143, vf = 0.000000, maxvel = 0.374143, current_vel = 0.180096, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.180096, acc = -15.000000,T = 0.002446, P = 0.001365 on final decel initial results: dx= 0.001081,dt = 0.012006, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.012006 dt = 0.012006, not at end yet tc id = 159, canon_type = 3, mot type = 2 time: 6.547000 primary movement = 1.875869541870e-04 time: 6.547000000001e+00 total movement = 1.875869541870e-04 vel = 1.800964298144e-01 ------------------- tc state : vr = 0.374143, vf = 0.000000, maxvel = 0.374143, current_vel = 0.165096, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.165096, acc = -15.000000,T = 0.002446, P = 0.001538 on final decel initial results: dx= 0.000909,dt = 0.011006, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.011006 dt = 0.011006, not at end yet tc id = 159, canon_type = 3, mot type = 2 time: 6.548000 primary movement = 1.725890502504e-04 time: 6.548000000001e+00 total movement = 1.725890502504e-04 vel = 1.650964298144e-01 ------------------- tc state : vr = 0.374143, vf = 0.000000, maxvel = 0.374143, current_vel = 0.150096, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.150096, acc = -15.000000,T = 0.002446, P = 0.001696 on final decel initial results: dx= 0.000751,dt = 0.010006, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.010006 dt = 0.010006, not at end yet tc id = 159, canon_type = 3, mot type = 2 time: 6.549000 primary movement = 1.575908118973e-04 time: 6.549000000001e+00 total movement = 1.575908118973e-04 vel = 1.500964298144e-01 ------------------- tc state : vr = 0.374143, vf = 0.000000, maxvel = 0.374143, current_vel = 0.135096, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.135096, acc = -15.000000,T = 0.002446, P = 0.001838 on final decel initial results: dx= 0.000608,dt = 0.009006, a_f = -15.000000, v_f = 0.000000 dt = 0.009006, not at end yet tc id = 159, canon_type = 3, mot type = 2 time: 6.550000 primary movement = 1.425922681888e-04 time: 6.550000000001e+00 total movement = 1.425922681888e-04 vel = 1.350964298144e-01 ------------------- tc state : vr = 0.374143, vf = 0.000000, maxvel = 0.374143, current_vel = 0.120096, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.120096, acc = -15.000000,T = 0.002446, P = 0.001966 on final decel initial results: dx= 0.000481,dt = 0.008006, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.008006 dt = 0.008006, not at end yet tc id = 159, canon_type = 3, mot type = 2 time: 6.551000 primary movement = 1.275934481870e-04 time: 6.551000000001e+00 total movement = 1.275934481870e-04 vel = 1.200964298144e-01 ------------------- tc state : vr = 0.374143, vf = 0.000000, maxvel = 0.374143, current_vel = 0.105096, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.105096, acc = -15.000000,T = 0.002446, P = 0.002078 on final decel initial results: dx= 0.000368,dt = 0.007006, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.007006 dt = 0.007006, not at end yet tc id = 159, canon_type = 3, mot type = 2 time: 6.552000 primary movement = 1.125943809542e-04 time: 6.552000000001e+00 total movement = 1.125943809542e-04 vel = 1.050964298144e-01 ------------------- tc state : vr = 0.374143, vf = 0.000000, maxvel = 0.374143, current_vel = 0.090096, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.090096, acc = -15.000000,T = 0.002446, P = 0.002176 on final decel initial results: dx= 0.000271,dt = 0.006006, a_f = -15.000000, v_f = 0.000000 dt = 0.006006, not at end yet tc id = 159, canon_type = 3, mot type = 2 time: 6.553000 primary movement = 9.759509555318e-05 time: 6.553000000001e+00 total movement = 9.759509555318e-05 vel = 9.009642981441e-02 ------------------- tc state : vr = 0.374143, vf = 0.000000, maxvel = 0.374143, current_vel = 0.075096, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.075096, acc = -15.000000,T = 0.002446, P = 0.002258 on final decel initial results: dx= 0.000188,dt = 0.005006, a_f = -15.000000, v_f = 0.000000 dt = 0.005006, not at end yet tc id = 159, canon_type = 3, mot type = 2 time: 6.554000 primary movement = 8.259562104746e-05 time: 6.554000000001e+00 total movement = 8.259562104746e-05 vel = 7.509642981441e-02 ------------------- tc state : vr = 0.374143, vf = 0.000000, maxvel = 0.374143, current_vel = 0.060096, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.060096, acc = -15.000000,T = 0.002446, P = 0.002326 on final decel initial results: dx= 0.000120,dt = 0.004006, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.004006 dt = 0.004006, not at end yet tc id = 159, canon_type = 3, mot type = 2 time: 6.555000 primary movement = 6.759598650058e-05 time: 6.555000000001e+00 total movement = 6.759598650058e-05 vel = 6.009642981441e-02 ------------------- tc state : vr = 0.374143, vf = 0.000000, maxvel = 0.374143, current_vel = 0.045096, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.045096, acc = -15.000000,T = 0.002446, P = 0.002379 on final decel initial results: dx= 0.000068,dt = 0.003006, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.003006 dt = 0.003006, not at end yet tc id = 159, canon_type = 3, mot type = 2 time: 6.556000 primary movement = 5.259622097659e-05 time: 6.556000000001e+00 total movement = 5.259622097659e-05 vel = 4.509642981441e-02 ------------------- tc state : vr = 0.374143, vf = 0.000000, maxvel = 0.374143, current_vel = 0.030096, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.030096, acc = -15.000000,T = 0.002446, P = 0.002416 on final decel initial results: dx= 0.000030,dt = 0.002006, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.002006 dt = 0.002006, not at end yet tc id = 159, canon_type = 3, mot type = 2 time: 6.557000 primary movement = 3.759635353973e-05 time: 6.557000000001e+00 total movement = 3.759635353973e-05 vel = 3.009642981441e-02 ------------------- tc state : vr = 0.374143, vf = 0.000000, maxvel = 0.374143, current_vel = 0.015096, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.015096, acc = -15.000000,T = 0.002446, P = 0.002439 on final decel initial results: dx= 0.000008,dt = 0.001006, a_f = -15.000000, v_f = 0.000000 dt = 0.001006, not at end yet tc id = 159, canon_type = 3, mot type = 2 time: 6.558000 primary movement = 2.259641325440e-05 time: 6.558000000001e+00 total movement = 2.259641325440e-05 vel = 1.509642981441e-02 ------------------- tc state : vr = 0.374143, vf = 0.000000, maxvel = 0.374143, current_vel = 0.000096, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.000096, acc = -15.000000,T = 0.002446, P = 0.002446 on final decel initial results: dx= 0.000000,dt = 0.000006, a_f = -15.000000, v_f = 0.000000 actual v_f = 0.000000, a = -15.000000 split time is 6.42865e-06 tc id = 159, canon_type = 3, mot type = 2 time: 6.559000 primary movement = 7.596429185254e-06 time: 6.559000000001e+00 total movement = 7.596429185254e-06 vel = 9.642981440669e-05 ------------------- tc id 159 done Finishing split-cycle on id 159 tc state : vr = 8.459941, vf = 0.000000, maxvel = 8.459941, current_vel = 0.015130, fs = 1.000000, tc = 0.000994, term = 2 tc result: v = 0.015130, acc = 15.227955,T = 0.002816, P = 0.000008 secondary movement = 0.000008 tc id = 159, canon_type = 2, mot type = 1 time: 6.560000 primary movement = 3.099569600791e-10 time: 6.560000000001e+00 total movement = 7.516707052717e-06 vel = 1.513006011745e-02 Finished tc id 159 ------------------- Activate tc id = 159 target_vel = 8.459941 final_vel = 0.000000 length = 0.002816 Activate nexttc id 160 tc state : vr = 8.459941, vf = 0.000000, maxvel = 8.459941, current_vel = 0.030358, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.030358, acc = 15.227955,T = 0.002816, P = 0.000030 tc id = 159, canon_type = 2, mot type = 1 time: 6.561000 primary movement = 2.274403780652e-05 time: 6.561000000001e+00 total movement = 2.274403780652e-05 vel = 3.035801549563e-02 ------------------- tc state : vr = 8.459941, vf = 0.000000, maxvel = 8.459941, current_vel = 0.045586, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.045586, acc = 15.227955,T = 0.002816, P = 0.000068 tc id = 159, canon_type = 2, mot type = 1 time: 6.562000 primary movement = 3.797199318473e-05 time: 6.562000000001e+00 total movement = 3.797199318473e-05 vel = 4.558597087382e-02 ------------------- tc state : vr = 8.459941, vf = 0.000000, maxvel = 8.459941, current_vel = 0.060814, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.060814, acc = 15.227955,T = 0.002816, P = 0.000121 tc id = 159, canon_type = 2, mot type = 1 time: 6.563000 primary movement = 5.319994856293e-05 time: 6.563000000001e+00 total movement = 5.319994856293e-05 vel = 6.081392625200e-02 ------------------- tc state : vr = 8.459941, vf = 0.000000, maxvel = 8.459941, current_vel = 0.076042, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.076042, acc = 15.227955,T = 0.002816, P = 0.000190 tc id = 159, canon_type = 2, mot type = 1 time: 6.564000 primary movement = 6.842790394110e-05 time: 6.564000000001e+00 total movement = 6.842790394110e-05 vel = 7.604188163019e-02 ------------------- tc state : vr = 8.459941, vf = 0.000000, maxvel = 8.459941, current_vel = 0.091270, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.091270, acc = 15.227955,T = 0.002816, P = 0.000274 tc id = 159, canon_type = 2, mot type = 1 time: 6.565000 primary movement = 8.365585931927e-05 time: 6.565000000001e+00 total movement = 8.365585931927e-05 vel = 9.126983700837e-02 ------------------- tc state : vr = 8.459941, vf = 0.000000, maxvel = 8.459941, current_vel = 0.106498, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.106498, acc = 15.227955,T = 0.002816, P = 0.000372 tc id = 159, canon_type = 2, mot type = 1 time: 6.566000 primary movement = 9.888381469748e-05 time: 6.566000000001e+00 total movement = 9.888381469748e-05 vel = 1.064977923866e-01 ------------------- tc state : vr = 8.459941, vf = 0.000000, maxvel = 8.459941, current_vel = 0.121726, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.121726, acc = 15.227955,T = 0.002816, P = 0.000487 tc id = 159, canon_type = 2, mot type = 1 time: 6.567000 primary movement = 1.141117700756e-04 time: 6.567000000001e+00 total movement = 1.141117700756e-04 vel = 1.217257477647e-01 ------------------- tc state : vr = 8.459941, vf = 0.000000, maxvel = 8.459941, current_vel = 0.136954, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.136954, acc = 15.227955,T = 0.002816, P = 0.000616 tc id = 159, canon_type = 2, mot type = 1 time: 6.568000 primary movement = 1.293397254538e-04 time: 6.568000000001e+00 total movement = 1.293397254538e-04 vel = 1.369537031429e-01 ------------------- tc state : vr = 8.459941, vf = 0.000000, maxvel = 8.459941, current_vel = 0.152182, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.152182, acc = 15.227955,T = 0.002816, P = 0.000760 tc id = 159, canon_type = 2, mot type = 1 time: 6.569000 primary movement = 1.445676808320e-04 time: 6.569000000001e+00 total movement = 1.445676808320e-04 vel = 1.521816585211e-01 ------------------- tc state : vr = 8.459941, vf = 0.000000, maxvel = 8.459941, current_vel = 0.167410, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.167410, acc = 15.227955,T = 0.002816, P = 0.000920 tc id = 159, canon_type = 2, mot type = 1 time: 6.570000 primary movement = 1.597956362102e-04 time: 6.570000000001e+00 total movement = 1.597956362102e-04 vel = 1.674096138993e-01 ------------------- tc state : vr = 8.459941, vf = 0.000000, maxvel = 8.459941, current_vel = 0.182638, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.182638, acc = 15.227955,T = 0.002816, P = 0.001095 tc id = 159, canon_type = 2, mot type = 1 time: 6.571000 primary movement = 1.750235915884e-04 time: 6.571000000001e+00 total movement = 1.750235915884e-04 vel = 1.826375692775e-01 ------------------- tc state : vr = 8.459941, vf = 0.000000, maxvel = 8.459941, current_vel = 0.197866, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.197866, acc = 15.227955,T = 0.002816, P = 0.001285 tc id = 159, canon_type = 2, mot type = 1 time: 6.572000 primary movement = 1.902515469666e-04 time: 6.572000000001e+00 total movement = 1.902515469666e-04 vel = 1.978655246557e-01 ------------------- tc state : vr = 8.459941, vf = 0.000000, maxvel = 8.459941, current_vel = 0.201338, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.201338, acc = 3.472296,T = 0.002816, P = 0.001485 tc id = 159, canon_type = 2, mot type = 1 time: 6.573000 primary movement = 1.996016725814e-04 time: 6.573000000001e+00 total movement = 1.996016725814e-04 vel = 2.013378205070e-01 ------------------- tc state : vr = 8.459941, vf = 0.000000, maxvel = 8.459941, current_vel = 0.186110, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.186110, acc = -15.227955,T = 0.002816, P = 0.001679 on final decel tc id = 159, canon_type = 2, mot type = 1 tc state : vr = 0.015228, vf = 0.015228, maxvel = 9.212895, current_vel = 0.015228, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.015228, acc = 15.227955,T = 0.013014, P = 0.000008 initial results: dx= 0.013006,dt = 0.046490, a_f = 11.380200, v_f = 0.544293 dt = 0.046490, not at end yet tc id = 159, canon_type = 2, mot type = 1 secondary movement = 0.000008 time: 6.574000 primary movement = 1.937238428179e-04 time: 6.574000000001e+00 total movement = 2.013378205070e-04 vel = 2.013378205070e-01 ------------------- tc state : vr = 8.459941, vf = 0.000000, maxvel = 8.459941, current_vel = 0.170882, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.170882, acc = -15.227955,T = 0.002816, P = 0.001857 on final decel tc id = 159, canon_type = 2, mot type = 1 tc state : vr = 0.030456, vf = 0.030456, maxvel = 9.212895, current_vel = 0.030456, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.030456, acc = 15.227955,T = 0.013014, P = 0.000030 initial results: dx= 0.012983,dt = 0.045179, a_f = 11.373431, v_f = 0.544293 dt = 0.045179, not at end yet tc id = 159, canon_type = 2, mot type = 1 secondary movement = 0.000023 time: 6.575000 primary movement = 1.784958874397e-04 time: 6.575000000001e+00 total movement = 2.013378205070e-04 vel = 2.013378205070e-01 ------------------- tc state : vr = 8.459941, vf = 0.000000, maxvel = 8.459941, current_vel = 0.155654, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.155654, acc = -15.227955,T = 0.002816, P = 0.002021 on final decel tc id = 159, canon_type = 2, mot type = 1 tc state : vr = 0.045684, vf = 0.045684, maxvel = 9.212895, current_vel = 0.045684, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.045684, acc = 15.227955,T = 0.013014, P = 0.000069 initial results: dx= 0.012945,dt = 0.043884, a_f = 11.362095, v_f = 0.544293 dt = 0.043884, not at end yet tc id = 159, canon_type = 2, mot type = 1 secondary movement = 0.000038 time: 6.576000 primary movement = 1.632679320616e-04 time: 6.576000000001e+00 total movement = 2.013378205070e-04 vel = 2.013378205070e-01 ------------------- tc state : vr = 8.459941, vf = 0.000000, maxvel = 8.459941, current_vel = 0.140426, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.140426, acc = -15.227955,T = 0.002816, P = 0.002169 on final decel tc id = 159, canon_type = 2, mot type = 1 tc state : vr = 0.060912, vf = 0.060912, maxvel = 9.212895, current_vel = 0.060912, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.060912, acc = 15.227955,T = 0.013014, P = 0.000122 initial results: dx= 0.012892,dt = 0.042603, a_f = 11.346113, v_f = 0.544293 dt = 0.042603, not at end yet tc id = 159, canon_type = 2, mot type = 1 secondary movement = 0.000053 time: 6.577000 primary movement = 1.480399766834e-04 time: 6.577000000001e+00 total movement = 2.013378205070e-04 vel = 2.013378205070e-01 ------------------- tc state : vr = 8.459941, vf = 0.000000, maxvel = 8.459941, current_vel = 0.125198, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.125198, acc = -15.227955,T = 0.002816, P = 0.002301 on final decel tc id = 159, canon_type = 2, mot type = 1 tc state : vr = 0.076140, vf = 0.076140, maxvel = 9.212895, current_vel = 0.076140, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.076140, acc = 15.227955,T = 0.013014, P = 0.000190 initial results: dx= 0.012823,dt = 0.041337, a_f = 11.325369, v_f = 0.544293 dt = 0.041337, not at end yet tc id = 159, canon_type = 2, mot type = 1 secondary movement = 0.000069 time: 6.578000 primary movement = 1.328120213052e-04 time: 6.578000000001e+00 total movement = 2.013378205070e-04 vel = 2.013378205070e-01 ------------------- tc state : vr = 8.459941, vf = 0.000000, maxvel = 8.459941, current_vel = 0.109970, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.109970, acc = -15.227955,T = 0.002816, P = 0.002419 on final decel tc id = 159, canon_type = 2, mot type = 1 tc state : vr = 0.091368, vf = 0.091368, maxvel = 9.212895, current_vel = 0.091368, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.091368, acc = 15.227955,T = 0.013014, P = 0.000274 initial results: dx= 0.012740,dt = 0.040083, a_f = 11.299712, v_f = 0.544293 dt = 0.040083, not at end yet tc id = 159, canon_type = 2, mot type = 1 secondary movement = 0.000084 time: 6.579000 primary movement = 1.175840659270e-04 time: 6.579000000001e+00 total movement = 2.013378205070e-04 vel = 2.013378205070e-01 ------------------- tc state : vr = 8.459941, vf = 0.000000, maxvel = 8.459941, current_vel = 0.094742, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.094742, acc = -15.227955,T = 0.002816, P = 0.002521 on final decel tc id = 159, canon_type = 2, mot type = 1 tc state : vr = 0.106596, vf = 0.106596, maxvel = 9.212895, current_vel = 0.106596, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.106596, acc = 15.227955,T = 0.013014, P = 0.000373 initial results: dx= 0.012641,dt = 0.038841, a_f = 11.268952, v_f = 0.544293 dt = 0.038841, not at end yet tc id = 160, canon_type = 2, mot type = 1 secondary movement = 0.000099 time: 6.580000 primary movement = 1.023561105488e-04 time: 6.580000000001e+00 total movement = 2.013378205070e-04 vel = 2.013378205070e-01 ------------------- tc state : vr = 8.459941, vf = 0.000000, maxvel = 8.459941, current_vel = 0.079514, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.079514, acc = -15.227955,T = 0.002816, P = 0.002608 on final decel tc id = 159, canon_type = 2, mot type = 1 tc state : vr = 0.121824, vf = 0.121824, maxvel = 9.212895, current_vel = 0.121824, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.121824, acc = 15.227955,T = 0.013014, P = 0.000487 initial results: dx= 0.012526,dt = 0.037610, a_f = 11.232856, v_f = 0.544293 dt = 0.037610, not at end yet tc id = 160, canon_type = 2, mot type = 1 secondary movement = 0.000114 time: 6.581000 primary movement = 8.712815517063e-05 time: 6.581000000001e+00 total movement = 2.013378205070e-04 vel = 2.013378205070e-01 ------------------- tc state : vr = 8.459941, vf = 0.000000, maxvel = 8.459941, current_vel = 0.064286, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.064286, acc = -15.227955,T = 0.002816, P = 0.002680 on final decel tc id = 159, canon_type = 2, mot type = 1 tc state : vr = 0.137052, vf = 0.137052, maxvel = 9.212895, current_vel = 0.137052, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.137052, acc = 15.227955,T = 0.013014, P = 0.000617 initial results: dx= 0.012397,dt = 0.036390, a_f = 11.191142, v_f = 0.544293 dt = 0.036390, not at end yet tc id = 160, canon_type = 2, mot type = 1 secondary movement = 0.000129 time: 6.582000 primary movement = 7.190019979244e-05 time: 6.582000000001e+00 total movement = 2.013378205070e-04 vel = 2.013378205070e-01 ------------------- tc state : vr = 8.459941, vf = 0.000000, maxvel = 8.459941, current_vel = 0.049058, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.049058, acc = -15.227955,T = 0.002816, P = 0.002737 on final decel tc id = 159, canon_type = 2, mot type = 1 tc state : vr = 0.152280, vf = 0.152280, maxvel = 9.212895, current_vel = 0.152280, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.152280, acc = 15.227955,T = 0.013014, P = 0.000761 initial results: dx= 0.012252,dt = 0.035179, a_f = 11.143479, v_f = 0.544293 dt = 0.035179, not at end yet tc id = 160, canon_type = 2, mot type = 1 secondary movement = 0.000145 time: 6.583000 primary movement = 5.667224441426e-05 time: 6.583000000001e+00 total movement = 2.013378205070e-04 vel = 2.013378205070e-01 ------------------- tc state : vr = 8.459941, vf = 0.000000, maxvel = 8.459941, current_vel = 0.033830, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.033830, acc = -15.227955,T = 0.002816, P = 0.002779 on final decel tc id = 159, canon_type = 2, mot type = 1 tc state : vr = 0.167508, vf = 0.167508, maxvel = 9.212895, current_vel = 0.167508, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.167508, acc = 15.227955,T = 0.013014, P = 0.000921 initial results: dx= 0.012092,dt = 0.033977, a_f = 11.089471, v_f = 0.544293 dt = 0.033977, not at end yet tc id = 160, canon_type = 2, mot type = 1 secondary movement = 0.000160 time: 6.584000 primary movement = 4.144428903607e-05 time: 6.584000000001e+00 total movement = 2.013378205070e-04 vel = 2.013378205070e-01 ------------------- tc state : vr = 8.459941, vf = 0.000000, maxvel = 8.459941, current_vel = 0.018602, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.018602, acc = -15.227955,T = 0.002816, P = 0.002805 on final decel tc id = 159, canon_type = 2, mot type = 1 tc state : vr = 0.182735, vf = 0.182735, maxvel = 9.212895, current_vel = 0.182735, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.182735, acc = 15.227955,T = 0.013014, P = 0.001096 initial results: dx= 0.011917,dt = 0.032783, a_f = 11.028657, v_f = 0.544293 dt = 0.032783, not at end yet tc id = 160, canon_type = 2, mot type = 1 secondary movement = 0.000175 time: 6.585000 primary movement = 2.621633365789e-05 time: 6.585000000001e+00 total movement = 2.013378205070e-04 vel = 2.013378205070e-01 ------------------- tc state : vr = 8.459941, vf = 0.000000, maxvel = 8.459941, current_vel = 0.003374, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.003374, acc = -15.227955,T = 0.002816, P = 0.002816 on final decel tc id = 159, canon_type = 2, mot type = 1 tc state : vr = 0.197963, vf = 0.197963, maxvel = 9.212895, current_vel = 0.197963, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.197963, acc = 15.227955,T = 0.013014, P = 0.001287 initial results: dx= 0.011727,dt = 0.031598, a_f = 10.960495, v_f = 0.544293 dt = 0.031598, not at end yet tc id = 160, canon_type = 2, mot type = 1 secondary movement = 0.000190 time: 6.586000 primary movement = 1.098837827969e-05 time: 6.586000000001e+00 total movement = 2.013378205070e-04 vel = 2.013378205070e-01 ------------------- Found newvel = -0.003374, assuming segment is done segment 159 at target in runcycle tc state : vr = 8.459941, vf = 0.000000, maxvel = 8.459941, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.002816, P = 0.002816 tc id = 159, canon_type = 2, mot type = 1 tc state : vr = 0.201338, vf = 0.201338, maxvel = 9.212895, current_vel = 0.201338, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.201338, acc = 3.374401,T = 0.013014, P = 0.001486 initial results: dx= 0.011527,dt = 0.030919, a_f = 11.091885, v_f = 0.544293 dt = 0.030919, not at end yet tc id = 160, canon_type = 2, mot type = 1 secondary movement = 0.000200 time: 6.587000 primary movement = 3.738709190719e-07 time: 6.587000000001e+00 total movement = 2.000244911308e-04 vel = 2.013378205070e-01 Finished tc id 159 ------------------- tc state : vr = 6.196991, vf = 0.544293, maxvel = 9.212895, current_vel = 0.217921, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.217921, acc = 16.583278,T = 0.013014, P = 0.001696 initial results: dx= 0.011318,dt = 0.029697, a_f = 10.990171, v_f = 0.544293 dt = 0.029697, not at end yet tc id = 160, canon_type = 2, mot type = 1 time: 6.588000 primary movement = 2.096294593987e-04 time: 6.588000000001e+00 total movement = 2.096294593987e-04 vel = 2.179210982904e-01 ------------------- tc state : vr = 6.196991, vf = 0.544293, maxvel = 9.212895, current_vel = 0.234504, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.234504, acc = 16.583278,T = 0.013014, P = 0.001922 initial results: dx= 0.011091,dt = 0.028483, a_f = 10.876098, v_f = 0.544293 dt = 0.028483, not at end yet tc id = 160, canon_type = 2, mot type = 1 time: 6.589000 primary movement = 2.262127371821e-04 time: 6.589000000001e+00 total movement = 2.262127371821e-04 vel = 2.345043760738e-01 ------------------- tc state : vr = 6.196991, vf = 0.544293, maxvel = 9.212895, current_vel = 0.251088, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.251088, acc = 16.583278,T = 0.013014, P = 0.002165 initial results: dx= 0.010849,dt = 0.027279, a_f = 10.748370, v_f = 0.544293 dt = 0.027279, not at end yet tc id = 160, canon_type = 2, mot type = 1 time: 6.590000 primary movement = 2.427960149655e-04 time: 6.590000000001e+00 total movement = 2.427960149655e-04 vel = 2.510876538572e-01 ------------------- tc state : vr = 6.196991, vf = 0.544293, maxvel = 9.212895, current_vel = 0.267671, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.267671, acc = 16.583278,T = 0.013014, P = 0.002424 initial results: dx= 0.010589,dt = 0.026083, a_f = 10.605446, v_f = 0.544293 dt = 0.026083, not at end yet tc id = 160, canon_type = 2, mot type = 1 time: 6.591000 primary movement = 2.593792927488e-04 time: 6.591000000001e+00 total movement = 2.593792927488e-04 vel = 2.676709316405e-01 ------------------- tc state : vr = 6.196991, vf = 0.544293, maxvel = 9.212895, current_vel = 0.284254, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.284254, acc = 16.583278,T = 0.013014, P = 0.002700 initial results: dx= 0.010313,dt = 0.024895, a_f = 10.445492, v_f = 0.544293 dt = 0.024895, not at end yet tc id = 160, canon_type = 2, mot type = 1 time: 6.592000 primary movement = 2.759625705322e-04 time: 6.592000000001e+00 total movement = 2.759625705322e-04 vel = 2.842542094239e-01 ------------------- tc state : vr = 6.196991, vf = 0.544293, maxvel = 9.212895, current_vel = 0.300837, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.300837, acc = 16.583278,T = 0.013014, P = 0.002993 initial results: dx= 0.010021,dt = 0.023714, a_f = 10.266305, v_f = 0.544293 dt = 0.023714, not at end yet tc id = 160, canon_type = 2, mot type = 1 time: 6.593000 primary movement = 2.925458483156e-04 time: 6.593000000001e+00 total movement = 2.925458483156e-04 vel = 3.008374872073e-01 ------------------- tc state : vr = 6.196991, vf = 0.544293, maxvel = 9.212895, current_vel = 0.317421, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.317421, acc = 16.583278,T = 0.013014, P = 0.003302 initial results: dx= 0.009712,dt = 0.022540, a_f = 10.065230, v_f = 0.544293 dt = 0.022540, not at end yet tc id = 160, canon_type = 2, mot type = 1 time: 6.594000 primary movement = 3.091291260990e-04 time: 6.594000000001e+00 total movement = 3.091291260990e-04 vel = 3.174207649907e-01 ------------------- tc state : vr = 6.196991, vf = 0.544293, maxvel = 9.212895, current_vel = 0.334004, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.334004, acc = 16.583278,T = 0.013014, P = 0.003628 initial results: dx= 0.009386,dt = 0.021373, a_f = 9.839039, v_f = 0.544293 dt = 0.021373, not at end yet tc id = 160, canon_type = 2, mot type = 1 time: 6.595000 primary movement = 3.257124038824e-04 time: 6.595000000001e+00 total movement = 3.257124038824e-04 vel = 3.340040427741e-01 ------------------- tc state : vr = 6.196991, vf = 0.544293, maxvel = 9.212895, current_vel = 0.350587, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.350587, acc = 16.583278,T = 0.013014, P = 0.003970 initial results: dx= 0.009044,dt = 0.020212, a_f = 9.583773, v_f = 0.544293 dt = 0.020212, not at end yet tc id = 160, canon_type = 2, mot type = 1 time: 6.596000 primary movement = 3.422956816657e-04 time: 6.596000000001e+00 total movement = 3.422956816657e-04 vel = 3.505873205575e-01 ------------------- tc state : vr = 6.196991, vf = 0.544293, maxvel = 9.212895, current_vel = 0.367171, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.367171, acc = 16.583278,T = 0.013014, P = 0.004329 initial results: dx= 0.008685,dt = 0.019057, a_f = 9.294532, v_f = 0.544293 dt = 0.019057, not at end yet tc id = 160, canon_type = 2, mot type = 1 time: 6.597000 primary movement = 3.588789594491e-04 time: 6.597000000001e+00 total movement = 3.588789594491e-04 vel = 3.671705983408e-01 ------------------- tc state : vr = 6.196991, vf = 0.544293, maxvel = 9.212895, current_vel = 0.383754, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.383754, acc = 16.583278,T = 0.013014, P = 0.004704 initial results: dx= 0.008309,dt = 0.017907, a_f = 8.965183, v_f = 0.544293 dt = 0.017907, not at end yet tc id = 160, canon_type = 2, mot type = 1 time: 6.598000 primary movement = 3.754622372325e-04 time: 6.598000000001e+00 total movement = 3.754622372325e-04 vel = 3.837538761242e-01 ------------------- tc state : vr = 6.196991, vf = 0.544293, maxvel = 9.212895, current_vel = 0.400337, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.400337, acc = 16.583278,T = 0.013014, P = 0.005096 initial results: dx= 0.007917,dt = 0.016763, a_f = 8.587950, v_f = 0.544293 dt = 0.016763, not at end yet tc id = 160, canon_type = 2, mot type = 1 time: 6.599000 primary movement = 3.920455150159e-04 time: 6.599000000001e+00 total movement = 3.920455150159e-04 vel = 4.003371539076e-01 ------------------- tc state : vr = 6.196991, vf = 0.544293, maxvel = 9.212895, current_vel = 0.416920, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.416920, acc = 16.583278,T = 0.013014, P = 0.005505 initial results: dx= 0.007509,dt = 0.015623, a_f = 8.152832, v_f = 0.544293 dt = 0.015623, not at end yet tc id = 160, canon_type = 2, mot type = 1 time: 6.600000 primary movement = 4.086287927993e-04 time: 6.600000000001e+00 total movement = 4.086287927993e-04 vel = 4.169204316910e-01 ------------------- tc state : vr = 6.196991, vf = 0.544293, maxvel = 9.212895, current_vel = 0.433504, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.433504, acc = 16.583278,T = 0.013014, P = 0.005930 initial results: dx= 0.007083,dt = 0.014488, a_f = 7.646756, v_f = 0.544293 dt = 0.014488, not at end yet tc id = 160, canon_type = 2, mot type = 1 time: 6.601000 primary movement = 4.252120705827e-04 time: 6.601000000001e+00 total movement = 4.252120705827e-04 vel = 4.335037094744e-01 ------------------- tc state : vr = 6.196991, vf = 0.544293, maxvel = 9.212895, current_vel = 0.450087, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.450087, acc = 16.583278,T = 0.013014, P = 0.006372 initial results: dx= 0.006642,dt = 0.013358, a_f = 7.052303, v_f = 0.544293 dt = 0.013358, not at end yet tc id = 160, canon_type = 2, mot type = 1 time: 6.602000 primary movement = 4.417953483661e-04 time: 6.602000000001e+00 total movement = 4.417953483661e-04 vel = 4.500869872577e-01 ------------------- tc state : vr = 6.196991, vf = 0.544293, maxvel = 9.212895, current_vel = 0.466670, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.466670, acc = 16.583278,T = 0.013014, P = 0.006830 initial results: dx= 0.006183,dt = 0.012232, a_f = 6.345744, v_f = 0.544293 dt = 0.012232, not at end yet tc id = 160, canon_type = 2, mot type = 1 time: 6.603000 primary movement = 4.583786261494e-04 time: 6.603000000001e+00 total movement = 4.583786261494e-04 vel = 4.666702650411e-01 ------------------- tc state : vr = 6.196991, vf = 0.544293, maxvel = 9.212895, current_vel = 0.483254, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.483254, acc = 16.583278,T = 0.013014, P = 0.007305 initial results: dx= 0.005708,dt = 0.011110, a_f = 5.493917, v_f = 0.544293 dt = 0.011110, not at end yet tc id = 160, canon_type = 2, mot type = 1 time: 6.604000 primary movement = 4.749619039328e-04 time: 6.604000000001e+00 total movement = 4.749619039328e-04 vel = 4.832535428245e-01 ------------------- tc state : vr = 6.196991, vf = 0.544293, maxvel = 9.212895, current_vel = 0.499837, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.499837, acc = 16.583278,T = 0.013014, P = 0.007797 initial results: dx= 0.005217,dt = 0.009992, a_f = 4.449018, v_f = 0.544293 dt = 0.009992, not at end yet tc id = 160, canon_type = 2, mot type = 1 time: 6.605000 primary movement = 4.915451817162e-04 time: 6.605000000001e+00 total movement = 4.915451817162e-04 vel = 4.998368206079e-01 ------------------- tc state : vr = 6.196991, vf = 0.544293, maxvel = 9.212895, current_vel = 0.516420, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.516420, acc = 16.583278,T = 0.013014, P = 0.008305 initial results: dx= 0.004709,dt = 0.008878, a_f = 3.139541, v_f = 0.544293 dt = 0.008878, not at end yet tc id = 160, canon_type = 2, mot type = 1 time: 6.606000 primary movement = 5.081284594996e-04 time: 6.606000000001e+00 total movement = 5.081284594996e-04 vel = 5.164200983913e-01 ------------------- tc state : vr = 6.196991, vf = 0.544293, maxvel = 9.212895, current_vel = 0.533003, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.533003, acc = 16.583278,T = 0.013014, P = 0.008830 initial results: dx= 0.004184,dt = 0.007767, a_f = 1.453516, v_f = 0.544293 dt = 0.007767, not at end yet tc id = 160, canon_type = 2, mot type = 1 time: 6.607000 primary movement = 5.247117372830e-04 time: 6.607000000001e+00 total movement = 5.247117372830e-04 vel = 5.330033761747e-01 ------------------- tc state : vr = 6.196991, vf = 0.544293, maxvel = 9.212895, current_vel = 0.549587, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.549587, acc = 16.583278,T = 0.013014, P = 0.009371 initial results: dx= 0.003643,dt = 0.006660, a_f = -0.794809, v_f = 0.544293 dt = 0.006660, not at end yet tc id = 160, canon_type = 2, mot type = 1 time: 6.608000 primary movement = 5.412950150664e-04 time: 6.608000000001e+00 total movement = 5.412950150664e-04 vel = 5.495866539580e-01 ------------------- tc state : vr = 6.196991, vf = 0.544293, maxvel = 9.212895, current_vel = 0.566170, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.566170, acc = 16.583278,T = 0.013014, P = 0.009929 initial results: dx= 0.003085,dt = 0.005556, a_f = -3.937711, v_f = 0.544293 dt = 0.005556, not at end yet tc id = 160, canon_type = 2, mot type = 1 time: 6.609000 primary movement = 5.578782928497e-04 time: 6.609000000001e+00 total movement = 5.578782928497e-04 vel = 5.661699317414e-01 ------------------- tc state : vr = 6.196991, vf = 0.544293, maxvel = 9.212895, current_vel = 0.582753, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.582753, acc = 16.583278,T = 0.013014, P = 0.010503 initial results: dx= 0.002510,dt = 0.004455, a_f = -8.633916, v_f = 0.544293 dt = 0.004455, not at end yet tc id = 160, canon_type = 2, mot type = 1 time: 6.610000 primary movement = 5.744615706331e-04 time: 6.610000000001e+00 total movement = 5.744615706331e-04 vel = 5.827532095248e-01 ------------------- tc state : vr = 6.196991, vf = 0.544293, maxvel = 9.212895, current_vel = 0.599336, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.599336, acc = 16.583278,T = 0.013014, P = 0.011095 initial results: dx= 0.001919,dt = 0.003356, a_f = -16.400000, v_f = 0.544293 dt = 0.003356, not at end yet tc id = 160, canon_type = 2, mot type = 1 time: 6.611000 primary movement = 5.910448484165e-04 time: 6.611000000001e+00 total movement = 5.910448484165e-04 vel = 5.993364873082e-01 ------------------- tc state : vr = 6.196991, vf = 0.544293, maxvel = 9.212895, current_vel = 0.583348, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.583348, acc = -15.988456,T = 0.013014, P = 0.011686 on final decel initial results: dx= 0.001328,dt = 0.002355, a_f = -16.583278, v_f = 0.544293 recalculating with a_f = -16.583278, a = -16.583278 revised dt = 0.002355 dt = 0.002355, not at end yet tc id = 160, canon_type = 2, mot type = 1 time: 6.612000 primary movement = 5.913422595505e-04 time: 6.612000000001e+00 total movement = 5.913422595505e-04 vel = 5.833480317928e-01 ------------------- tc state : vr = 6.196991, vf = 0.544293, maxvel = 9.212895, current_vel = 0.566765, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.566765, acc = -16.583278,T = 0.013014, P = 0.012261 on final decel initial results: dx= 0.000753,dt = 0.001355, a_f = -16.583278, v_f = 0.544293 recalculating with a_f = -16.583278, a = -16.583278 revised dt = 0.001355 dt = 0.001355, not at end yet tc id = 160, canon_type = 2, mot type = 1 time: 6.613000 primary movement = 5.750563929011e-04 time: 6.613000000001e+00 total movement = 5.750563929011e-04 vel = 5.667647540094e-01 ------------------- tc state : vr = 6.196991, vf = 0.544293, maxvel = 9.212895, current_vel = 0.550181, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.550181, acc = -16.583278,T = 0.013014, P = 0.012819 on final decel initial results: dx= 0.000194,dt = 0.000355, a_f = -16.583278, v_f = 0.544293 actual v_f = 0.544293, a = -16.583278 split time is 0.000355067 tc id = 160, canon_type = 2, mot type = 1 time: 6.614000 primary movement = 5.584731151177e-04 time: 6.614000000001e+00 total movement = 5.584731151177e-04 vel = 5.501814762260e-01 ------------------- tc id 160 done Finishing split-cycle on id 161 tc state : vr = 0.784391, vf = 0.385931, maxvel = 0.784391, current_vel = 0.534619, fs = 1.000000, tc = 0.000645, term = 3 tc result: v = 0.534619, acc = -15.000000,T = 0.004910, P = 0.000348 on final decel initial results: dx= 0.004563,dt = 0.009913, a_f = -15.000000, v_f = 0.385931 dt = 0.009913, not at end yet secondary movement = 0.000348 tc id = 161, canon_type = 3, mot type = 2 time: 6.615000 primary movement = 1.943057402111e-04 time: 6.615000000001e+00 total movement = 5.422159820828e-04 vel = 5.346193071085e-01 Finished tc id 160 ------------------- Activate tc id = 161 target_vel = 0.784391 final_vel = 0.385931 length = 0.004910 tc state : vr = 0.784391, vf = 0.385931, maxvel = 0.784391, current_vel = 0.519619, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.519619, acc = -15.000000,T = 0.004910, P = 0.000875 on final decel initial results: dx= 0.004035,dt = 0.008913, a_f = -15.000000, v_f = 0.385931 dt = 0.008913, not at end yet tc id = 161, canon_type = 3, mot type = 2 time: 6.616000 primary movement = 5.271084256736e-04 time: 6.616000000001e+00 total movement = 5.271084256736e-04 vel = 5.196193071085e-01 ------------------- tc state : vr = 0.784391, vf = 0.385931, maxvel = 0.784391, current_vel = 0.504619, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.504619, acc = -15.000000,T = 0.004910, P = 0.001387 on final decel initial results: dx= 0.003523,dt = 0.007913, a_f = -15.000000, v_f = 0.385931 dt = 0.007913, not at end yet tc id = 161, canon_type = 3, mot type = 2 time: 6.617000 primary movement = 5.121093284308e-04 time: 6.617000000001e+00 total movement = 5.121093284308e-04 vel = 5.046193071085e-01 ------------------- tc state : vr = 0.784391, vf = 0.385931, maxvel = 0.784391, current_vel = 0.489619, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.489619, acc = -15.000000,T = 0.004910, P = 0.001884 on final decel initial results: dx= 0.003026,dt = 0.006913, a_f = -15.000000, v_f = 0.385931 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.006913 dt = 0.006913, not at end yet tc id = 161, canon_type = 3, mot type = 2 time: 6.618000 primary movement = 4.971101798240e-04 time: 6.618000000001e+00 total movement = 4.971101798240e-04 vel = 4.896193071085e-01 ------------------- tc state : vr = 0.784391, vf = 0.385931, maxvel = 0.784391, current_vel = 0.474619, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.474619, acc = -15.000000,T = 0.004910, P = 0.002366 on final decel initial results: dx= 0.002544,dt = 0.005913, a_f = -15.000000, v_f = 0.385931 dt = 0.005913, not at end yet tc id = 161, canon_type = 3, mot type = 2 time: 6.619000 primary movement = 4.821109813577e-04 time: 6.619000000001e+00 total movement = 4.821109813577e-04 vel = 4.746193071085e-01 ------------------- tc state : vr = 0.784391, vf = 0.385931, maxvel = 0.784391, current_vel = 0.459619, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.459619, acc = -15.000000,T = 0.004910, P = 0.002834 on final decel initial results: dx= 0.002077,dt = 0.004913, a_f = -15.000000, v_f = 0.385931 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.004913 dt = 0.004913, not at end yet tc id = 161, canon_type = 3, mot type = 2 time: 6.620000 primary movement = 4.671117345362e-04 time: 6.620000000001e+00 total movement = 4.671117345362e-04 vel = 4.596193071085e-01 ------------------- tc state : vr = 0.784391, vf = 0.385931, maxvel = 0.784391, current_vel = 0.444619, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.444619, acc = -15.000000,T = 0.004910, P = 0.003286 on final decel initial results: dx= 0.001625,dt = 0.003913, a_f = -15.000000, v_f = 0.385931 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.003913 dt = 0.003913, not at end yet tc id = 161, canon_type = 3, mot type = 2 time: 6.621000 primary movement = 4.521124408639e-04 time: 6.621000000001e+00 total movement = 4.521124408639e-04 vel = 4.446193071085e-01 ------------------- tc state : vr = 0.784391, vf = 0.385931, maxvel = 0.784391, current_vel = 0.429619, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.429619, acc = -15.000000,T = 0.004910, P = 0.003723 on final decel initial results: dx= 0.001188,dt = 0.002913, a_f = -15.000000, v_f = 0.385931 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.002913 dt = 0.002913, not at end yet tc id = 161, canon_type = 3, mot type = 2 time: 6.622000 primary movement = 4.371131018453e-04 time: 6.622000000001e+00 total movement = 4.371131018453e-04 vel = 4.296193071085e-01 ------------------- tc state : vr = 0.784391, vf = 0.385931, maxvel = 0.784391, current_vel = 0.414619, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.414619, acc = -15.000000,T = 0.004910, P = 0.004145 on final decel initial results: dx= 0.000766,dt = 0.001913, a_f = -15.000000, v_f = 0.385931 dt = 0.001913, not at end yet tc id = 161, canon_type = 3, mot type = 2 time: 6.623000 primary movement = 4.221137189848e-04 time: 6.623000000001e+00 total movement = 4.221137189848e-04 vel = 4.146193071085e-01 ------------------- tc state : vr = 0.784391, vf = 0.385931, maxvel = 0.784391, current_vel = 0.399619, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.399619, acc = -15.000000,T = 0.004910, P = 0.004552 on final decel initial results: dx= 0.000358,dt = 0.000913, a_f = -15.000000, v_f = 0.385931 actual v_f = 0.385931, a = -15.000000 split time is 0.000912561 tc id = 161, canon_type = 3, mot type = 2 time: 6.624000 primary movement = 4.071142937868e-04 time: 6.624000000001e+00 total movement = 4.071142937868e-04 vel = 3.996193071085e-01 ------------------- tc id 161 done Finishing split-cycle on id 161 tc state : vr = 0.385931, vf = 0.272894, maxvel = 8.565101, current_vel = 0.383235, fs = 1.000000, tc = 0.000087, term = 3 tc result: v = 0.383235, acc = -30.834488,T = 0.001208, P = 0.000034 on final decel initial results: dx= 0.001174,dt = 0.003578, a_f = -30.834488, v_f = 0.272894 recalculating with a_f = -30.834488, a = -30.834488 revised dt = 0.003578 dt = 0.003578, not at end yet secondary movement = 0.000034 tc id = 161, canon_type = 2, mot type = 1 time: 6.625000 primary movement = 3.584279205470e-04 time: 6.625000000001e+00 total movement = 3.920553543687e-04 vel = 3.832347596182e-01 Finished tc id 161 ------------------- Activate tc id = 161 target_vel = 0.385931 final_vel = 0.272894 length = 0.001208 tc state : vr = 0.385931, vf = 0.272894, maxvel = 8.565101, current_vel = 0.352400, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.352400, acc = -30.834488,T = 0.001208, P = 0.000401 on final decel initial results: dx= 0.000806,dt = 0.002578, a_f = -30.834488, v_f = 0.272894 dt = 0.002578, not at end yet tc id = 161, canon_type = 2, mot type = 1 time: 6.626000 primary movement = 3.678175158227e-04 time: 6.626000000001e+00 total movement = 3.678175158227e-04 vel = 3.524002720272e-01 ------------------- tc state : vr = 0.385931, vf = 0.272894, maxvel = 8.565101, current_vel = 0.321566, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.321566, acc = -30.834488,T = 0.001208, P = 0.000738 on final decel initial results: dx= 0.000469,dt = 0.001578, a_f = -30.834488, v_f = 0.272894 dt = 0.001578, not at end yet tc id = 161, canon_type = 2, mot type = 1 time: 6.627000 primary movement = 3.369830282317e-04 time: 6.627000000001e+00 total movement = 3.369830282317e-04 vel = 3.215657844362e-01 ------------------- tc state : vr = 0.385931, vf = 0.272894, maxvel = 8.565101, current_vel = 0.290731, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.290731, acc = -30.834488,T = 0.001208, P = 0.001045 on final decel initial results: dx= 0.000163,dt = 0.000578, a_f = -30.834488, v_f = 0.272894 recalculating with a_f = -30.834488, a = -30.834488 revised dt = 0.000578 actual v_f = 0.272894, a = -30.834488 split time is 0.000578474 tc id = 161, canon_type = 2, mot type = 1 time: 6.628000 primary movement = 3.061485406407e-04 time: 6.628000000001e+00 total movement = 3.061485406407e-04 vel = 2.907312968452e-01 ------------------- tc id 161 done Finishing split-cycle on id 162 tc state : vr = 0.272894, vf = 0.000000, maxvel = 0.575047, current_vel = 0.272894, fs = 1.000000, tc = 0.000422, term = 3 tc result: v = 0.272894, acc = 0.000000,T = 0.008741, P = 0.000115 initial results: dx= 0.008626,dt = 0.063220, a_f = -4.316602, v_f = 0.000000 dt = 0.063220, not at end yet secondary movement = 0.000115 tc id = 162, canon_type = 3, mot type = 2 time: 6.629000 primary movement = 1.630213856304e-04 time: 6.629000000001e+00 total movement = 2.780530619236e-04 vel = 2.728943480190e-01 Finished tc id 161 ------------------- Activate tc id = 162 target_vel = 0.272894 final_vel = 0.000000 length = 0.008741 tc state : vr = 0.272894, vf = 0.000000, maxvel = 0.575047, current_vel = 0.272894, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.272894, acc = 0.000000,T = 0.008741, P = 0.000388 initial results: dx= 0.008353,dt = 0.061220, a_f = -4.457622, v_f = 0.000000 dt = 0.061220, not at end yet tc id = 162, canon_type = 3, mot type = 2 time: 6.630000 primary movement = 2.728891209115e-04 time: 6.630000000001e+00 total movement = 2.728891209115e-04 vel = 2.728943480190e-01 ------------------- tc state : vr = 0.272894, vf = 0.000000, maxvel = 0.575047, current_vel = 0.272894, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.272894, acc = 0.000000,T = 0.008741, P = 0.000661 initial results: dx= 0.008080,dt = 0.059220, a_f = -4.608167, v_f = 0.000000 dt = 0.059220, not at end yet tc id = 162, canon_type = 3, mot type = 2 time: 6.631000 primary movement = 2.728891209115e-04 time: 6.631000000001e+00 total movement = 2.728891209115e-04 vel = 2.728943480190e-01 ------------------- tc state : vr = 0.272894, vf = 0.000000, maxvel = 0.575047, current_vel = 0.272894, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.272894, acc = 0.000000,T = 0.008741, P = 0.000934 initial results: dx= 0.007807,dt = 0.057220, a_f = -4.769236, v_f = 0.000000 dt = 0.057220, not at end yet tc id = 162, canon_type = 3, mot type = 2 time: 6.632000 primary movement = 2.728891209114e-04 time: 6.632000000001e+00 total movement = 2.728891209114e-04 vel = 2.728943480190e-01 ------------------- tc state : vr = 0.272894, vf = 0.000000, maxvel = 0.575047, current_vel = 0.272894, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.272894, acc = 0.000000,T = 0.008741, P = 0.001207 initial results: dx= 0.007535,dt = 0.055220, a_f = -4.941973, v_f = 0.000000 dt = 0.055220, not at end yet tc id = 162, canon_type = 3, mot type = 2 time: 6.633000 primary movement = 2.728891209115e-04 time: 6.633000000001e+00 total movement = 2.728891209115e-04 vel = 2.728943480190e-01 ------------------- tc state : vr = 0.272894, vf = 0.000000, maxvel = 0.575047, current_vel = 0.272894, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.272894, acc = 0.000000,T = 0.008741, P = 0.001480 initial results: dx= 0.007262,dt = 0.053220, a_f = -5.127692, v_f = 0.000000 dt = 0.053220, not at end yet tc id = 162, canon_type = 3, mot type = 2 time: 6.634000 primary movement = 2.728891209114e-04 time: 6.634000000001e+00 total movement = 2.728891209114e-04 vel = 2.728943480190e-01 ------------------- tc state : vr = 0.272894, vf = 0.000000, maxvel = 0.575047, current_vel = 0.272894, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.272894, acc = 0.000000,T = 0.008741, P = 0.001752 initial results: dx= 0.006989,dt = 0.051220, a_f = -5.327916, v_f = 0.000000 dt = 0.051220, not at end yet tc id = 162, canon_type = 3, mot type = 2 time: 6.635000 primary movement = 2.728891209115e-04 time: 6.635000000001e+00 total movement = 2.728891209115e-04 vel = 2.728943480190e-01 ------------------- tc state : vr = 0.272894, vf = 0.000000, maxvel = 0.575047, current_vel = 0.272894, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.272894, acc = 0.000000,T = 0.008741, P = 0.002025 initial results: dx= 0.006716,dt = 0.049220, a_f = -5.544411, v_f = 0.000000 dt = 0.049220, not at end yet tc id = 162, canon_type = 3, mot type = 2 time: 6.636000 primary movement = 2.728891209115e-04 time: 6.636000000001e+00 total movement = 2.728891209115e-04 vel = 2.728943480190e-01 ------------------- tc state : vr = 0.272894, vf = 0.000000, maxvel = 0.575047, current_vel = 0.272894, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.272894, acc = 0.000000,T = 0.008741, P = 0.002298 initial results: dx= 0.006443,dt = 0.047220, a_f = -5.779245, v_f = 0.000000 dt = 0.047220, not at end yet tc id = 162, canon_type = 3, mot type = 2 time: 6.637000 primary movement = 2.728891209114e-04 time: 6.637000000001e+00 total movement = 2.728891209114e-04 vel = 2.728943480190e-01 ------------------- tc state : vr = 0.272894, vf = 0.000000, maxvel = 0.575047, current_vel = 0.272894, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.272894, acc = 0.000000,T = 0.008741, P = 0.002571 initial results: dx= 0.006170,dt = 0.045220, a_f = -6.034852, v_f = 0.000000 dt = 0.045220, not at end yet tc id = 162, canon_type = 3, mot type = 2 time: 6.638000 primary movement = 2.728891209115e-04 time: 6.638000000001e+00 total movement = 2.728891209115e-04 vel = 2.728943480190e-01 ------------------- tc state : vr = 0.272894, vf = 0.000000, maxvel = 0.575047, current_vel = 0.272894, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.272894, acc = 0.000000,T = 0.008741, P = 0.002844 initial results: dx= 0.005897,dt = 0.043220, a_f = -6.314116, v_f = 0.000000 dt = 0.043220, not at end yet tc id = 162, canon_type = 3, mot type = 2 time: 6.639000 primary movement = 2.728891209114e-04 time: 6.639000000001e+00 total movement = 2.728891209114e-04 vel = 2.728943480190e-01 ------------------- tc state : vr = 0.272894, vf = 0.000000, maxvel = 0.575047, current_vel = 0.272894, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.272894, acc = 0.000000,T = 0.008741, P = 0.003117 initial results: dx= 0.005624,dt = 0.041220, a_f = -6.620480, v_f = 0.000000 dt = 0.041220, not at end yet tc id = 162, canon_type = 3, mot type = 2 time: 6.640000 primary movement = 2.728891209115e-04 time: 6.640000000001e+00 total movement = 2.728891209115e-04 vel = 2.728943480190e-01 ------------------- tc state : vr = 0.272894, vf = 0.000000, maxvel = 0.575047, current_vel = 0.272894, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.272894, acc = 0.000000,T = 0.008741, P = 0.003390 initial results: dx= 0.005351,dt = 0.039220, a_f = -6.958090, v_f = 0.000000 dt = 0.039220, not at end yet tc id = 162, canon_type = 3, mot type = 2 time: 6.641000 primary movement = 2.728891209115e-04 time: 6.641000000001e+00 total movement = 2.728891209115e-04 vel = 2.728943480190e-01 ------------------- tc state : vr = 0.272894, vf = 0.000000, maxvel = 0.575047, current_vel = 0.272894, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.272894, acc = 0.000000,T = 0.008741, P = 0.003663 initial results: dx= 0.005079,dt = 0.037220, a_f = -7.331983, v_f = 0.000000 dt = 0.037220, not at end yet tc id = 162, canon_type = 3, mot type = 2 time: 6.642000 primary movement = 2.728891209114e-04 time: 6.642000000001e+00 total movement = 2.728891209114e-04 vel = 2.728943480190e-01 ------------------- tc state : vr = 0.272894, vf = 0.000000, maxvel = 0.575047, current_vel = 0.272894, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.272894, acc = 0.000000,T = 0.008741, P = 0.003936 initial results: dx= 0.004806,dt = 0.035220, a_f = -7.748339, v_f = 0.000000 dt = 0.035220, not at end yet tc id = 162, canon_type = 3, mot type = 2 time: 6.643000 primary movement = 2.728891209115e-04 time: 6.643000000001e+00 total movement = 2.728891209115e-04 vel = 2.728943480190e-01 ------------------- tc state : vr = 0.272894, vf = 0.000000, maxvel = 0.575047, current_vel = 0.272894, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.272894, acc = 0.000000,T = 0.008741, P = 0.004208 initial results: dx= 0.004533,dt = 0.033220, a_f = -8.214830, v_f = 0.000000 dt = 0.033220, not at end yet tc id = 162, canon_type = 3, mot type = 2 time: 6.644000 primary movement = 2.728891209114e-04 time: 6.644000000001e+00 total movement = 2.728891209114e-04 vel = 2.728943480190e-01 ------------------- tc state : vr = 0.272894, vf = 0.000000, maxvel = 0.575047, current_vel = 0.272894, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.272894, acc = 0.000000,T = 0.008741, P = 0.004481 initial results: dx= 0.004260,dt = 0.031220, a_f = -8.741089, v_f = 0.000000 dt = 0.031220, not at end yet tc id = 162, canon_type = 3, mot type = 2 time: 6.645000 primary movement = 2.728891209115e-04 time: 6.645000000001e+00 total movement = 2.728891209115e-04 vel = 2.728943480190e-01 ------------------- tc state : vr = 0.272894, vf = 0.000000, maxvel = 0.575047, current_vel = 0.272894, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.272894, acc = 0.000000,T = 0.008741, P = 0.004754 initial results: dx= 0.003987,dt = 0.029220, a_f = -9.339389, v_f = 0.000000 dt = 0.029220, not at end yet tc id = 162, canon_type = 3, mot type = 2 time: 6.646000 primary movement = 2.728891209115e-04 time: 6.646000000001e+00 total movement = 2.728891209115e-04 vel = 2.728943480190e-01 ------------------- tc state : vr = 0.272894, vf = 0.000000, maxvel = 0.575047, current_vel = 0.272894, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.272894, acc = 0.000000,T = 0.008741, P = 0.005027 initial results: dx= 0.003714,dt = 0.027220, a_f = -10.025611, v_f = 0.000000 dt = 0.027220, not at end yet tc id = 162, canon_type = 3, mot type = 2 time: 6.647000 primary movement = 2.728891209114e-04 time: 6.647000000001e+00 total movement = 2.728891209114e-04 vel = 2.728943480190e-01 ------------------- tc state : vr = 0.272894, vf = 0.000000, maxvel = 0.575047, current_vel = 0.272894, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.272894, acc = 0.000000,T = 0.008741, P = 0.005300 initial results: dx= 0.003441,dt = 0.025220, a_f = -10.820673, v_f = 0.000000 dt = 0.025220, not at end yet tc id = 162, canon_type = 3, mot type = 2 time: 6.648000 primary movement = 2.728891209115e-04 time: 6.648000000001e+00 total movement = 2.728891209115e-04 vel = 2.728943480190e-01 ------------------- tc state : vr = 0.272894, vf = 0.000000, maxvel = 0.575047, current_vel = 0.272894, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.272894, acc = 0.000000,T = 0.008741, P = 0.005573 initial results: dx= 0.003168,dt = 0.023220, a_f = -11.752697, v_f = 0.000000 dt = 0.023220, not at end yet tc id = 162, canon_type = 3, mot type = 2 time: 6.649000 primary movement = 2.728891209115e-04 time: 6.649000000001e+00 total movement = 2.728891209115e-04 vel = 2.728943480190e-01 ------------------- tc state : vr = 0.272894, vf = 0.000000, maxvel = 0.575047, current_vel = 0.272894, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.272894, acc = 0.000000,T = 0.008741, P = 0.005846 initial results: dx= 0.002895,dt = 0.021220, a_f = -12.860411, v_f = 0.000000 dt = 0.021220, not at end yet tc id = 162, canon_type = 3, mot type = 2 time: 6.650000 primary movement = 2.728891209114e-04 time: 6.650000000001e+00 total movement = 2.728891209114e-04 vel = 2.728943480190e-01 ------------------- tc state : vr = 0.272894, vf = 0.000000, maxvel = 0.575047, current_vel = 0.272894, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.272894, acc = 0.000000,T = 0.008741, P = 0.006119 initial results: dx= 0.002622,dt = 0.019220, a_f = -14.198663, v_f = 0.000000 dt = 0.019220, not at end yet tc id = 162, canon_type = 3, mot type = 2 time: 6.651000 primary movement = 2.728891209115e-04 time: 6.651000000001e+00 total movement = 2.728891209115e-04 vel = 2.728943480190e-01 ------------------- tc state : vr = 0.272894, vf = 0.000000, maxvel = 0.575047, current_vel = 0.265698, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.265698, acc = -7.196371,T = 0.008741, P = 0.006388 on final decel initial results: dx= 0.002353,dt = 0.017713, a_f = -15.000000, v_f = 0.000000 dt = 0.017713, not at end yet tc id = 162, canon_type = 3, mot type = 2 time: 6.652000 primary movement = 2.692911397034e-04 time: 6.652000000001e+00 total movement = 2.692911397034e-04 vel = 2.656979775079e-01 ------------------- tc state : vr = 0.272894, vf = 0.000000, maxvel = 0.575047, current_vel = 0.250698, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.250698, acc = -15.000000,T = 0.008741, P = 0.006646 on final decel initial results: dx= 0.002095,dt = 0.016713, a_f = -15.000000, v_f = 0.000000 dt = 0.016713, not at end yet tc id = 162, canon_type = 3, mot type = 2 time: 6.653000 primary movement = 2.581935502321e-04 time: 6.653000000001e+00 total movement = 2.581935502321e-04 vel = 2.506979775079e-01 ------------------- tc state : vr = 0.272894, vf = 0.000000, maxvel = 0.575047, current_vel = 0.235698, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.235698, acc = -15.000000,T = 0.008741, P = 0.006889 on final decel initial results: dx= 0.001852,dt = 0.015713, a_f = -15.000000, v_f = 0.000000 dt = 0.015713, not at end yet tc id = 162, canon_type = 3, mot type = 2 time: 6.654000 primary movement = 2.431942778787e-04 time: 6.654000000001e+00 total movement = 2.431942778787e-04 vel = 2.356979775079e-01 ------------------- tc state : vr = 0.272894, vf = 0.000000, maxvel = 0.575047, current_vel = 0.220698, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.220698, acc = -15.000000,T = 0.008741, P = 0.007118 on final decel initial results: dx= 0.001624,dt = 0.014713, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.014713 dt = 0.014713, not at end yet tc id = 162, canon_type = 3, mot type = 2 time: 6.655000 primary movement = 2.281949210816e-04 time: 6.655000000001e+00 total movement = 2.281949210816e-04 vel = 2.206979775079e-01 ------------------- tc state : vr = 0.272894, vf = 0.000000, maxvel = 0.575047, current_vel = 0.205698, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.205698, acc = -15.000000,T = 0.008741, P = 0.007331 on final decel initial results: dx= 0.001410,dt = 0.013713, a_f = -15.000000, v_f = 0.000000 dt = 0.013713, not at end yet tc id = 162, canon_type = 3, mot type = 2 time: 6.656000 primary movement = 2.131954850489e-04 time: 6.656000000001e+00 total movement = 2.131954850489e-04 vel = 2.056979775079e-01 ------------------- tc state : vr = 0.272894, vf = 0.000000, maxvel = 0.575047, current_vel = 0.190698, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.190698, acc = -15.000000,T = 0.008741, P = 0.007529 on final decel initial results: dx= 0.001212,dt = 0.012713, a_f = -15.000000, v_f = 0.000000 dt = 0.012713, not at end yet tc id = 162, canon_type = 3, mot type = 2 time: 6.657000 primary movement = 1.981959749889e-04 time: 6.657000000001e+00 total movement = 1.981959749889e-04 vel = 1.906979775079e-01 ------------------- tc state : vr = 0.272894, vf = 0.000000, maxvel = 0.575047, current_vel = 0.175698, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.175698, acc = -15.000000,T = 0.008741, P = 0.007712 on final decel initial results: dx= 0.001029,dt = 0.011713, a_f = -15.000000, v_f = 0.000000 dt = 0.011713, not at end yet tc id = 162, canon_type = 3, mot type = 2 time: 6.658000 primary movement = 1.831963961099e-04 time: 6.658000000001e+00 total movement = 1.831963961099e-04 vel = 1.756979775079e-01 ------------------- tc state : vr = 0.272894, vf = 0.000000, maxvel = 0.575047, current_vel = 0.160698, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.160698, acc = -15.000000,T = 0.008741, P = 0.007880 on final decel initial results: dx= 0.000861,dt = 0.010713, a_f = -15.000000, v_f = 0.000000 dt = 0.010713, not at end yet tc id = 162, canon_type = 3, mot type = 2 time: 6.659000 primary movement = 1.681967536200e-04 time: 6.659000000001e+00 total movement = 1.681967536200e-04 vel = 1.606979775079e-01 ------------------- tc state : vr = 0.272894, vf = 0.000000, maxvel = 0.575047, current_vel = 0.145698, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.145698, acc = -15.000000,T = 0.008741, P = 0.008034 on final decel initial results: dx= 0.000708,dt = 0.009713, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.009713 dt = 0.009713, not at end yet tc id = 162, canon_type = 3, mot type = 2 time: 6.660000 primary movement = 1.531970527275e-04 time: 6.660000000001e+00 total movement = 1.531970527275e-04 vel = 1.456979775079e-01 ------------------- tc state : vr = 0.272894, vf = 0.000000, maxvel = 0.575047, current_vel = 0.130698, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.130698, acc = -15.000000,T = 0.008741, P = 0.008172 on final decel initial results: dx= 0.000569,dt = 0.008713, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.008713 dt = 0.008713, not at end yet tc id = 162, canon_type = 3, mot type = 2 time: 6.661000 primary movement = 1.381972986409e-04 time: 6.661000000001e+00 total movement = 1.381972986409e-04 vel = 1.306979775079e-01 ------------------- tc state : vr = 0.272894, vf = 0.000000, maxvel = 0.575047, current_vel = 0.115698, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.115698, acc = -15.000000,T = 0.008741, P = 0.008295 on final decel initial results: dx= 0.000446,dt = 0.007713, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.007713 dt = 0.007713, not at end yet tc id = 162, canon_type = 3, mot type = 2 time: 6.662000 primary movement = 1.231974965683e-04 time: 6.662000000001e+00 total movement = 1.231974965683e-04 vel = 1.156979775079e-01 ------------------- tc state : vr = 0.272894, vf = 0.000000, maxvel = 0.575047, current_vel = 0.100698, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.100698, acc = -15.000000,T = 0.008741, P = 0.008403 on final decel initial results: dx= 0.000338,dt = 0.006713, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.006713 dt = 0.006713, not at end yet tc id = 162, canon_type = 3, mot type = 2 time: 6.663000 primary movement = 1.081976517183e-04 time: 6.663000000001e+00 total movement = 1.081976517183e-04 vel = 1.006979775079e-01 ------------------- tc state : vr = 0.272894, vf = 0.000000, maxvel = 0.575047, current_vel = 0.085698, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.085698, acc = -15.000000,T = 0.008741, P = 0.008496 on final decel initial results: dx= 0.000245,dt = 0.005713, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.005713 dt = 0.005713, not at end yet tc id = 162, canon_type = 3, mot type = 2 time: 6.664000 primary movement = 9.319776929895e-05 time: 6.664000000001e+00 total movement = 9.319776929895e-05 vel = 8.569797750794e-02 ------------------- tc state : vr = 0.272894, vf = 0.000000, maxvel = 0.575047, current_vel = 0.070698, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.070698, acc = -15.000000,T = 0.008741, P = 0.008575 on final decel initial results: dx= 0.000167,dt = 0.004713, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.004713 dt = 0.004713, not at end yet tc id = 162, canon_type = 3, mot type = 2 time: 6.665000 primary movement = 7.819785451883e-05 time: 6.665000000001e+00 total movement = 7.819785451883e-05 vel = 7.069797750794e-02 ------------------- tc state : vr = 0.272894, vf = 0.000000, maxvel = 0.575047, current_vel = 0.055698, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.055698, acc = -15.000000,T = 0.008741, P = 0.008638 on final decel initial results: dx= 0.000103,dt = 0.003713, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.003713 dt = 0.003713, not at end yet tc id = 162, canon_type = 3, mot type = 2 time: 6.666000 primary movement = 6.319791258627e-05 time: 6.666000000001e+00 total movement = 6.319791258627e-05 vel = 5.569797750794e-02 ------------------- tc state : vr = 0.272894, vf = 0.000000, maxvel = 0.575047, current_vel = 0.040698, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.040698, acc = -15.000000,T = 0.008741, P = 0.008686 on final decel initial results: dx= 0.000055,dt = 0.002713, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.002713 dt = 0.002713, not at end yet tc id = 162, canon_type = 3, mot type = 2 time: 6.667000 primary movement = 4.819794870965e-05 time: 6.667000000001e+00 total movement = 4.819794870965e-05 vel = 4.069797750794e-02 ------------------- tc state : vr = 0.272894, vf = 0.000000, maxvel = 0.575047, current_vel = 0.025698, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.025698, acc = -15.000000,T = 0.008741, P = 0.008719 on final decel initial results: dx= 0.000022,dt = 0.001713, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.001713 dt = 0.001713, not at end yet tc id = 162, canon_type = 3, mot type = 2 time: 6.668000 primary movement = 3.319796809738e-05 time: 6.668000000001e+00 total movement = 3.319796809738e-05 vel = 2.569797750794e-02 ------------------- tc state : vr = 0.272894, vf = 0.000000, maxvel = 0.575047, current_vel = 0.010698, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.010698, acc = -15.000000,T = 0.008741, P = 0.008737 on final decel initial results: dx= 0.000004,dt = 0.000713, a_f = -15.000000, v_f = 0.000000 actual v_f = 0.000000, a = -15.000000 split time is 0.000713199 tc id = 162, canon_type = 3, mot type = 2 time: 6.669000 primary movement = 1.819797595787e-05 time: 6.669000000001e+00 total movement = 1.819797595787e-05 vel = 1.069797750794e-02 ------------------- tc id 162 done Finishing split-cycle on id 162 tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.004786, fs = 1.000000, tc = 0.000287, term = 2 tc result: v = 0.004786, acc = 16.687500,T = 0.013249, P = 0.000001 secondary movement = 0.000001 tc id = 162, canon_type = 2, mot type = 1 time: 6.670000 primary movement = 3.814890744406e-06 time: 6.670000000001e+00 total movement = 4.501206735848e-06 vel = 4.786000022419e-03 Finished tc id 162 ------------------- Activate tc id = 162 target_vel = 9.270796 final_vel = 0.000000 length = 0.013249 Activate nexttc id 163 tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.021474, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.021474, acc = 16.687500,T = 0.013249, P = 0.000014 tc id = 162, canon_type = 2, mot type = 1 time: 6.671000 primary movement = 1.312975002242e-05 time: 6.671000000001e+00 total movement = 1.312975002242e-05 vel = 2.147350002242e-02 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.038161, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.038161, acc = 16.687500,T = 0.013249, P = 0.000044 tc id = 162, canon_type = 2, mot type = 1 time: 6.672000 primary movement = 2.981725002241e-05 time: 6.672000000001e+00 total movement = 2.981725002241e-05 vel = 3.816100002242e-02 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.054849, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.054849, acc = 16.687500,T = 0.013249, P = 0.000090 tc id = 162, canon_type = 2, mot type = 1 time: 6.673000 primary movement = 4.650475002243e-05 time: 6.673000000001e+00 total movement = 4.650475002243e-05 vel = 5.484850002242e-02 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.071536, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.071536, acc = 16.687500,T = 0.013249, P = 0.000153 tc id = 162, canon_type = 2, mot type = 1 time: 6.674000 primary movement = 6.319225002242e-05 time: 6.674000000001e+00 total movement = 6.319225002242e-05 vel = 7.153600002242e-02 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.088224, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.088224, acc = 16.687500,T = 0.013249, P = 0.000233 tc id = 162, canon_type = 2, mot type = 1 time: 6.675000 primary movement = 7.987975002242e-05 time: 6.675000000001e+00 total movement = 7.987975002242e-05 vel = 8.822350002242e-02 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.104911, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.104911, acc = 16.687500,T = 0.013249, P = 0.000330 tc id = 162, canon_type = 2, mot type = 1 time: 6.676000 primary movement = 9.656725002242e-05 time: 6.676000000001e+00 total movement = 9.656725002242e-05 vel = 1.049110000224e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.121599, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.121599, acc = 16.687500,T = 0.013249, P = 0.000443 tc id = 162, canon_type = 2, mot type = 1 time: 6.677000 primary movement = 1.132547500224e-04 time: 6.677000000001e+00 total movement = 1.132547500224e-04 vel = 1.215985000224e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.138286, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.138286, acc = 16.687500,T = 0.013249, P = 0.000573 tc id = 162, canon_type = 2, mot type = 1 time: 6.678000 primary movement = 1.299422500224e-04 time: 6.678000000001e+00 total movement = 1.299422500224e-04 vel = 1.382860000224e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.154974, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.154974, acc = 16.687500,T = 0.013249, P = 0.000720 tc id = 162, canon_type = 2, mot type = 1 time: 6.679000 primary movement = 1.466297500224e-04 time: 6.679000000001e+00 total movement = 1.466297500224e-04 vel = 1.549735000224e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.171661, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.171661, acc = 16.687500,T = 0.013249, P = 0.000883 tc id = 162, canon_type = 2, mot type = 1 time: 6.680000 primary movement = 1.633172500224e-04 time: 6.680000000001e+00 total movement = 1.633172500224e-04 vel = 1.716610000224e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.188349, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.188349, acc = 16.687500,T = 0.013249, P = 0.001063 tc id = 162, canon_type = 2, mot type = 1 time: 6.681000 primary movement = 1.800047500224e-04 time: 6.681000000001e+00 total movement = 1.800047500224e-04 vel = 1.883485000224e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.205036, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.205036, acc = 16.687500,T = 0.013249, P = 0.001260 tc id = 162, canon_type = 2, mot type = 1 time: 6.682000 primary movement = 1.966922500224e-04 time: 6.682000000001e+00 total movement = 1.966922500224e-04 vel = 2.050360000224e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.221724, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.221724, acc = 16.687500,T = 0.013249, P = 0.001473 tc id = 162, canon_type = 2, mot type = 1 time: 6.683000 primary movement = 2.133797500224e-04 time: 6.683000000001e+00 total movement = 2.133797500224e-04 vel = 2.217235000224e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.238411, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.238411, acc = 16.687500,T = 0.013249, P = 0.001703 tc id = 162, canon_type = 2, mot type = 1 time: 6.684000 primary movement = 2.300672500224e-04 time: 6.684000000001e+00 total movement = 2.300672500224e-04 vel = 2.384110000224e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.255099, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.255099, acc = 16.687500,T = 0.013249, P = 0.001950 tc id = 162, canon_type = 2, mot type = 1 time: 6.685000 primary movement = 2.467547500224e-04 time: 6.685000000001e+00 total movement = 2.467547500224e-04 vel = 2.550985000224e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.271786, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.271786, acc = 16.687500,T = 0.013249, P = 0.002213 tc id = 162, canon_type = 2, mot type = 1 time: 6.686000 primary movement = 2.634422500224e-04 time: 6.686000000001e+00 total movement = 2.634422500224e-04 vel = 2.717860000224e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.288474, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.288474, acc = 16.687500,T = 0.013249, P = 0.002493 tc id = 162, canon_type = 2, mot type = 1 time: 6.687000 primary movement = 2.801297500224e-04 time: 6.687000000001e+00 total movement = 2.801297500224e-04 vel = 2.884735000224e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.305161, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.305161, acc = 16.687500,T = 0.013249, P = 0.002790 tc id = 162, canon_type = 2, mot type = 1 time: 6.688000 primary movement = 2.968172500224e-04 time: 6.688000000001e+00 total movement = 2.968172500224e-04 vel = 3.051610000224e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.321849, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.321849, acc = 16.687500,T = 0.013249, P = 0.003104 tc id = 162, canon_type = 2, mot type = 1 time: 6.689000 primary movement = 3.135047500224e-04 time: 6.689000000001e+00 total movement = 3.135047500224e-04 vel = 3.218485000224e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.338536, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.338536, acc = 16.687500,T = 0.013249, P = 0.003434 tc id = 162, canon_type = 2, mot type = 1 time: 6.690000 primary movement = 3.301922500224e-04 time: 6.690000000001e+00 total movement = 3.301922500224e-04 vel = 3.385360000224e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.355224, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.355224, acc = 16.687500,T = 0.013249, P = 0.003781 tc id = 162, canon_type = 2, mot type = 1 time: 6.691000 primary movement = 3.468797500224e-04 time: 6.691000000001e+00 total movement = 3.468797500224e-04 vel = 3.552235000224e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.371911, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.371911, acc = 16.687500,T = 0.013249, P = 0.004144 tc id = 162, canon_type = 2, mot type = 1 time: 6.692000 primary movement = 3.635672500224e-04 time: 6.692000000001e+00 total movement = 3.635672500224e-04 vel = 3.719110000224e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.388599, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.388599, acc = 16.687500,T = 0.013249, P = 0.004525 tc id = 162, canon_type = 2, mot type = 1 time: 6.693000 primary movement = 3.802547500224e-04 time: 6.693000000001e+00 total movement = 3.802547500224e-04 vel = 3.885985000224e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.405286, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.405286, acc = 16.687500,T = 0.013249, P = 0.004922 tc id = 162, canon_type = 2, mot type = 1 time: 6.694000 primary movement = 3.969422500224e-04 time: 6.694000000001e+00 total movement = 3.969422500224e-04 vel = 4.052860000224e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.421974, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.421974, acc = 16.687500,T = 0.013249, P = 0.005335 tc id = 162, canon_type = 2, mot type = 1 time: 6.695000 primary movement = 4.136297500224e-04 time: 6.695000000001e+00 total movement = 4.136297500224e-04 vel = 4.219735000224e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.438661, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.438661, acc = 16.687500,T = 0.013249, P = 0.005765 tc id = 162, canon_type = 2, mot type = 1 time: 6.696000 primary movement = 4.303172500224e-04 time: 6.696000000001e+00 total movement = 4.303172500224e-04 vel = 4.386610000224e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.455349, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.455349, acc = 16.687500,T = 0.013249, P = 0.006213 tc id = 162, canon_type = 2, mot type = 1 time: 6.697000 primary movement = 4.470047500224e-04 time: 6.697000000001e+00 total movement = 4.470047500224e-04 vel = 4.553485000224e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.468435, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.468435, acc = 13.086355,T = 0.013249, P = 0.006674 tc id = 162, canon_type = 2, mot type = 1 time: 6.698000 primary movement = 4.618916777183e-04 time: 6.698000000001e+00 total movement = 4.618916777183e-04 vel = 4.684348554142e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.451747, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.451747, acc = -16.687500,T = 0.013249, P = 0.007134 on final decel tc id = 162, canon_type = 2, mot type = 1 time: 6.699000 primary movement = 4.600911054142e-04 time: 6.699000000001e+00 total movement = 4.600911054142e-04 vel = 4.517473554142e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.435060, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.435060, acc = -16.687500,T = 0.013249, P = 0.007578 on final decel tc id = 162, canon_type = 2, mot type = 1 time: 6.700000 primary movement = 4.434036054142e-04 time: 6.700000000001e+00 total movement = 4.434036054142e-04 vel = 4.350598554142e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.418372, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.418372, acc = -16.687500,T = 0.013249, P = 0.008005 on final decel tc id = 162, canon_type = 2, mot type = 1 time: 6.701000 primary movement = 4.267161054142e-04 time: 6.701000000001e+00 total movement = 4.267161054142e-04 vel = 4.183723554142e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.401685, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.401685, acc = -16.687500,T = 0.013249, P = 0.008415 on final decel tc id = 162, canon_type = 2, mot type = 1 time: 6.702000 primary movement = 4.100286054142e-04 time: 6.702000000001e+00 total movement = 4.100286054142e-04 vel = 4.016848554142e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.384997, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.384997, acc = -16.687500,T = 0.013249, P = 0.008808 on final decel tc id = 162, canon_type = 2, mot type = 1 time: 6.703000 primary movement = 3.933411054142e-04 time: 6.703000000001e+00 total movement = 3.933411054142e-04 vel = 3.849973554142e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.368310, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.368310, acc = -16.687500,T = 0.013249, P = 0.009185 on final decel tc id = 162, canon_type = 2, mot type = 1 time: 6.704000 primary movement = 3.766536054142e-04 time: 6.704000000001e+00 total movement = 3.766536054142e-04 vel = 3.683098554142e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.351622, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.351622, acc = -16.687500,T = 0.013249, P = 0.009545 on final decel tc id = 162, canon_type = 2, mot type = 1 time: 6.705000 primary movement = 3.599661054142e-04 time: 6.705000000001e+00 total movement = 3.599661054142e-04 vel = 3.516223554142e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.334935, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.334935, acc = -16.687500,T = 0.013249, P = 0.009888 on final decel tc id = 162, canon_type = 2, mot type = 1 time: 6.706000 primary movement = 3.432786054142e-04 time: 6.706000000001e+00 total movement = 3.432786054142e-04 vel = 3.349348554142e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.318247, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.318247, acc = -16.687500,T = 0.013249, P = 0.010214 on final decel tc id = 162, canon_type = 2, mot type = 1 time: 6.707000 primary movement = 3.265911054142e-04 time: 6.707000000001e+00 total movement = 3.265911054142e-04 vel = 3.182473554142e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.301560, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.301560, acc = -16.687500,T = 0.013249, P = 0.010524 on final decel tc id = 162, canon_type = 2, mot type = 1 tc state : vr = 0.016688, vf = 0.016688, maxvel = 9.917132, current_vel = 0.016688, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.016688, acc = 16.687500,T = 0.005956, P = 0.000008 initial results: dx= 0.005948,dt = 0.039313, a_f = 6.848098, v_f = 0.285909 dt = 0.039313, not at end yet tc id = 162, canon_type = 2, mot type = 1 secondary movement = 0.000008 time: 6.708000 primary movement = 3.099036054142e-04 time: 6.708000000001e+00 total movement = 3.182473554142e-04 vel = 3.182473554142e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.284872, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.284872, acc = -16.687500,T = 0.013249, P = 0.010818 on final decel tc id = 162, canon_type = 2, mot type = 1 tc state : vr = 0.033375, vf = 0.033375, maxvel = 9.917132, current_vel = 0.033375, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.033375, acc = 16.687500,T = 0.005956, P = 0.000033 initial results: dx= 0.005923,dt = 0.037102, a_f = 6.806515, v_f = 0.285909 dt = 0.037102, not at end yet tc id = 162, canon_type = 2, mot type = 1 secondary movement = 0.000025 time: 6.709000 primary movement = 2.932161054142e-04 time: 6.709000000001e+00 total movement = 3.182473554142e-04 vel = 3.182473554142e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.268185, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.268185, acc = -16.687500,T = 0.013249, P = 0.011094 on final decel tc id = 162, canon_type = 2, mot type = 1 tc state : vr = 0.050063, vf = 0.050063, maxvel = 9.917132, current_vel = 0.050063, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.050063, acc = 16.687500,T = 0.005956, P = 0.000075 initial results: dx= 0.005881,dt = 0.035011, a_f = 6.736425, v_f = 0.285909 dt = 0.035011, not at end yet tc id = 162, canon_type = 2, mot type = 1 secondary movement = 0.000042 time: 6.710000 primary movement = 2.765286054142e-04 time: 6.710000000001e+00 total movement = 3.182473554142e-04 vel = 3.182473554142e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.251497, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.251497, acc = -16.687500,T = 0.013249, P = 0.011354 on final decel tc id = 162, canon_type = 2, mot type = 1 tc state : vr = 0.066750, vf = 0.066750, maxvel = 9.917132, current_vel = 0.066750, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.066750, acc = 16.687500,T = 0.005956, P = 0.000134 initial results: dx= 0.005823,dt = 0.033023, a_f = 6.636611, v_f = 0.285909 dt = 0.033023, not at end yet tc id = 162, canon_type = 2, mot type = 1 secondary movement = 0.000058 time: 6.711000 primary movement = 2.598411054142e-04 time: 6.711000000001e+00 total movement = 3.182473554142e-04 vel = 3.182473554142e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.234810, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.234810, acc = -16.687500,T = 0.013249, P = 0.011597 on final decel tc id = 162, canon_type = 2, mot type = 1 tc state : vr = 0.083437, vf = 0.083437, maxvel = 9.917132, current_vel = 0.083437, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.083437, acc = 16.687500,T = 0.005956, P = 0.000209 initial results: dx= 0.005748,dt = 0.031124, a_f = 6.505298, v_f = 0.285909 dt = 0.031124, not at end yet tc id = 162, canon_type = 2, mot type = 1 secondary movement = 0.000075 time: 6.712000 primary movement = 2.431536054142e-04 time: 6.712000000001e+00 total movement = 3.182473554142e-04 vel = 3.182473554142e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.218122, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.218122, acc = -16.687500,T = 0.013249, P = 0.011824 on final decel tc id = 162, canon_type = 2, mot type = 1 tc state : vr = 0.100125, vf = 0.100125, maxvel = 9.917132, current_vel = 0.100125, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.100125, acc = 16.687500,T = 0.005956, P = 0.000300 initial results: dx= 0.005656,dt = 0.029303, a_f = 6.340069, v_f = 0.285909 dt = 0.029303, not at end yet tc id = 162, canon_type = 2, mot type = 1 secondary movement = 0.000092 time: 6.713000 primary movement = 2.264661054142e-04 time: 6.713000000001e+00 total movement = 3.182473554142e-04 vel = 3.182473554142e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.201435, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.201435, acc = -16.687500,T = 0.013249, P = 0.012033 on final decel tc id = 162, canon_type = 2, mot type = 1 tc state : vr = 0.116812, vf = 0.116812, maxvel = 9.917132, current_vel = 0.116812, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.116812, acc = 16.687500,T = 0.005956, P = 0.000409 initial results: dx= 0.005548,dt = 0.027550, a_f = 6.137750, v_f = 0.285909 dt = 0.027550, not at end yet tc id = 162, canon_type = 2, mot type = 1 secondary movement = 0.000108 time: 6.714000 primary movement = 2.097786054142e-04 time: 6.714000000001e+00 total movement = 3.182473554142e-04 vel = 3.182473554142e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.184747, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.184747, acc = -16.687500,T = 0.013249, P = 0.012226 on final decel tc id = 162, canon_type = 2, mot type = 1 tc state : vr = 0.133500, vf = 0.133500, maxvel = 9.917132, current_vel = 0.133500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.133500, acc = 16.687500,T = 0.005956, P = 0.000534 initial results: dx= 0.005422,dt = 0.025857, a_f = 5.894247, v_f = 0.285909 dt = 0.025857, not at end yet tc id = 162, canon_type = 2, mot type = 1 secondary movement = 0.000125 time: 6.715000 primary movement = 1.930911054142e-04 time: 6.715000000001e+00 total movement = 3.182473554142e-04 vel = 3.182473554142e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.168060, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.168060, acc = -16.687500,T = 0.013249, P = 0.012403 on final decel tc id = 162, canon_type = 2, mot type = 1 tc state : vr = 0.150187, vf = 0.150187, maxvel = 9.917132, current_vel = 0.150187, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.150187, acc = 16.687500,T = 0.005956, P = 0.000676 initial results: dx= 0.005281,dt = 0.024217, a_f = 5.604322, v_f = 0.285909 dt = 0.024217, not at end yet tc id = 162, canon_type = 2, mot type = 1 secondary movement = 0.000142 time: 6.716000 primary movement = 1.764036054142e-04 time: 6.716000000001e+00 total movement = 3.182473554142e-04 vel = 3.182473554142e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.151372, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.151372, acc = -16.687500,T = 0.013249, P = 0.012563 on final decel tc id = 162, canon_type = 2, mot type = 1 tc state : vr = 0.166875, vf = 0.166875, maxvel = 9.917132, current_vel = 0.166875, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.166875, acc = 16.687500,T = 0.005956, P = 0.000834 initial results: dx= 0.005122,dt = 0.022625, a_f = 5.261287, v_f = 0.285909 dt = 0.022625, not at end yet tc id = 163, canon_type = 2, mot type = 1 secondary movement = 0.000159 time: 6.717000 primary movement = 1.597161054142e-04 time: 6.717000000001e+00 total movement = 3.182473554142e-04 vel = 3.182473554142e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.134685, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.134685, acc = -16.687500,T = 0.013249, P = 0.012706 on final decel tc id = 162, canon_type = 2, mot type = 1 tc state : vr = 0.183562, vf = 0.183562, maxvel = 9.917132, current_vel = 0.183562, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.183562, acc = 16.687500,T = 0.005956, P = 0.001010 initial results: dx= 0.004947,dt = 0.021074, a_f = 4.856562, v_f = 0.285909 dt = 0.021074, not at end yet tc id = 163, canon_type = 2, mot type = 1 secondary movement = 0.000175 time: 6.718000 primary movement = 1.430286054142e-04 time: 6.718000000001e+00 total movement = 3.182473554142e-04 vel = 3.182473554142e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.117997, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.117997, acc = -16.687500,T = 0.013249, P = 0.012832 on final decel tc id = 162, canon_type = 2, mot type = 1 tc state : vr = 0.200250, vf = 0.200250, maxvel = 9.917132, current_vel = 0.200250, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.200250, acc = 16.687500,T = 0.005956, P = 0.001201 initial results: dx= 0.004755,dt = 0.019561, a_f = 4.379067, v_f = 0.285909 dt = 0.019561, not at end yet tc id = 163, canon_type = 2, mot type = 1 secondary movement = 0.000192 time: 6.719000 primary movement = 1.263411054142e-04 time: 6.719000000001e+00 total movement = 3.182473554142e-04 vel = 3.182473554142e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.101310, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.101310, acc = -16.687500,T = 0.013249, P = 0.012942 on final decel tc id = 162, canon_type = 2, mot type = 1 tc state : vr = 0.216937, vf = 0.216937, maxvel = 9.917132, current_vel = 0.216937, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.216937, acc = 16.687500,T = 0.005956, P = 0.001410 initial results: dx= 0.004546,dt = 0.018082, a_f = 3.814329, v_f = 0.285909 dt = 0.018082, not at end yet tc id = 163, canon_type = 2, mot type = 1 secondary movement = 0.000209 time: 6.720000 primary movement = 1.096536054142e-04 time: 6.720000000001e+00 total movement = 3.182473554142e-04 vel = 3.182473554142e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.084622, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.084622, acc = -16.687500,T = 0.013249, P = 0.013035 on final decel tc id = 162, canon_type = 2, mot type = 1 tc state : vr = 0.233625, vf = 0.233625, maxvel = 9.917132, current_vel = 0.233625, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.233625, acc = 16.687500,T = 0.005956, P = 0.001635 initial results: dx= 0.004321,dt = 0.016634, a_f = 3.143170, v_f = 0.285909 dt = 0.016634, not at end yet tc id = 163, canon_type = 2, mot type = 1 secondary movement = 0.000225 time: 6.721000 primary movement = 9.296610541421e-05 time: 6.721000000001e+00 total movement = 3.182473554142e-04 vel = 3.182473554142e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.067935, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.067935, acc = -16.687500,T = 0.013249, P = 0.013111 on final decel tc id = 162, canon_type = 2, mot type = 1 tc state : vr = 0.250312, vf = 0.250312, maxvel = 9.917132, current_vel = 0.250312, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.250312, acc = 16.687500,T = 0.005956, P = 0.001877 initial results: dx= 0.004079,dt = 0.015214, a_f = 2.339719, v_f = 0.285909 dt = 0.015214, not at end yet tc id = 163, canon_type = 2, mot type = 1 secondary movement = 0.000242 time: 6.722000 primary movement = 7.627860541422e-05 time: 6.722000000001e+00 total movement = 3.182473554142e-04 vel = 3.182473554142e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.051247, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.051247, acc = -16.687500,T = 0.013249, P = 0.013170 on final decel tc id = 162, canon_type = 2, mot type = 1 tc state : vr = 0.267000, vf = 0.267000, maxvel = 9.917132, current_vel = 0.267000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.267000, acc = 16.687500,T = 0.005956, P = 0.002136 initial results: dx= 0.003820,dt = 0.013819, a_f = 1.368312, v_f = 0.285909 dt = 0.013819, not at end yet tc id = 163, canon_type = 2, mot type = 1 secondary movement = 0.000259 time: 6.723000 primary movement = 5.959110541423e-05 time: 6.723000000001e+00 total movement = 3.182473554142e-04 vel = 3.182473554142e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.034560, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.034560, acc = -16.687500,T = 0.013249, P = 0.013213 on final decel tc id = 162, canon_type = 2, mot type = 1 tc state : vr = 0.283687, vf = 0.283687, maxvel = 9.917132, current_vel = 0.283687, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.283687, acc = 16.687500,T = 0.005956, P = 0.002411 initial results: dx= 0.003545,dt = 0.012448, a_f = 0.178468, v_f = 0.285909 dt = 0.012448, not at end yet tc id = 163, canon_type = 2, mot type = 1 secondary movement = 0.000275 time: 6.724000 primary movement = 4.290360541422e-05 time: 6.724000000001e+00 total movement = 3.182473554142e-04 vel = 3.182473554142e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.017872, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.017872, acc = -16.687500,T = 0.013249, P = 0.013240 on final decel tc id = 162, canon_type = 2, mot type = 1 tc state : vr = 0.300375, vf = 0.285909, maxvel = 9.917132, current_vel = 0.300375, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.300375, acc = 16.687500,T = 0.005956, P = 0.002703 initial results: dx= 0.003253,dt = 0.011097, a_f = -1.303593, v_f = 0.285909 dt = 0.011097, not at end yet tc id = 163, canon_type = 2, mot type = 1 secondary movement = 0.000292 time: 6.725000 primary movement = 2.621610541422e-05 time: 6.725000000001e+00 total movement = 3.182473554142e-04 vel = 3.182473554142e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.001185, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.001185, acc = -16.687500,T = 0.013249, P = 0.013249 on final decel tc id = 162, canon_type = 2, mot type = 1 tc state : vr = 0.317062, vf = 0.285909, maxvel = 9.917132, current_vel = 0.317062, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.317062, acc = 16.687500,T = 0.005956, P = 0.003012 initial results: dx= 0.002944,dt = 0.009766, a_f = -3.190022, v_f = 0.285909 dt = 0.009766, not at end yet tc id = 163, canon_type = 2, mot type = 1 secondary movement = 0.000309 time: 6.726000 primary movement = 9.528605414213e-06 time: 6.726000000001e+00 total movement = 3.182473554142e-04 vel = 3.182473554142e-01 ------------------- Found newvel = -0.001185, assuming segment is done segment 162 at target in runcycle tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.013249, P = 0.013249 tc id = 162, canon_type = 2, mot type = 1 tc state : vr = 0.318247, vf = 0.285909, maxvel = 9.917132, current_vel = 0.318247, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.318247, acc = 1.184855,T = 0.005956, P = 0.003330 initial results: dx= 0.002627,dt = 0.008695, a_f = -3.719103, v_f = 0.285909 dt = 0.008695, not at end yet tc id = 163, canon_type = 2, mot type = 1 secondary movement = 0.000318 time: 6.727000 primary movement = 4.206389073107e-08 time: 6.727000000001e+00 total movement = 3.176969915978e-04 vel = 3.182473554142e-01 Finished tc id 162 ------------------- tc state : vr = 2.836372, vf = 0.285909, maxvel = 9.917132, current_vel = 0.336098, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.336098, acc = 17.850839,T = 0.005956, P = 0.003657 initial results: dx= 0.002299,dt = 0.007394, a_f = -6.788128, v_f = 0.285909 dt = 0.007394, not at end yet tc id = 163, canon_type = 2, mot type = 1 time: 6.728000 primary movement = 3.271727748073e-04 time: 6.728000000001e+00 total movement = 3.271727748073e-04 vel = 3.360981942004e-01 ------------------- tc state : vr = 2.836372, vf = 0.285909, maxvel = 9.917132, current_vel = 0.353949, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.353949, acc = 17.850839,T = 0.005956, P = 0.004002 initial results: dx= 0.001954,dt = 0.006109, a_f = -11.137734, v_f = 0.285909 dt = 0.006109, not at end yet tc id = 163, canon_type = 2, mot type = 1 time: 6.729000 primary movement = 3.450236135935e-04 time: 6.729000000001e+00 total movement = 3.450236135935e-04 vel = 3.539490329865e-01 ------------------- tc state : vr = 2.836372, vf = 0.285909, maxvel = 9.917132, current_vel = 0.371800, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.371800, acc = 17.850839,T = 0.005956, P = 0.004365 initial results: dx= 0.001592,dt = 0.004840, a_f = -17.747101, v_f = 0.285909 dt = 0.004840, not at end yet tc id = 163, canon_type = 2, mot type = 1 time: 6.730000 primary movement = 3.628744523796e-04 time: 6.730000000001e+00 total movement = 3.628744523796e-04 vel = 3.717998717727e-01 ------------------- tc state : vr = 2.836372, vf = 0.285909, maxvel = 9.917132, current_vel = 0.354404, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.354404, acc = -17.396133,T = 0.005956, P = 0.004728 on final decel initial results: dx= 0.001228,dt = 0.003837, a_f = -17.850839, v_f = 0.285909 dt = 0.003837, not at end yet tc id = 163, canon_type = 2, mot type = 1 time: 6.731000 primary movement = 3.631018053217e-04 time: 6.731000000001e+00 total movement = 3.631018053217e-04 vel = 3.544037388707e-01 ------------------- tc state : vr = 2.836372, vf = 0.285909, maxvel = 9.917132, current_vel = 0.336553, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.336553, acc = -17.850839,T = 0.005956, P = 0.005073 on final decel initial results: dx= 0.000883,dt = 0.002837, a_f = -17.850839, v_f = 0.285909 dt = 0.002837, not at end yet tc id = 163, canon_type = 2, mot type = 1 time: 6.732000 primary movement = 3.454783194776e-04 time: 6.732000000001e+00 total movement = 3.454783194776e-04 vel = 3.365529000845e-01 ------------------- tc state : vr = 2.836372, vf = 0.285909, maxvel = 9.917132, current_vel = 0.318702, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.318702, acc = -17.850839,T = 0.005956, P = 0.005401 on final decel initial results: dx= 0.000555,dt = 0.001837, a_f = -17.850839, v_f = 0.285909 dt = 0.001837, not at end yet tc id = 163, canon_type = 2, mot type = 1 time: 6.733000 primary movement = 3.276274806914e-04 time: 6.733000000001e+00 total movement = 3.276274806914e-04 vel = 3.187020612983e-01 ------------------- tc state : vr = 2.836372, vf = 0.285909, maxvel = 9.917132, current_vel = 0.300851, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.300851, acc = -17.850839,T = 0.005956, P = 0.005711 on final decel initial results: dx= 0.000246,dt = 0.000837, a_f = -17.850839, v_f = 0.285909 actual v_f = 0.285909, a = -17.850839 split time is 0.000837061 tc id = 163, canon_type = 2, mot type = 1 time: 6.734000 primary movement = 3.097766419053e-04 time: 6.734000000001e+00 total movement = 3.097766419053e-04 vel = 3.008512225122e-01 ------------------- tc id 163 done Finishing split-cycle on id 164 tc state : vr = 0.285909, vf = 0.285909, maxvel = 0.285909, current_vel = 0.285909, fs = 1.000000, tc = 0.000163, term = 3 tc result: v = 0.285909, acc = 0.000000,T = 0.002671, P = 0.000047 initial results: dx= 0.002624,dt = 0.009179, a_f = 0.000000, v_f = 0.285909 dt = 0.009179, not at end yet secondary movement = 0.000047 tc id = 164, canon_type = 3, mot type = 2 time: 6.735000 primary movement = 2.455769624093e-04 time: 6.735000000001e+00 total movement = 2.921623403943e-04 vel = 2.859089864904e-01 Finished tc id 163 ------------------- Activate tc id = 164 target_vel = 0.285909 final_vel = 0.285909 length = 0.002671 tc state : vr = 0.285909, vf = 0.285909, maxvel = 0.285909, current_vel = 0.285909, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.285909, acc = 0.000000,T = 0.002671, P = 0.000332 initial results: dx= 0.002339,dt = 0.008179, a_f = 0.000000, v_f = 0.285909 dt = 0.008179, not at end yet tc id = 164, canon_type = 3, mot type = 2 time: 6.736000 primary movement = 2.858106261784e-04 time: 6.736000000001e+00 total movement = 2.858106261784e-04 vel = 2.859089864904e-01 ------------------- tc state : vr = 0.285909, vf = 0.285909, maxvel = 0.285909, current_vel = 0.285909, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.285909, acc = 0.000000,T = 0.002671, P = 0.000618 initial results: dx= 0.002053,dt = 0.007179, a_f = 0.000000, v_f = 0.285909 dt = 0.007179, not at end yet tc id = 164, canon_type = 3, mot type = 2 time: 6.737000 primary movement = 2.858106261783e-04 time: 6.737000000001e+00 total movement = 2.858106261783e-04 vel = 2.859089864904e-01 ------------------- tc state : vr = 0.285909, vf = 0.285909, maxvel = 0.285909, current_vel = 0.285909, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.285909, acc = 0.000000,T = 0.002671, P = 0.000904 initial results: dx= 0.001767,dt = 0.006179, a_f = 0.000000, v_f = 0.285909 dt = 0.006179, not at end yet tc id = 164, canon_type = 3, mot type = 2 time: 6.738000 primary movement = 2.858106261784e-04 time: 6.738000000001e+00 total movement = 2.858106261784e-04 vel = 2.859089864904e-01 ------------------- tc state : vr = 0.285909, vf = 0.285909, maxvel = 0.285909, current_vel = 0.285909, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.285909, acc = 0.000000,T = 0.002671, P = 0.001190 initial results: dx= 0.001481,dt = 0.005179, a_f = 0.000000, v_f = 0.285909 dt = 0.005179, not at end yet tc id = 164, canon_type = 3, mot type = 2 time: 6.739000 primary movement = 2.858106261783e-04 time: 6.739000000001e+00 total movement = 2.858106261783e-04 vel = 2.859089864904e-01 ------------------- tc state : vr = 0.285909, vf = 0.285909, maxvel = 0.285909, current_vel = 0.285909, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.285909, acc = 0.000000,T = 0.002671, P = 0.001476 initial results: dx= 0.001195,dt = 0.004179, a_f = 0.000000, v_f = 0.285909 dt = 0.004179, not at end yet tc id = 164, canon_type = 3, mot type = 2 time: 6.740000 primary movement = 2.858106261784e-04 time: 6.740000000001e+00 total movement = 2.858106261784e-04 vel = 2.859089864904e-01 ------------------- tc state : vr = 0.285909, vf = 0.285909, maxvel = 0.285909, current_vel = 0.285909, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.285909, acc = 0.000000,T = 0.002671, P = 0.001762 initial results: dx= 0.000909,dt = 0.003179, a_f = 0.000000, v_f = 0.285909 dt = 0.003179, not at end yet tc id = 164, canon_type = 3, mot type = 2 time: 6.741000 primary movement = 2.858106261783e-04 time: 6.741000000001e+00 total movement = 2.858106261783e-04 vel = 2.859089864904e-01 ------------------- tc state : vr = 0.285909, vf = 0.285909, maxvel = 0.285909, current_vel = 0.285909, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.285909, acc = 0.000000,T = 0.002671, P = 0.002048 initial results: dx= 0.000623,dt = 0.002179, a_f = 0.000000, v_f = 0.285909 dt = 0.002179, not at end yet tc id = 164, canon_type = 3, mot type = 2 time: 6.742000 primary movement = 2.858106261784e-04 time: 6.742000000001e+00 total movement = 2.858106261784e-04 vel = 2.859089864904e-01 ------------------- tc state : vr = 0.285909, vf = 0.285909, maxvel = 0.285909, current_vel = 0.285909, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.285909, acc = 0.000000,T = 0.002671, P = 0.002334 initial results: dx= 0.000337,dt = 0.001179, a_f = 0.000000, v_f = 0.285909 dt = 0.001179, not at end yet tc id = 164, canon_type = 3, mot type = 2 time: 6.743000 primary movement = 2.858106261784e-04 time: 6.743000000001e+00 total movement = 2.858106261784e-04 vel = 2.859089864904e-01 ------------------- tc state : vr = 0.285909, vf = 0.285909, maxvel = 0.285909, current_vel = 0.285909, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.285909, acc = 0.000000,T = 0.002671, P = 0.002620 initial results: dx= 0.000051,dt = 0.000179, a_f = 0.000000, v_f = 0.285909 actual v_f = 0.285909, a = 0.000000 split time is 0.000179344 tc id = 164, canon_type = 3, mot type = 2 time: 6.744000 primary movement = 2.858106261783e-04 time: 6.744000000001e+00 total movement = 2.858106261783e-04 vel = 2.859089864904e-01 ------------------- tc id 164 done Finishing split-cycle on id 164 tc state : vr = 0.383046, vf = 0.383046, maxvel = 8.426528, current_vel = 0.310804, fs = 1.000000, tc = 0.000821, term = 3 tc result: v = 0.310804, acc = 30.335623,T = 0.001071, P = 0.000245 initial results: dx= 0.000826,dt = 0.002381, a_f = 30.335623, v_f = 0.383046 dt = 0.002381, not at end yet secondary movement = 0.000245 tc id = 164, canon_type = 2, mot type = 1 time: 6.745000 primary movement = 5.127552833112e-05 time: 6.745000000001e+00 total movement = 2.961235770314e-04 vel = 3.108040935497e-01 Finished tc id 164 ------------------- Activate tc id = 164 target_vel = 0.383046 final_vel = 0.383046 length = 0.001071 tc state : vr = 0.383046, vf = 0.383046, maxvel = 8.426528, current_vel = 0.341140, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.341140, acc = 30.335623,T = 0.001071, P = 0.000571 initial results: dx= 0.000500,dt = 0.001381, a_f = 30.335623, v_f = 0.383046 dt = 0.001381, not at end yet tc id = 164, canon_type = 2, mot type = 1 time: 6.746000 primary movement = 3.259719048618e-04 time: 6.746000000001e+00 total movement = 3.259719048618e-04 vel = 3.411397161739e-01 ------------------- tc state : vr = 0.383046, vf = 0.383046, maxvel = 8.426528, current_vel = 0.371475, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.371475, acc = 30.335623,T = 0.001071, P = 0.000927 initial results: dx= 0.000144,dt = 0.000381, a_f = 30.335623, v_f = 0.383046 actual v_f = 0.383046, a = 30.335623 split time is 0.000381414 tc id = 164, canon_type = 2, mot type = 1 time: 6.747000 primary movement = 3.563075274860e-04 time: 6.747000000001e+00 total movement = 3.563075274860e-04 vel = 3.714753387982e-01 ------------------- tc id 164 done Finishing split-cycle on id 165 tc state : vr = 0.396675, vf = 0.396675, maxvel = 0.510009, current_vel = 0.392325, fs = 1.000000, tc = 0.000619, term = 3 tc result: v = 0.392325, acc = 15.000000,T = 0.003079, P = 0.000240 initial results: dx= 0.002839,dt = 0.007197, a_f = 0.604457, v_f = 0.396675 dt = 0.007197, not at end yet secondary movement = 0.000240 tc id = 165, canon_type = 3, mot type = 2 time: 6.748000 primary movement = 1.438923453132e-04 time: 6.748000000001e+00 total movement = 3.837033363405e-04 vel = 3.923245554907e-01 Finished tc id 164 ------------------- Activate tc id = 165 target_vel = 0.396675 final_vel = 0.396675 length = 0.003079 tc state : vr = 0.396675, vf = 0.396675, maxvel = 0.510009, current_vel = 0.396675, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.396675, acc = 4.350273,T = 0.003079, P = 0.000634 initial results: dx= 0.002445,dt = 0.006163, a_f = 0.000000, v_f = 0.396675 dt = 0.006163, not at end yet tc id = 165, canon_type = 3, mot type = 2 time: 6.749000 primary movement = 3.944741702720e-04 time: 6.749000000001e+00 total movement = 3.944741702720e-04 vel = 3.966748286466e-01 ------------------- tc state : vr = 0.396675, vf = 0.396675, maxvel = 0.510009, current_vel = 0.396675, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.396675, acc = 0.000000,T = 0.003079, P = 0.001031 initial results: dx= 0.002048,dt = 0.005163, a_f = 0.000000, v_f = 0.396675 dt = 0.005163, not at end yet tc id = 165, canon_type = 3, mot type = 2 time: 6.750000 primary movement = 3.966488823681e-04 time: 6.750000000001e+00 total movement = 3.966488823681e-04 vel = 3.966748286466e-01 ------------------- tc state : vr = 0.396675, vf = 0.396675, maxvel = 0.510009, current_vel = 0.396675, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.396675, acc = 0.000000,T = 0.003079, P = 0.001428 initial results: dx= 0.001651,dt = 0.004163, a_f = 0.000000, v_f = 0.396675 dt = 0.004163, not at end yet tc id = 165, canon_type = 3, mot type = 2 time: 6.751000 primary movement = 3.966488823681e-04 time: 6.751000000001e+00 total movement = 3.966488823681e-04 vel = 3.966748286466e-01 ------------------- tc state : vr = 0.396675, vf = 0.396675, maxvel = 0.510009, current_vel = 0.396675, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.396675, acc = 0.000000,T = 0.003079, P = 0.001824 initial results: dx= 0.001255,dt = 0.003163, a_f = 0.000000, v_f = 0.396675 dt = 0.003163, not at end yet tc id = 165, canon_type = 3, mot type = 2 time: 6.752000 primary movement = 3.966488823681e-04 time: 6.752000000001e+00 total movement = 3.966488823681e-04 vel = 3.966748286466e-01 ------------------- tc state : vr = 0.396675, vf = 0.396675, maxvel = 0.510009, current_vel = 0.396675, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.396675, acc = 0.000000,T = 0.003079, P = 0.002221 initial results: dx= 0.000858,dt = 0.002163, a_f = 0.000000, v_f = 0.396675 dt = 0.002163, not at end yet tc id = 165, canon_type = 3, mot type = 2 time: 6.753000 primary movement = 3.966488823681e-04 time: 6.753000000001e+00 total movement = 3.966488823681e-04 vel = 3.966748286466e-01 ------------------- tc state : vr = 0.396675, vf = 0.396675, maxvel = 0.510009, current_vel = 0.396675, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.396675, acc = 0.000000,T = 0.003079, P = 0.002618 initial results: dx= 0.000461,dt = 0.001163, a_f = 0.000000, v_f = 0.396675 dt = 0.001163, not at end yet tc id = 165, canon_type = 3, mot type = 2 time: 6.754000 primary movement = 3.966488823681e-04 time: 6.754000000001e+00 total movement = 3.966488823681e-04 vel = 3.966748286466e-01 ------------------- tc state : vr = 0.396675, vf = 0.396675, maxvel = 0.510009, current_vel = 0.396675, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.396675, acc = 0.000000,T = 0.003079, P = 0.003014 initial results: dx= 0.000065,dt = 0.000163, a_f = 0.000000, v_f = 0.396675 actual v_f = 0.396675, a = 0.000000 split time is 0.000163009 tc id = 165, canon_type = 3, mot type = 2 time: 6.755000 primary movement = 3.966488823682e-04 time: 6.755000000001e+00 total movement = 3.966488823682e-04 vel = 3.966748286466e-01 ------------------- tc id 165 done Finishing split-cycle on id 165 tc state : vr = 2.585796, vf = 0.427392, maxvel = 8.439292, current_vel = 0.422104, fs = 1.000000, tc = 0.000837, term = 3 tc result: v = 0.422104, acc = 30.381573,T = 0.005430, P = 0.000343 initial results: dx= 0.005088,dt = 0.011978, a_f = 0.441484, v_f = 0.427392 dt = 0.011978, not at end yet secondary movement = 0.000343 tc id = 165, canon_type = 2, mot type = 1 time: 6.756000 primary movement = 6.466160355564e-05 time: 6.756000000001e+00 total movement = 4.073166720907e-04 vel = 4.221039207203e-01 Finished tc id 165 ------------------- Activate tc id = 165 target_vel = 2.585796 final_vel = 0.427392 length = 0.005430 tc state : vr = 2.585796, vf = 0.427392, maxvel = 8.439292, current_vel = 0.452485, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.452485, acc = 30.381573,T = 0.005430, P = 0.000780 initial results: dx= 0.004650,dt = 0.010570, a_f = -2.374004, v_f = 0.427392 dt = 0.010570, not at end yet tc id = 165, canon_type = 2, mot type = 1 time: 6.757000 primary movement = 4.372947074018e-04 time: 6.757000000001e+00 total movement = 4.372947074018e-04 vel = 4.524854940831e-01 ------------------- tc state : vr = 2.585796, vf = 0.427392, maxvel = 8.439292, current_vel = 0.482867, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.482867, acc = 30.381573,T = 0.005430, P = 0.001248 initial results: dx= 0.004183,dt = 0.009190, a_f = -6.036608, v_f = 0.427392 dt = 0.009190, not at end yet tc id = 165, canon_type = 2, mot type = 1 time: 6.758000 primary movement = 4.676762807645e-04 time: 6.758000000001e+00 total movement = 4.676762807645e-04 vel = 4.828670674460e-01 ------------------- tc state : vr = 2.585796, vf = 0.427392, maxvel = 8.439292, current_vel = 0.513249, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.513249, acc = 30.381573,T = 0.005430, P = 0.001746 initial results: dx= 0.003684,dt = 0.007834, a_f = -10.959507, v_f = 0.427392 dt = 0.007834, not at end yet tc id = 165, canon_type = 2, mot type = 1 time: 6.759000 primary movement = 4.980578541274e-04 time: 6.759000000001e+00 total movement = 4.980578541274e-04 vel = 5.132486408088e-01 ------------------- tc state : vr = 2.585796, vf = 0.427392, maxvel = 8.439292, current_vel = 0.543630, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.543630, acc = 30.381573,T = 0.005430, P = 0.002274 initial results: dx= 0.003156,dt = 0.006500, a_f = -17.881536, v_f = 0.427392 dt = 0.006500, not at end yet tc id = 165, canon_type = 2, mot type = 1 time: 6.760000 primary movement = 5.284394274902e-04 time: 6.760000000001e+00 total movement = 5.284394274902e-04 vel = 5.436302141716e-01 ------------------- tc state : vr = 2.585796, vf = 0.427392, maxvel = 8.439292, current_vel = 0.574012, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.574012, acc = 30.381573,T = 0.005430, P = 0.002833 initial results: dx= 0.002597,dt = 0.005187, a_f = -28.265857, v_f = 0.427392 dt = 0.005187, not at end yet tc id = 165, canon_type = 2, mot type = 1 time: 6.761000 primary movement = 5.588210008530e-04 time: 6.761000000001e+00 total movement = 5.588210008530e-04 vel = 5.740117875344e-01 ------------------- tc state : vr = 2.585796, vf = 0.427392, maxvel = 8.439292, current_vel = 0.553378, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.553378, acc = -20.633405,T = 0.005430, P = 0.003397 on final decel initial results: dx= 0.002034,dt = 0.004147, a_f = -30.381573, v_f = 0.427392 dt = 0.004147, not at end yet tc id = 165, canon_type = 2, mot type = 1 time: 6.762000 primary movement = 5.636950850775e-04 time: 6.762000000001e+00 total movement = 5.636950850775e-04 vel = 5.533783826206e-01 ------------------- tc state : vr = 2.585796, vf = 0.427392, maxvel = 8.439292, current_vel = 0.522997, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.522997, acc = -30.381573,T = 0.005430, P = 0.003935 on final decel initial results: dx= 0.001495,dt = 0.003147, a_f = -30.381573, v_f = 0.427392 dt = 0.003147, not at end yet tc id = 165, canon_type = 2, mot type = 1 time: 6.763000 primary movement = 5.381875959392e-04 time: 6.763000000001e+00 total movement = 5.381875959392e-04 vel = 5.229968092578e-01 ------------------- tc state : vr = 2.585796, vf = 0.427392, maxvel = 8.439292, current_vel = 0.492615, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.492615, acc = -30.381573,T = 0.005430, P = 0.004443 on final decel initial results: dx= 0.000988,dt = 0.002147, a_f = -30.381573, v_f = 0.427392 dt = 0.002147, not at end yet tc id = 165, canon_type = 2, mot type = 1 time: 6.764000 primary movement = 5.078060225764e-04 time: 6.764000000001e+00 total movement = 5.078060225764e-04 vel = 4.926152358950e-01 ------------------- tc state : vr = 2.585796, vf = 0.427392, maxvel = 8.439292, current_vel = 0.462234, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.462234, acc = -30.381573,T = 0.005430, P = 0.004920 on final decel initial results: dx= 0.000510,dt = 0.001147, a_f = -30.381573, v_f = 0.427392 recalculating with a_f = -30.381573, a = -30.381573 revised dt = 0.001147 dt = 0.001147, not at end yet tc id = 165, canon_type = 2, mot type = 1 time: 6.765000 primary movement = 4.774244492136e-04 time: 6.765000000001e+00 total movement = 4.774244492136e-04 vel = 4.622336625322e-01 ------------------- tc state : vr = 2.585796, vf = 0.427392, maxvel = 8.439292, current_vel = 0.431852, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.431852, acc = -30.381573,T = 0.005430, P = 0.005367 on final decel initial results: dx= 0.000063,dt = 0.000147, a_f = -30.381573, v_f = 0.427392 recalculating with a_f = -30.381573, a = -30.381573 revised dt = 0.000147 actual v_f = 0.427392, a = -30.381573 split time is 0.000146806 tc id = 165, canon_type = 2, mot type = 1 time: 6.766000 primary movement = 4.470428758507e-04 time: 6.766000000001e+00 total movement = 4.470428758507e-04 vel = 4.318520891694e-01 ------------------- tc id 165 done Finishing split-cycle on id 166 tc state : vr = 0.505799, vf = 0.000000, maxvel = 0.505799, current_vel = 0.414594, fs = 1.000000, tc = 0.000853, term = 3 tc result: v = 0.414594, acc = -15.000000,T = 0.006089, P = 0.000359 on final decel initial results: dx= 0.005730,dt = 0.027640, a_f = -15.000000, v_f = 0.000000 dt = 0.027640, not at end yet secondary movement = 0.000359 tc id = 166, canon_type = 3, mot type = 2 time: 6.767000 primary movement = 6.307100472194e-05 time: 6.767000000001e+00 total movement = 4.222398230388e-04 vel = 4.145939848334e-01 Finished tc id 165 ------------------- Activate tc id = 166 target_vel = 0.505799 final_vel = 0.000000 length = 0.006089 tc state : vr = 0.505799, vf = 0.000000, maxvel = 0.505799, current_vel = 0.399594, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.399594, acc = -15.000000,T = 0.006089, P = 0.000766 on final decel initial results: dx= 0.005323,dt = 0.026640, a_f = -15.000000, v_f = 0.000000 dt = 0.026640, not at end yet tc id = 166, canon_type = 3, mot type = 2 time: 6.768000 primary movement = 4.070649943657e-04 time: 6.768000000001e+00 total movement = 4.070649943657e-04 vel = 3.995939848334e-01 ------------------- tc state : vr = 0.505799, vf = 0.000000, maxvel = 0.505799, current_vel = 0.384594, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.384594, acc = -15.000000,T = 0.006089, P = 0.001158 on final decel initial results: dx= 0.004930,dt = 0.025640, a_f = -15.000000, v_f = 0.000000 dt = 0.025640, not at end yet tc id = 166, canon_type = 3, mot type = 2 time: 6.769000 primary movement = 3.920680822920e-04 time: 6.769000000001e+00 total movement = 3.920680822920e-04 vel = 3.845939848334e-01 ------------------- tc state : vr = 0.505799, vf = 0.000000, maxvel = 0.505799, current_vel = 0.369594, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.369594, acc = -15.000000,T = 0.006089, P = 0.001535 on final decel initial results: dx= 0.004553,dt = 0.024640, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.024640 dt = 0.024640, not at end yet tc id = 166, canon_type = 3, mot type = 2 time: 6.770000 primary movement = 3.770709427737e-04 time: 6.770000000001e+00 total movement = 3.770709427737e-04 vel = 3.695939848334e-01 ------------------- tc state : vr = 0.505799, vf = 0.000000, maxvel = 0.505799, current_vel = 0.354594, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.354594, acc = -15.000000,T = 0.006089, P = 0.001898 on final decel initial results: dx= 0.004191,dt = 0.023640, a_f = -15.000000, v_f = 0.000000 dt = 0.023640, not at end yet tc id = 166, canon_type = 3, mot type = 2 time: 6.771000 primary movement = 3.620735845108e-04 time: 6.771000000001e+00 total movement = 3.620735845108e-04 vel = 3.545939848334e-01 ------------------- tc state : vr = 0.505799, vf = 0.000000, maxvel = 0.505799, current_vel = 0.339594, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.339594, acc = -15.000000,T = 0.006089, P = 0.002245 on final decel initial results: dx= 0.003844,dt = 0.022640, a_f = -15.000000, v_f = 0.000000 dt = 0.022640, not at end yet tc id = 166, canon_type = 3, mot type = 2 time: 6.772000 primary movement = 3.470760162036e-04 time: 6.772000000001e+00 total movement = 3.470760162036e-04 vel = 3.395939848334e-01 ------------------- tc state : vr = 0.505799, vf = 0.000000, maxvel = 0.505799, current_vel = 0.324594, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.324594, acc = -15.000000,T = 0.006089, P = 0.002577 on final decel initial results: dx= 0.003512,dt = 0.021640, a_f = -15.000000, v_f = 0.000000 dt = 0.021640, not at end yet tc id = 166, canon_type = 3, mot type = 2 time: 6.773000 primary movement = 3.320782465523e-04 time: 6.773000000001e+00 total movement = 3.320782465523e-04 vel = 3.245939848334e-01 ------------------- tc state : vr = 0.505799, vf = 0.000000, maxvel = 0.505799, current_vel = 0.309594, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.309594, acc = -15.000000,T = 0.006089, P = 0.002894 on final decel initial results: dx= 0.003195,dt = 0.020640, a_f = -15.000000, v_f = 0.000000 dt = 0.020640, not at end yet tc id = 166, canon_type = 3, mot type = 2 time: 6.774000 primary movement = 3.170802842574e-04 time: 6.774000000001e+00 total movement = 3.170802842574e-04 vel = 3.095939848334e-01 ------------------- tc state : vr = 0.505799, vf = 0.000000, maxvel = 0.505799, current_vel = 0.294594, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.294594, acc = -15.000000,T = 0.006089, P = 0.003196 on final decel initial results: dx= 0.002893,dt = 0.019640, a_f = -15.000000, v_f = 0.000000 dt = 0.019640, not at end yet tc id = 166, canon_type = 3, mot type = 2 time: 6.775000 primary movement = 3.020821380194e-04 time: 6.775000000001e+00 total movement = 3.020821380194e-04 vel = 2.945939848334e-01 ------------------- tc state : vr = 0.505799, vf = 0.000000, maxvel = 0.505799, current_vel = 0.279594, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.279594, acc = -15.000000,T = 0.006089, P = 0.003483 on final decel initial results: dx= 0.002606,dt = 0.018640, a_f = -15.000000, v_f = 0.000000 dt = 0.018640, not at end yet tc id = 166, canon_type = 3, mot type = 2 time: 6.776000 primary movement = 2.870838165390e-04 time: 6.776000000001e+00 total movement = 2.870838165390e-04 vel = 2.795939848334e-01 ------------------- tc state : vr = 0.505799, vf = 0.000000, maxvel = 0.505799, current_vel = 0.264594, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.264594, acc = -15.000000,T = 0.006089, P = 0.003755 on final decel initial results: dx= 0.002334,dt = 0.017640, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.017640 dt = 0.017640, not at end yet tc id = 166, canon_type = 3, mot type = 2 time: 6.777000 primary movement = 2.720853285170e-04 time: 6.777000000001e+00 total movement = 2.720853285170e-04 vel = 2.645939848334e-01 ------------------- tc state : vr = 0.505799, vf = 0.000000, maxvel = 0.505799, current_vel = 0.249594, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.249594, acc = -15.000000,T = 0.006089, P = 0.004012 on final decel initial results: dx= 0.002077,dt = 0.016640, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.016640 dt = 0.016640, not at end yet tc id = 166, canon_type = 3, mot type = 2 time: 6.778000 primary movement = 2.570866826541e-04 time: 6.778000000001e+00 total movement = 2.570866826541e-04 vel = 2.495939848334e-01 ------------------- tc state : vr = 0.505799, vf = 0.000000, maxvel = 0.505799, current_vel = 0.234594, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.234594, acc = -15.000000,T = 0.006089, P = 0.004254 on final decel initial results: dx= 0.001834,dt = 0.015640, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.015640 dt = 0.015640, not at end yet tc id = 166, canon_type = 3, mot type = 2 time: 6.779000 primary movement = 2.420878876513e-04 time: 6.779000000001e+00 total movement = 2.420878876513e-04 vel = 2.345939848334e-01 ------------------- tc state : vr = 0.505799, vf = 0.000000, maxvel = 0.505799, current_vel = 0.219594, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.219594, acc = -15.000000,T = 0.006089, P = 0.004481 on final decel initial results: dx= 0.001607,dt = 0.014640, a_f = -15.000000, v_f = 0.000000 dt = 0.014640, not at end yet tc id = 166, canon_type = 3, mot type = 2 time: 6.780000 primary movement = 2.270889522098e-04 time: 6.780000000001e+00 total movement = 2.270889522098e-04 vel = 2.195939848334e-01 ------------------- tc state : vr = 0.505799, vf = 0.000000, maxvel = 0.505799, current_vel = 0.204594, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.204594, acc = -15.000000,T = 0.006089, P = 0.004694 on final decel initial results: dx= 0.001395,dt = 0.013640, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.013640 dt = 0.013640, not at end yet tc id = 166, canon_type = 3, mot type = 2 time: 6.781000 primary movement = 2.120898850304e-04 time: 6.781000000001e+00 total movement = 2.120898850304e-04 vel = 2.045939848334e-01 ------------------- tc state : vr = 0.505799, vf = 0.000000, maxvel = 0.505799, current_vel = 0.189594, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.189594, acc = -15.000000,T = 0.006089, P = 0.004891 on final decel initial results: dx= 0.001198,dt = 0.012640, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.012640 dt = 0.012640, not at end yet tc id = 166, canon_type = 3, mot type = 2 time: 6.782000 primary movement = 1.970906948146e-04 time: 6.782000000001e+00 total movement = 1.970906948146e-04 vel = 1.895939848334e-01 ------------------- tc state : vr = 0.505799, vf = 0.000000, maxvel = 0.505799, current_vel = 0.174594, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.174594, acc = -15.000000,T = 0.006089, P = 0.005073 on final decel initial results: dx= 0.001016,dt = 0.011640, a_f = -15.000000, v_f = 0.000000 dt = 0.011640, not at end yet tc id = 166, canon_type = 3, mot type = 2 time: 6.783000 primary movement = 1.820913902634e-04 time: 6.783000000001e+00 total movement = 1.820913902634e-04 vel = 1.745939848334e-01 ------------------- tc state : vr = 0.505799, vf = 0.000000, maxvel = 0.505799, current_vel = 0.159594, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.159594, acc = -15.000000,T = 0.006089, P = 0.005240 on final decel initial results: dx= 0.000849,dt = 0.010640, a_f = -15.000000, v_f = 0.000000 dt = 0.010640, not at end yet tc id = 166, canon_type = 3, mot type = 2 time: 6.784000 primary movement = 1.670919800782e-04 time: 6.784000000001e+00 total movement = 1.670919800782e-04 vel = 1.595939848334e-01 ------------------- tc state : vr = 0.505799, vf = 0.000000, maxvel = 0.505799, current_vel = 0.144594, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.144594, acc = -15.000000,T = 0.006089, P = 0.005392 on final decel initial results: dx= 0.000697,dt = 0.009640, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.009640 dt = 0.009640, not at end yet tc id = 166, canon_type = 3, mot type = 2 time: 6.785000 primary movement = 1.520924729605e-04 time: 6.785000000001e+00 total movement = 1.520924729605e-04 vel = 1.445939848334e-01 ------------------- tc state : vr = 0.505799, vf = 0.000000, maxvel = 0.505799, current_vel = 0.129594, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.129594, acc = -15.000000,T = 0.006089, P = 0.005529 on final decel initial results: dx= 0.000560,dt = 0.008640, a_f = -15.000000, v_f = 0.000000 dt = 0.008640, not at end yet tc id = 166, canon_type = 3, mot type = 2 time: 6.786000 primary movement = 1.370928776116e-04 time: 6.786000000001e+00 total movement = 1.370928776116e-04 vel = 1.295939848334e-01 ------------------- tc state : vr = 0.505799, vf = 0.000000, maxvel = 0.505799, current_vel = 0.114594, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.114594, acc = -15.000000,T = 0.006089, P = 0.005651 on final decel initial results: dx= 0.000438,dt = 0.007640, a_f = -15.000000, v_f = 0.000000 dt = 0.007640, not at end yet tc id = 166, canon_type = 3, mot type = 2 time: 6.787000 primary movement = 1.220932027331e-04 time: 6.787000000001e+00 total movement = 1.220932027331e-04 vel = 1.145939848334e-01 ------------------- tc state : vr = 0.505799, vf = 0.000000, maxvel = 0.505799, current_vel = 0.099594, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.099594, acc = -15.000000,T = 0.006089, P = 0.005758 on final decel initial results: dx= 0.000331,dt = 0.006640, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.006640 dt = 0.006640, not at end yet tc id = 166, canon_type = 3, mot type = 2 time: 6.788000 primary movement = 1.070934570265e-04 time: 6.788000000001e+00 total movement = 1.070934570265e-04 vel = 9.959398483336e-02 ------------------- tc state : vr = 0.505799, vf = 0.000000, maxvel = 0.505799, current_vel = 0.084594, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.084594, acc = -15.000000,T = 0.006089, P = 0.005850 on final decel initial results: dx= 0.000239,dt = 0.005640, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.005640 dt = 0.005640, not at end yet tc id = 166, canon_type = 3, mot type = 2 time: 6.789000 primary movement = 9.209364919329e-05 time: 6.789000000001e+00 total movement = 9.209364919329e-05 vel = 8.459398483336e-02 ------------------- tc state : vr = 0.505799, vf = 0.000000, maxvel = 0.505799, current_vel = 0.069594, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.069594, acc = -15.000000,T = 0.006089, P = 0.005927 on final decel initial results: dx= 0.000161,dt = 0.004640, a_f = -15.000000, v_f = 0.000000 dt = 0.004640, not at end yet tc id = 166, canon_type = 3, mot type = 2 time: 6.790000 primary movement = 7.709378793523e-05 time: 6.790000000001e+00 total movement = 7.709378793523e-05 vel = 6.959398483336e-02 ------------------- tc state : vr = 0.505799, vf = 0.000000, maxvel = 0.505799, current_vel = 0.054594, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.054594, acc = -15.000000,T = 0.006089, P = 0.005989 on final decel initial results: dx= 0.000099,dt = 0.003640, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.003640 dt = 0.003640, not at end yet tc id = 166, canon_type = 3, mot type = 2 time: 6.791000 primary movement = 6.209388195388e-05 time: 6.791000000001e+00 total movement = 6.209388195388e-05 vel = 5.459398483336e-02 ------------------- tc state : vr = 0.505799, vf = 0.000000, maxvel = 0.505799, current_vel = 0.039594, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.039594, acc = -15.000000,T = 0.006089, P = 0.006037 on final decel initial results: dx= 0.000052,dt = 0.002640, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.002640 dt = 0.002640, not at end yet tc id = 166, canon_type = 3, mot type = 2 time: 6.792000 primary movement = 4.709393995088e-05 time: 6.792000000001e+00 total movement = 4.709393995088e-05 vel = 3.959398483336e-02 ------------------- tc state : vr = 0.505799, vf = 0.000000, maxvel = 0.505799, current_vel = 0.024594, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.024594, acc = -15.000000,T = 0.006089, P = 0.006069 on final decel initial results: dx= 0.000020,dt = 0.001640, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.001640 dt = 0.001640, not at end yet tc id = 166, canon_type = 3, mot type = 2 time: 6.793000 primary movement = 3.209397062804e-05 time: 6.793000000001e+00 total movement = 3.209397062804e-05 vel = 2.459398483336e-02 ------------------- tc state : vr = 0.505799, vf = 0.000000, maxvel = 0.505799, current_vel = 0.009594, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.009594, acc = -15.000000,T = 0.006089, P = 0.006086 on final decel initial results: dx= 0.000003,dt = 0.000640, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.000640 actual v_f = 0.000000, a = -15.000000 split time is 0.000639599 tc id = 166, canon_type = 3, mot type = 2 time: 6.794000 primary movement = 1.709398268696e-05 time: 6.794000000001e+00 total movement = 1.709398268696e-05 vel = 9.593984833356e-03 ------------------- tc id 166 done Finishing split-cycle on id 166 tc state : vr = 11.687270, vf = 0.000000, maxvel = 11.687270, current_vel = 0.007582, fs = 1.000000, tc = 0.000360, term = 2 tc result: v = 0.007582, acc = 21.037169,T = 0.005270, P = 0.000001 secondary movement = 0.000001 tc id = 166, canon_type = 2, mot type = 1 time: 6.795000 primary movement = 3.068151487006e-06 time: 6.795000000001e+00 total movement = 4.434402275312e-06 vel = 7.581826876766e-03 Finished tc id 166 ------------------- Activate tc id = 166 target_vel = 11.687270 final_vel = 0.000000 length = 0.005270 Activate nexttc id 167 tc state : vr = 11.687270, vf = 0.000000, maxvel = 11.687270, current_vel = 0.028619, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.028619, acc = 21.037169,T = 0.005270, P = 0.000019 tc id = 166, canon_type = 2, mot type = 1 time: 6.796000 primary movement = 1.810041161997e-05 time: 6.796000000001e+00 total movement = 1.810041161997e-05 vel = 2.861899636318e-02 ------------------- tc state : vr = 11.687270, vf = 0.000000, maxvel = 11.687270, current_vel = 0.049656, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.049656, acc = 21.037169,T = 0.005270, P = 0.000059 tc id = 166, canon_type = 2, mot type = 1 time: 6.797000 primary movement = 3.913758110640e-05 time: 6.797000000001e+00 total movement = 3.913758110640e-05 vel = 4.965616584959e-02 ------------------- tc state : vr = 11.687270, vf = 0.000000, maxvel = 11.687270, current_vel = 0.070693, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.070693, acc = 21.037169,T = 0.005270, P = 0.000119 tc id = 166, canon_type = 2, mot type = 1 time: 6.798000 primary movement = 6.017475059279e-05 time: 6.798000000001e+00 total movement = 6.017475059279e-05 vel = 7.069333533600e-02 ------------------- tc state : vr = 11.687270, vf = 0.000000, maxvel = 11.687270, current_vel = 0.091731, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.091731, acc = 21.037169,T = 0.005270, P = 0.000200 tc id = 166, canon_type = 2, mot type = 1 time: 6.799000 primary movement = 8.121192007919e-05 time: 6.799000000001e+00 total movement = 8.121192007919e-05 vel = 9.173050482241e-02 ------------------- tc state : vr = 11.687270, vf = 0.000000, maxvel = 11.687270, current_vel = 0.112768, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.112768, acc = 21.037169,T = 0.005270, P = 0.000302 tc id = 166, canon_type = 2, mot type = 1 time: 6.800000 primary movement = 1.022490895656e-04 time: 6.800000000001e+00 total movement = 1.022490895656e-04 vel = 1.127676743088e-01 ------------------- tc state : vr = 11.687270, vf = 0.000000, maxvel = 11.687270, current_vel = 0.133805, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.133805, acc = 21.037169,T = 0.005270, P = 0.000426 tc id = 166, canon_type = 2, mot type = 1 time: 6.801000 primary movement = 1.232862590520e-04 time: 6.801000000001e+00 total movement = 1.232862590520e-04 vel = 1.338048437952e-01 ------------------- tc state : vr = 11.687270, vf = 0.000000, maxvel = 11.687270, current_vel = 0.154842, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.154842, acc = 21.037169,T = 0.005270, P = 0.000570 tc id = 166, canon_type = 2, mot type = 1 time: 6.802000 primary movement = 1.443234285384e-04 time: 6.802000000001e+00 total movement = 1.443234285384e-04 vel = 1.548420132816e-01 ------------------- tc state : vr = 11.687270, vf = 0.000000, maxvel = 11.687270, current_vel = 0.175879, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.175879, acc = 21.037169,T = 0.005270, P = 0.000735 tc id = 166, canon_type = 2, mot type = 1 time: 6.803000 primary movement = 1.653605980249e-04 time: 6.803000000001e+00 total movement = 1.653605980249e-04 vel = 1.758791827681e-01 ------------------- tc state : vr = 11.687270, vf = 0.000000, maxvel = 11.687270, current_vel = 0.196916, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.196916, acc = 21.037169,T = 0.005270, P = 0.000922 tc id = 166, canon_type = 2, mot type = 1 time: 6.804000 primary movement = 1.863977675113e-04 time: 6.804000000001e+00 total movement = 1.863977675113e-04 vel = 1.969163522545e-01 ------------------- tc state : vr = 11.687270, vf = 0.000000, maxvel = 11.687270, current_vel = 0.217954, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.217954, acc = 21.037169,T = 0.005270, P = 0.001129 tc id = 166, canon_type = 2, mot type = 1 time: 6.805000 primary movement = 2.074349369977e-04 time: 6.805000000001e+00 total movement = 2.074349369977e-04 vel = 2.179535217409e-01 ------------------- tc state : vr = 11.687270, vf = 0.000000, maxvel = 11.687270, current_vel = 0.238991, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.238991, acc = 21.037169,T = 0.005270, P = 0.001358 tc id = 166, canon_type = 2, mot type = 1 time: 6.806000 primary movement = 2.284721064841e-04 time: 6.806000000001e+00 total movement = 2.284721064841e-04 vel = 2.389906912273e-01 ------------------- tc state : vr = 11.687270, vf = 0.000000, maxvel = 11.687270, current_vel = 0.260028, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.260028, acc = 21.037169,T = 0.005270, P = 0.001607 tc id = 166, canon_type = 2, mot type = 1 time: 6.807000 primary movement = 2.495092759705e-04 time: 6.807000000001e+00 total movement = 2.495092759705e-04 vel = 2.600278607137e-01 ------------------- tc state : vr = 11.687270, vf = 0.000000, maxvel = 11.687270, current_vel = 0.281065, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.281065, acc = 21.037169,T = 0.005270, P = 0.001878 tc id = 166, canon_type = 2, mot type = 1 time: 6.808000 primary movement = 2.705464454569e-04 time: 6.808000000001e+00 total movement = 2.705464454569e-04 vel = 2.810650302001e-01 ------------------- tc state : vr = 11.687270, vf = 0.000000, maxvel = 11.687270, current_vel = 0.302102, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.302102, acc = 21.037169,T = 0.005270, P = 0.002169 tc id = 166, canon_type = 2, mot type = 1 time: 6.809000 primary movement = 2.915836149433e-04 time: 6.809000000001e+00 total movement = 2.915836149433e-04 vel = 3.021021996865e-01 ------------------- tc state : vr = 11.687270, vf = 0.000000, maxvel = 11.687270, current_vel = 0.323139, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.323139, acc = 21.037169,T = 0.005270, P = 0.002482 tc id = 166, canon_type = 2, mot type = 1 time: 6.810000 primary movement = 3.126207844297e-04 time: 6.810000000001e+00 total movement = 3.126207844297e-04 vel = 3.231393691729e-01 ------------------- tc state : vr = 11.687270, vf = 0.000000, maxvel = 11.687270, current_vel = 0.322061, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.322061, acc = -1.078505,T = 0.005270, P = 0.002804 on final decel tc id = 166, canon_type = 2, mot type = 1 tc state : vr = 0.001079, vf = 0.001079, maxvel = 9.172689, current_vel = 0.001079, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.001079, acc = 1.078505,T = 0.007456, P = 0.000001 initial results: dx= 0.007455,dt = 0.033921, a_f = 12.895303, v_f = 0.438499 dt = 0.033921, not at end yet tc id = 166, canon_type = 2, mot type = 1 secondary movement = 0.000001 time: 6.811000 primary movement = 3.226001166158e-04 time: 6.811000000001e+00 total movement = 3.231393691730e-04 vel = 3.231393691729e-01 ------------------- tc state : vr = 11.687270, vf = 0.000000, maxvel = 11.687270, current_vel = 0.301024, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.301024, acc = -21.037169,T = 0.005270, P = 0.003116 on final decel tc id = 166, canon_type = 2, mot type = 1 tc state : vr = 0.022116, vf = 0.022116, maxvel = 9.172689, current_vel = 0.017589, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.017589, acc = 16.510905,T = 0.007456, P = 0.000010 initial results: dx= 0.007446,dt = 0.032652, a_f = 12.890771, v_f = 0.438499 dt = 0.032652, not at end yet tc id = 166, canon_type = 2, mot type = 1 secondary movement = 0.000009 time: 6.812000 primary movement = 3.115422793155e-04 time: 6.812000000001e+00 total movement = 3.208762371732e-04 vel = 3.186131051735e-01 ------------------- tc state : vr = 11.687270, vf = 0.000000, maxvel = 11.687270, current_vel = 0.279987, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.279987, acc = -21.037169,T = 0.005270, P = 0.003406 on final decel tc id = 166, canon_type = 2, mot type = 1 tc state : vr = 0.043153, vf = 0.043153, maxvel = 9.172689, current_vel = 0.034100, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.034100, acc = 16.510905,T = 0.007456, P = 0.000036 initial results: dx= 0.007420,dt = 0.031402, a_f = 12.878162, v_f = 0.438499 dt = 0.031402, not at end yet tc id = 166, canon_type = 2, mot type = 1 secondary movement = 0.000026 time: 6.813000 primary movement = 2.905051098291e-04 time: 6.813000000001e+00 total movement = 3.163499731738e-04 vel = 3.140868411741e-01 ------------------- tc state : vr = 11.687270, vf = 0.000000, maxvel = 11.687270, current_vel = 0.258949, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.258949, acc = -21.037169,T = 0.005270, P = 0.003676 on final decel tc id = 166, canon_type = 2, mot type = 1 tc state : vr = 0.064190, vf = 0.064190, maxvel = 9.172689, current_vel = 0.050611, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.050611, acc = 16.510905,T = 0.007456, P = 0.000078 initial results: dx= 0.007378,dt = 0.030169, a_f = 12.857307, v_f = 0.438499 dt = 0.030169, not at end yet tc id = 166, canon_type = 2, mot type = 1 secondary movement = 0.000042 time: 6.814000 primary movement = 2.694679403427e-04 time: 6.814000000001e+00 total movement = 3.118237091743e-04 vel = 3.095605771746e-01 ------------------- tc state : vr = 11.687270, vf = 0.000000, maxvel = 11.687270, current_vel = 0.237912, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.237912, acc = -21.037169,T = 0.005270, P = 0.003924 on final decel tc id = 166, canon_type = 2, mot type = 1 tc state : vr = 0.085227, vf = 0.085227, maxvel = 9.172689, current_vel = 0.067122, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.067122, acc = 16.510905,T = 0.007456, P = 0.000137 initial results: dx= 0.007319,dt = 0.028951, a_f = 12.827921, v_f = 0.438499 dt = 0.028951, not at end yet tc id = 166, canon_type = 2, mot type = 1 secondary movement = 0.000059 time: 6.815000 primary movement = 2.484307708563e-04 time: 6.815000000001e+00 total movement = 3.072974451749e-04 vel = 3.050343131752e-01 ------------------- tc state : vr = 11.687270, vf = 0.000000, maxvel = 11.687270, current_vel = 0.216875, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.216875, acc = -21.037169,T = 0.005270, P = 0.004152 on final decel tc id = 166, canon_type = 2, mot type = 1 tc state : vr = 0.106264, vf = 0.106264, maxvel = 9.172689, current_vel = 0.083633, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.083633, acc = 16.510905,T = 0.007456, P = 0.000212 initial results: dx= 0.007244,dt = 0.027746, a_f = 12.789596, v_f = 0.438499 dt = 0.027746, not at end yet tc id = 166, canon_type = 2, mot type = 1 secondary movement = 0.000075 time: 6.816000 primary movement = 2.273936013699e-04 time: 6.816000000001e+00 total movement = 3.027711811755e-04 vel = 3.005080491758e-01 ------------------- tc state : vr = 11.687270, vf = 0.000000, maxvel = 11.687270, current_vel = 0.195838, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.195838, acc = -21.037169,T = 0.005270, P = 0.004358 on final decel tc id = 166, canon_type = 2, mot type = 1 tc state : vr = 0.127302, vf = 0.127302, maxvel = 9.172689, current_vel = 0.100144, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.100144, acc = 16.510905,T = 0.007456, P = 0.000304 initial results: dx= 0.007152,dt = 0.026555, a_f = 12.741783, v_f = 0.438499 dt = 0.026555, not at end yet tc id = 166, canon_type = 2, mot type = 1 secondary movement = 0.000092 time: 6.817000 primary movement = 2.063564318834e-04 time: 6.817000000001e+00 total movement = 2.982449171761e-04 vel = 2.959817851764e-01 ------------------- tc state : vr = 11.687270, vf = 0.000000, maxvel = 11.687270, current_vel = 0.174801, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.174801, acc = -21.037169,T = 0.005270, P = 0.004543 on final decel tc id = 166, canon_type = 2, mot type = 1 tc state : vr = 0.148339, vf = 0.148339, maxvel = 9.172689, current_vel = 0.116655, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.116655, acc = 16.510905,T = 0.007456, P = 0.000413 initial results: dx= 0.007043,dt = 0.025374, a_f = 12.683776, v_f = 0.438499 dt = 0.025374, not at end yet tc id = 166, canon_type = 2, mot type = 1 secondary movement = 0.000108 time: 6.818000 primary movement = 1.853192623971e-04 time: 6.818000000001e+00 total movement = 2.937186531767e-04 vel = 2.914555211769e-01 ------------------- tc state : vr = 11.687270, vf = 0.000000, maxvel = 11.687270, current_vel = 0.153764, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.153764, acc = -21.037169,T = 0.005270, P = 0.004708 on final decel tc id = 166, canon_type = 2, mot type = 1 tc state : vr = 0.169376, vf = 0.169376, maxvel = 9.172689, current_vel = 0.133166, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.133166, acc = 16.510905,T = 0.007456, P = 0.000538 initial results: dx= 0.006918,dt = 0.024205, a_f = 12.614678, v_f = 0.438499 dt = 0.024205, not at end yet tc id = 166, canon_type = 2, mot type = 1 secondary movement = 0.000125 time: 6.819000 primary movement = 1.642820929106e-04 time: 6.819000000001e+00 total movement = 2.891923891772e-04 vel = 2.869292571775e-01 ------------------- tc state : vr = 11.687270, vf = 0.000000, maxvel = 11.687270, current_vel = 0.132726, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.132726, acc = -21.037169,T = 0.005270, P = 0.004851 on final decel tc id = 166, canon_type = 2, mot type = 1 tc state : vr = 0.190413, vf = 0.190413, maxvel = 9.172689, current_vel = 0.149677, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.149677, acc = 16.510905,T = 0.007456, P = 0.000679 initial results: dx= 0.006777,dt = 0.023044, a_f = 12.533373, v_f = 0.438499 dt = 0.023044, not at end yet tc id = 167, canon_type = 2, mot type = 1 secondary movement = 0.000141 time: 6.820000 primary movement = 1.432449234242e-04 time: 6.820000000001e+00 total movement = 2.846661251778e-04 vel = 2.824029931781e-01 ------------------- tc state : vr = 11.687270, vf = 0.000000, maxvel = 11.687270, current_vel = 0.111689, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.111689, acc = -21.037169,T = 0.005270, P = 0.004973 on final decel tc id = 166, canon_type = 2, mot type = 1 tc state : vr = 0.211450, vf = 0.211450, maxvel = 9.172689, current_vel = 0.166188, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.166188, acc = 16.510905,T = 0.007456, P = 0.000837 initial results: dx= 0.006619,dt = 0.021893, a_f = 12.438469, v_f = 0.438499 dt = 0.021893, not at end yet tc id = 167, canon_type = 2, mot type = 1 secondary movement = 0.000158 time: 6.821000 primary movement = 1.222077539378e-04 time: 6.821000000001e+00 total movement = 2.801398611784e-04 vel = 2.778767291786e-01 ------------------- tc state : vr = 11.687270, vf = 0.000000, maxvel = 11.687270, current_vel = 0.090652, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.090652, acc = -21.037169,T = 0.005270, P = 0.005074 on final decel tc id = 166, canon_type = 2, mot type = 1 tc state : vr = 0.232487, vf = 0.232487, maxvel = 9.172689, current_vel = 0.182698, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.182698, acc = 16.510905,T = 0.007456, P = 0.001011 initial results: dx= 0.006445,dt = 0.020749, a_f = 12.328237, v_f = 0.438499 dt = 0.020749, not at end yet tc id = 167, canon_type = 2, mot type = 1 secondary movement = 0.000174 time: 6.822000 primary movement = 1.011705844514e-04 time: 6.822000000001e+00 total movement = 2.756135971789e-04 vel = 2.733504651792e-01 ------------------- tc state : vr = 11.687270, vf = 0.000000, maxvel = 11.687270, current_vel = 0.069615, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.069615, acc = -21.037169,T = 0.005270, P = 0.005154 on final decel tc id = 166, canon_type = 2, mot type = 1 tc state : vr = 0.253525, vf = 0.253525, maxvel = 9.172689, current_vel = 0.199209, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.199209, acc = 16.510905,T = 0.007456, P = 0.001202 initial results: dx= 0.006254,dt = 0.019613, a_f = 12.200522, v_f = 0.438499 dt = 0.019613, not at end yet tc id = 167, canon_type = 2, mot type = 1 secondary movement = 0.000191 time: 6.823000 primary movement = 8.013341496498e-05 time: 6.823000000001e+00 total movement = 2.710873331795e-04 vel = 2.688242011798e-01 ------------------- tc state : vr = 11.687270, vf = 0.000000, maxvel = 11.687270, current_vel = 0.048578, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.048578, acc = -21.037169,T = 0.005270, P = 0.005214 on final decel tc id = 166, canon_type = 2, mot type = 1 tc state : vr = 0.274562, vf = 0.274562, maxvel = 9.172689, current_vel = 0.215720, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.215720, acc = 16.510905,T = 0.007456, P = 0.001410 initial results: dx= 0.006046,dt = 0.018484, a_f = 12.052619, v_f = 0.438499 dt = 0.018484, not at end yet tc id = 167, canon_type = 2, mot type = 1 secondary movement = 0.000207 time: 6.824000 primary movement = 5.909624547857e-05 time: 6.824000000001e+00 total movement = 2.665610691801e-04 vel = 2.642979371803e-01 ------------------- tc state : vr = 11.687270, vf = 0.000000, maxvel = 11.687270, current_vel = 0.027540, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.027540, acc = -21.037169,T = 0.005270, P = 0.005252 on final decel tc id = 166, canon_type = 2, mot type = 1 tc state : vr = 0.295599, vf = 0.295599, maxvel = 9.172689, current_vel = 0.232231, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.232231, acc = 16.510905,T = 0.007456, P = 0.001634 initial results: dx= 0.005822,dt = 0.017361, a_f = 11.881115, v_f = 0.438499 dt = 0.017361, not at end yet tc id = 167, canon_type = 2, mot type = 1 secondary movement = 0.000224 time: 6.825000 primary movement = 3.805907599214e-05 time: 6.825000000001e+00 total movement = 2.620348051806e-04 vel = 2.597716731809e-01 ------------------- tc state : vr = 11.687270, vf = 0.000000, maxvel = 11.687270, current_vel = 0.006503, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.006503, acc = -21.037169,T = 0.005270, P = 0.005269 on final decel tc id = 166, canon_type = 2, mot type = 1 tc state : vr = 0.316636, vf = 0.316636, maxvel = 9.172689, current_vel = 0.248742, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.248742, acc = 16.510905,T = 0.007456, P = 0.001874 initial results: dx= 0.005582,dt = 0.016244, a_f = 11.681644, v_f = 0.438499 dt = 0.016244, not at end yet tc id = 167, canon_type = 2, mot type = 1 secondary movement = 0.000240 time: 6.826000 primary movement = 1.702190650573e-05 time: 6.826000000001e+00 total movement = 2.575085411812e-04 vel = 2.552454091815e-01 ------------------- Found newvel = -0.006503, assuming segment is done segment 166 at target in runcycle tc state : vr = 11.687270, vf = 0.000000, maxvel = 11.687270, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.005270, P = 0.005270 tc id = 166, canon_type = 2, mot type = 1 tc state : vr = 0.323139, vf = 0.323139, maxvel = 9.172689, current_vel = 0.265253, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.265253, acc = 16.510905,T = 0.007456, P = 0.002131 initial results: dx= 0.005325,dt = 0.015133, a_f = 11.448563, v_f = 0.438499 dt = 0.015133, not at end yet tc id = 167, canon_type = 2, mot type = 1 secondary movement = 0.000257 time: 6.827000 primary movement = 1.005201625977e-06 time: 6.827000000001e+00 total movement = 2.580027417884e-04 vel = 2.652529929059e-01 Finished tc id 166 ------------------- tc state : vr = 3.550468, vf = 0.438499, maxvel = 9.172689, current_vel = 0.281764, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.281764, acc = 16.510905,T = 0.007456, P = 0.002405 initial results: dx= 0.005051,dt = 0.014026, a_f = 11.174456, v_f = 0.438499 dt = 0.014026, not at end yet tc id = 167, canon_type = 2, mot type = 1 time: 6.828000 primary movement = 2.735084456494e-04 time: 6.828000000001e+00 total movement = 2.735084456494e-04 vel = 2.817638983929e-01 ------------------- tc state : vr = 3.550468, vf = 0.438499, maxvel = 9.172689, current_vel = 0.298275, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.298275, acc = 16.510905,T = 0.007456, P = 0.002695 initial results: dx= 0.004761,dt = 0.012925, a_f = 10.849400, v_f = 0.438499 dt = 0.012925, not at end yet tc id = 167, canon_type = 2, mot type = 1 time: 6.829000 primary movement = 2.900193511364e-04 time: 6.829000000001e+00 total movement = 2.900193511364e-04 vel = 2.982748038799e-01 ------------------- tc state : vr = 3.550468, vf = 0.438499, maxvel = 9.172689, current_vel = 0.314786, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.314786, acc = 16.510905,T = 0.007456, P = 0.003001 initial results: dx= 0.004455,dt = 0.011827, a_f = 10.459832, v_f = 0.438499 dt = 0.011827, not at end yet tc id = 167, canon_type = 2, mot type = 1 time: 6.830000 primary movement = 3.065302566234e-04 time: 6.830000000001e+00 total movement = 3.065302566234e-04 vel = 3.147857093669e-01 ------------------- tc state : vr = 3.550468, vf = 0.438499, maxvel = 9.172689, current_vel = 0.331297, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.331297, acc = 16.510905,T = 0.007456, P = 0.003324 initial results: dx= 0.004132,dt = 0.010735, a_f = 9.986722, v_f = 0.438499 dt = 0.010735, not at end yet tc id = 167, canon_type = 2, mot type = 1 time: 6.831000 primary movement = 3.230411621103e-04 time: 6.831000000001e+00 total movement = 3.230411621103e-04 vel = 3.312966148538e-01 ------------------- tc state : vr = 3.550468, vf = 0.438499, maxvel = 9.172689, current_vel = 0.347808, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.347808, acc = 16.510905,T = 0.007456, P = 0.003664 initial results: dx= 0.003792,dt = 0.009645, a_f = 9.402540, v_f = 0.438499 dt = 0.009645, not at end yet tc id = 167, canon_type = 2, mot type = 1 time: 6.832000 primary movement = 3.395520675973e-04 time: 6.832000000001e+00 total movement = 3.395520675973e-04 vel = 3.478075203408e-01 ------------------- tc state : vr = 3.550468, vf = 0.438499, maxvel = 9.172689, current_vel = 0.364318, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.364318, acc = 16.510905,T = 0.007456, P = 0.004020 initial results: dx= 0.003436,dt = 0.008560, a_f = 8.665937, v_f = 0.438499 dt = 0.008560, not at end yet tc id = 167, canon_type = 2, mot type = 1 time: 6.833000 primary movement = 3.560629730843e-04 time: 6.833000000001e+00 total movement = 3.560629730843e-04 vel = 3.643184258278e-01 ------------------- tc state : vr = 3.550468, vf = 0.438499, maxvel = 9.172689, current_vel = 0.380829, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.380829, acc = 16.510905,T = 0.007456, P = 0.004392 initial results: dx= 0.003064,dt = 0.007478, a_f = 7.711856, v_f = 0.438499 dt = 0.007478, not at end yet tc id = 167, canon_type = 2, mot type = 1 time: 6.834000 primary movement = 3.725738785713e-04 time: 6.834000000001e+00 total movement = 3.725738785713e-04 vel = 3.808293313148e-01 ------------------- tc state : vr = 3.550468, vf = 0.438499, maxvel = 9.172689, current_vel = 0.397340, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.397340, acc = 16.510905,T = 0.007456, P = 0.004782 initial results: dx= 0.002674,dt = 0.006399, a_f = 6.431736, v_f = 0.438499 dt = 0.006399, not at end yet tc id = 167, canon_type = 2, mot type = 1 time: 6.835000 primary movement = 3.890847840583e-04 time: 6.835000000001e+00 total movement = 3.890847840583e-04 vel = 3.973402368018e-01 ------------------- tc state : vr = 3.550468, vf = 0.438499, maxvel = 9.172689, current_vel = 0.413851, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.413851, acc = 16.510905,T = 0.007456, P = 0.005187 initial results: dx= 0.002269,dt = 0.005324, a_f = 4.629891, v_f = 0.438499 dt = 0.005324, not at end yet tc id = 167, canon_type = 2, mot type = 1 time: 6.836000 primary movement = 4.055956895453e-04 time: 6.836000000001e+00 total movement = 4.055956895453e-04 vel = 4.138511422887e-01 ------------------- tc state : vr = 3.550468, vf = 0.438499, maxvel = 9.172689, current_vel = 0.430362, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.430362, acc = 16.510905,T = 0.007456, P = 0.005609 initial results: dx= 0.001847,dt = 0.004251, a_f = 1.914230, v_f = 0.438499 dt = 0.004251, not at end yet tc id = 167, canon_type = 2, mot type = 1 time: 6.837000 primary movement = 4.221065950322e-04 time: 6.837000000001e+00 total movement = 4.221065950322e-04 vel = 4.303620477757e-01 ------------------- tc state : vr = 3.550468, vf = 0.438499, maxvel = 9.172689, current_vel = 0.446873, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.446873, acc = 16.510905,T = 0.007456, P = 0.006048 initial results: dx= 0.001408,dt = 0.003181, a_f = -2.632579, v_f = 0.438499 dt = 0.003181, not at end yet tc id = 167, canon_type = 2, mot type = 1 time: 6.838000 primary movement = 4.386175005192e-04 time: 6.838000000001e+00 total movement = 4.386175005192e-04 vel = 4.468729532627e-01 ------------------- tc state : vr = 3.550468, vf = 0.438499, maxvel = 9.172689, current_vel = 0.463384, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.463384, acc = 16.510905,T = 0.007456, P = 0.006503 initial results: dx= 0.000953,dt = 0.002113, a_f = -11.775302, v_f = 0.438499 dt = 0.002113, not at end yet tc id = 167, canon_type = 2, mot type = 1 time: 6.839000 primary movement = 4.551284060062e-04 time: 6.839000000001e+00 total movement = 4.551284060062e-04 vel = 4.633838587497e-01 ------------------- tc state : vr = 3.550468, vf = 0.438499, maxvel = 9.172689, current_vel = 0.456683, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.456683, acc = -6.700986,T = 0.007456, P = 0.006963 on final decel initial results: dx= 0.000493,dt = 0.001101, a_f = -16.510905, v_f = 0.438499 dt = 0.001101, not at end yet tc id = 167, canon_type = 2, mot type = 1 time: 6.840000 primary movement = 4.600333655958e-04 time: 6.840000000001e+00 total movement = 4.600333655958e-04 vel = 4.566828724419e-01 ------------------- tc state : vr = 3.550468, vf = 0.438499, maxvel = 9.172689, current_vel = 0.440172, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.440172, acc = -16.510905,T = 0.007456, P = 0.007411 on final decel initial results: dx= 0.000045,dt = 0.000101, a_f = -16.510905, v_f = 0.438499 recalculating with a_f = -16.510905, a = -16.510905 revised dt = 0.000101 actual v_f = 0.438499, a = -16.510905 split time is 0.000101311 tc id = 167, canon_type = 2, mot type = 1 time: 6.841000 primary movement = 4.484274196985e-04 time: 6.841000000001e+00 total movement = 4.484274196985e-04 vel = 4.401719669550e-01 ------------------- tc id 167 done Finishing split-cycle on id 168 tc state : vr = 0.438499, vf = 0.438499, maxvel = 0.438499, current_vel = 0.438499, fs = 1.000000, tc = 0.000899, term = 3 tc result: v = 0.438499, acc = 0.000000,T = 0.006622, P = 0.000394 initial results: dx= 0.006228,dt = 0.014203, a_f = 0.000000, v_f = 0.438499 dt = 0.014203, not at end yet secondary movement = 0.000394 tc id = 168, canon_type = 3, mot type = 2 time: 6.842000 primary movement = 4.450961516218e-05 time: 6.842000000001e+00 total movement = 4.385374092035e-04 vel = 4.384992273592e-01 Finished tc id 167 ------------------- Activate tc id = 168 target_vel = 0.438499 final_vel = 0.438499 length = 0.006622 tc state : vr = 0.438499, vf = 0.438499, maxvel = 0.438499, current_vel = 0.438499, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.438499, acc = 0.000000,T = 0.006622, P = 0.000833 initial results: dx= 0.005790,dt = 0.013203, a_f = 0.000000, v_f = 0.438499 dt = 0.013203, not at end yet tc id = 168, canon_type = 3, mot type = 2 time: 6.843000 primary movement = 4.384350909500e-04 time: 6.843000000001e+00 total movement = 4.384350909500e-04 vel = 4.384992273592e-01 ------------------- tc state : vr = 0.438499, vf = 0.438499, maxvel = 0.438499, current_vel = 0.438499, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.438499, acc = 0.000000,T = 0.006622, P = 0.001271 initial results: dx= 0.005351,dt = 0.012203, a_f = 0.000000, v_f = 0.438499 dt = 0.012203, not at end yet tc id = 168, canon_type = 3, mot type = 2 time: 6.844000 primary movement = 4.384350909500e-04 time: 6.844000000001e+00 total movement = 4.384350909500e-04 vel = 4.384992273592e-01 ------------------- tc state : vr = 0.438499, vf = 0.438499, maxvel = 0.438499, current_vel = 0.438499, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.438499, acc = 0.000000,T = 0.006622, P = 0.001710 initial results: dx= 0.004913,dt = 0.011203, a_f = 0.000000, v_f = 0.438499 dt = 0.011203, not at end yet tc id = 168, canon_type = 3, mot type = 2 time: 6.845000 primary movement = 4.384350909500e-04 time: 6.845000000001e+00 total movement = 4.384350909500e-04 vel = 4.384992273592e-01 ------------------- tc state : vr = 0.438499, vf = 0.438499, maxvel = 0.438499, current_vel = 0.438499, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.438499, acc = 0.000000,T = 0.006622, P = 0.002148 initial results: dx= 0.004474,dt = 0.010203, a_f = 0.000000, v_f = 0.438499 dt = 0.010203, not at end yet tc id = 168, canon_type = 3, mot type = 2 time: 6.846000 primary movement = 4.384350909500e-04 time: 6.846000000001e+00 total movement = 4.384350909500e-04 vel = 4.384992273592e-01 ------------------- tc state : vr = 0.438499, vf = 0.438499, maxvel = 0.438499, current_vel = 0.438499, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.438499, acc = 0.000000,T = 0.006622, P = 0.002587 initial results: dx= 0.004036,dt = 0.009203, a_f = 0.000000, v_f = 0.438499 dt = 0.009203, not at end yet tc id = 168, canon_type = 3, mot type = 2 time: 6.847000 primary movement = 4.384350909500e-04 time: 6.847000000001e+00 total movement = 4.384350909500e-04 vel = 4.384992273592e-01 ------------------- tc state : vr = 0.438499, vf = 0.438499, maxvel = 0.438499, current_vel = 0.438499, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.438499, acc = 0.000000,T = 0.006622, P = 0.003025 initial results: dx= 0.003597,dt = 0.008203, a_f = 0.000000, v_f = 0.438499 dt = 0.008203, not at end yet tc id = 168, canon_type = 3, mot type = 2 time: 6.848000 primary movement = 4.384350909500e-04 time: 6.848000000001e+00 total movement = 4.384350909500e-04 vel = 4.384992273592e-01 ------------------- tc state : vr = 0.438499, vf = 0.438499, maxvel = 0.438499, current_vel = 0.438499, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.438499, acc = 0.000000,T = 0.006622, P = 0.003464 initial results: dx= 0.003159,dt = 0.007203, a_f = 0.000000, v_f = 0.438499 dt = 0.007203, not at end yet tc id = 168, canon_type = 3, mot type = 2 time: 6.849000 primary movement = 4.384350909500e-04 time: 6.849000000001e+00 total movement = 4.384350909500e-04 vel = 4.384992273592e-01 ------------------- tc state : vr = 0.438499, vf = 0.438499, maxvel = 0.438499, current_vel = 0.438499, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.438499, acc = 0.000000,T = 0.006622, P = 0.003902 initial results: dx= 0.002720,dt = 0.006203, a_f = 0.000000, v_f = 0.438499 dt = 0.006203, not at end yet tc id = 168, canon_type = 3, mot type = 2 time: 6.850000 primary movement = 4.384350909500e-04 time: 6.850000000001e+00 total movement = 4.384350909500e-04 vel = 4.384992273592e-01 ------------------- tc state : vr = 0.438499, vf = 0.438499, maxvel = 0.438499, current_vel = 0.438499, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.438499, acc = 0.000000,T = 0.006622, P = 0.004341 initial results: dx= 0.002282,dt = 0.005203, a_f = 0.000000, v_f = 0.438499 dt = 0.005203, not at end yet tc id = 168, canon_type = 3, mot type = 2 time: 6.851000 primary movement = 4.384350909500e-04 time: 6.851000000001e+00 total movement = 4.384350909500e-04 vel = 4.384992273592e-01 ------------------- tc state : vr = 0.438499, vf = 0.438499, maxvel = 0.438499, current_vel = 0.438499, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.438499, acc = 0.000000,T = 0.006622, P = 0.004779 initial results: dx= 0.001843,dt = 0.004203, a_f = 0.000000, v_f = 0.438499 dt = 0.004203, not at end yet tc id = 168, canon_type = 3, mot type = 2 time: 6.852000 primary movement = 4.384350909500e-04 time: 6.852000000001e+00 total movement = 4.384350909500e-04 vel = 4.384992273592e-01 ------------------- tc state : vr = 0.438499, vf = 0.438499, maxvel = 0.438499, current_vel = 0.438499, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.438499, acc = 0.000000,T = 0.006622, P = 0.005218 initial results: dx= 0.001405,dt = 0.003203, a_f = 0.000000, v_f = 0.438499 dt = 0.003203, not at end yet tc id = 168, canon_type = 3, mot type = 2 time: 6.853000 primary movement = 4.384350909500e-04 time: 6.853000000001e+00 total movement = 4.384350909500e-04 vel = 4.384992273592e-01 ------------------- tc state : vr = 0.438499, vf = 0.438499, maxvel = 0.438499, current_vel = 0.438499, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.438499, acc = 0.000000,T = 0.006622, P = 0.005656 initial results: dx= 0.000966,dt = 0.002203, a_f = 0.000000, v_f = 0.438499 dt = 0.002203, not at end yet tc id = 168, canon_type = 3, mot type = 2 time: 6.854000 primary movement = 4.384350909500e-04 time: 6.854000000001e+00 total movement = 4.384350909500e-04 vel = 4.384992273592e-01 ------------------- tc state : vr = 0.438499, vf = 0.438499, maxvel = 0.438499, current_vel = 0.438499, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.438499, acc = 0.000000,T = 0.006622, P = 0.006095 initial results: dx= 0.000528,dt = 0.001203, a_f = 0.000000, v_f = 0.438499 dt = 0.001203, not at end yet tc id = 168, canon_type = 3, mot type = 2 time: 6.855000 primary movement = 4.384350909500e-04 time: 6.855000000001e+00 total movement = 4.384350909500e-04 vel = 4.384992273592e-01 ------------------- tc state : vr = 0.438499, vf = 0.438499, maxvel = 0.438499, current_vel = 0.438499, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.438499, acc = 0.000000,T = 0.006622, P = 0.006533 initial results: dx= 0.000089,dt = 0.000203, a_f = 0.000000, v_f = 0.438499 actual v_f = 0.438499, a = 0.000000 split time is 0.000203375 tc id = 168, canon_type = 3, mot type = 2 time: 6.856000 primary movement = 4.384350909500e-04 time: 6.856000000001e+00 total movement = 4.384350909500e-04 vel = 4.384992273592e-01 ------------------- tc id 168 done Finishing split-cycle on id 168 tc state : vr = 1.337361, vf = 0.366464, maxvel = 9.316913, current_vel = 0.465219, fs = 1.000000, tc = 0.000797, term = 3 tc result: v = 0.465219, acc = 33.541020,T = 0.002808, P = 0.000360 initial results: dx= 0.002448,dt = 0.005888, a_f = -16.772059, v_f = 0.366464 dt = 0.005888, not at end yet secondary movement = 0.000360 tc id = 168, canon_type = 2, mot type = 1 time: 6.857000 primary movement = 8.917917180941e-05 time: 6.857000000001e+00 total movement = 4.491414486019e-04 vel = 4.652188474276e-01 Finished tc id 168 ------------------- Activate tc id = 168 target_vel = 1.337361 final_vel = 0.366464 length = 0.002808 tc state : vr = 1.337361, vf = 0.366464, maxvel = 9.316913, current_vel = 0.498760, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.498760, acc = 33.541020,T = 0.002808, P = 0.000842 initial results: dx= 0.001967,dt = 0.004546, a_f = -29.103766, v_f = 0.366464 dt = 0.004546, not at end yet tc id = 168, canon_type = 2, mot type = 1 time: 6.858000 primary movement = 4.819893572589e-04 time: 6.858000000001e+00 total movement = 4.819893572589e-04 vel = 4.987598670901e-01 ------------------- tc state : vr = 1.337361, vf = 0.366464, maxvel = 9.316913, current_vel = 0.482995, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.482995, acc = -15.764925,T = 0.002808, P = 0.001333 on final decel initial results: dx= 0.001476,dt = 0.003474, a_f = -33.541020, v_f = 0.366464 dt = 0.003474, not at end yet tc id = 168, canon_type = 2, mot type = 1 time: 6.859000 primary movement = 4.908774044690e-04 time: 6.859000000001e+00 total movement = 4.908774044690e-04 vel = 4.829949418479e-01 ------------------- tc state : vr = 1.337361, vf = 0.366464, maxvel = 9.316913, current_vel = 0.449454, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.449454, acc = -33.541020,T = 0.002808, P = 0.001799 on final decel initial results: dx= 0.001009,dt = 0.002474, a_f = -33.541020, v_f = 0.366464 dt = 0.002474, not at end yet tc id = 168, canon_type = 2, mot type = 1 time: 6.860000 primary movement = 4.662244320166e-04 time: 6.860000000001e+00 total movement = 4.662244320166e-04 vel = 4.494539221854e-01 ------------------- tc state : vr = 1.337361, vf = 0.366464, maxvel = 9.316913, current_vel = 0.415913, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.415913, acc = -33.541020,T = 0.002808, P = 0.002232 on final decel initial results: dx= 0.000577,dt = 0.001474, a_f = -33.541020, v_f = 0.366464 recalculating with a_f = -33.541020, a = -33.541020 revised dt = 0.001474 dt = 0.001474, not at end yet tc id = 168, canon_type = 2, mot type = 1 time: 6.861000 primary movement = 4.326834123541e-04 time: 6.861000000001e+00 total movement = 4.326834123541e-04 vel = 4.159129025229e-01 ------------------- tc state : vr = 1.337361, vf = 0.366464, maxvel = 9.316913, current_vel = 0.382372, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.382372, acc = -33.541020,T = 0.002808, P = 0.002631 on final decel initial results: dx= 0.000178,dt = 0.000474, a_f = -33.541020, v_f = 0.366464 recalculating with a_f = -33.541020, a = -33.541020 revised dt = 0.000474 actual v_f = 0.366464, a = -33.541020 split time is 0.000474277 tc id = 168, canon_type = 2, mot type = 1 time: 6.862000 primary movement = 3.991423926917e-04 time: 6.862000000001e+00 total movement = 3.991423926917e-04 vel = 3.823718828604e-01 ------------------- tc id 168 done Finishing split-cycle on id 169 tc state : vr = 0.366464, vf = 0.341462, maxvel = 0.366464, current_vel = 0.366464, fs = 1.000000, tc = 0.000526, term = 3 tc result: v = 0.366464, acc = 0.000000,T = 0.004793, P = 0.000193 initial results: dx= 0.004601,dt = 0.012997, a_f = -1.923633, v_f = 0.341462 dt = 0.012997, not at end yet secondary movement = 0.000193 tc id = 169, canon_type = 3, mot type = 2 time: 6.863000 primary movement = 1.775778109735e-04 time: 6.863000000001e+00 total movement = 3.702253356555e-04 vel = 3.664641525487e-01 Finished tc id 168 ------------------- Activate tc id = 169 target_vel = 0.366464 final_vel = 0.341462 length = 0.004793 tc state : vr = 0.366464, vf = 0.341462, maxvel = 0.366464, current_vel = 0.366464, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.366464, acc = 0.000000,T = 0.004793, P = 0.000559 initial results: dx= 0.004234,dt = 0.011962, a_f = -2.090124, v_f = 0.341462 dt = 0.011962, not at end yet tc id = 169, canon_type = 3, mot type = 2 time: 6.864000 primary movement = 3.663874104367e-04 time: 6.864000000001e+00 total movement = 3.663874104367e-04 vel = 3.664641525487e-01 ------------------- tc state : vr = 0.366464, vf = 0.341462, maxvel = 0.366464, current_vel = 0.366464, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.366464, acc = 0.000000,T = 0.004793, P = 0.000926 initial results: dx= 0.003868,dt = 0.010927, a_f = -2.288165, v_f = 0.341462 dt = 0.010927, not at end yet tc id = 169, canon_type = 3, mot type = 2 time: 6.865000 primary movement = 3.663874104367e-04 time: 6.865000000001e+00 total movement = 3.663874104367e-04 vel = 3.664641525487e-01 ------------------- tc state : vr = 0.366464, vf = 0.341462, maxvel = 0.366464, current_vel = 0.366464, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.366464, acc = 0.000000,T = 0.004793, P = 0.001292 initial results: dx= 0.003501,dt = 0.009891, a_f = -2.527664, v_f = 0.341462 dt = 0.009891, not at end yet tc id = 169, canon_type = 3, mot type = 2 time: 6.866000 primary movement = 3.663874104367e-04 time: 6.866000000001e+00 total movement = 3.663874104367e-04 vel = 3.664641525487e-01 ------------------- tc state : vr = 0.366464, vf = 0.341462, maxvel = 0.366464, current_vel = 0.366464, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.366464, acc = 0.000000,T = 0.004793, P = 0.001659 initial results: dx= 0.003135,dt = 0.008856, a_f = -2.823160, v_f = 0.341462 dt = 0.008856, not at end yet tc id = 169, canon_type = 3, mot type = 2 time: 6.867000 primary movement = 3.663874104367e-04 time: 6.867000000001e+00 total movement = 3.663874104367e-04 vel = 3.664641525487e-01 ------------------- tc state : vr = 0.366464, vf = 0.341462, maxvel = 0.366464, current_vel = 0.366464, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.366464, acc = 0.000000,T = 0.004793, P = 0.002025 initial results: dx= 0.002768,dt = 0.007821, a_f = -3.196892, v_f = 0.341462 dt = 0.007821, not at end yet tc id = 169, canon_type = 3, mot type = 2 time: 6.868000 primary movement = 3.663874104367e-04 time: 6.868000000001e+00 total movement = 3.663874104367e-04 vel = 3.664641525487e-01 ------------------- tc state : vr = 0.366464, vf = 0.341462, maxvel = 0.366464, current_vel = 0.366464, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.366464, acc = 0.000000,T = 0.004793, P = 0.002391 initial results: dx= 0.002402,dt = 0.006785, a_f = -3.684671, v_f = 0.341462 dt = 0.006785, not at end yet tc id = 169, canon_type = 3, mot type = 2 time: 6.869000 primary movement = 3.663874104367e-04 time: 6.869000000001e+00 total movement = 3.663874104367e-04 vel = 3.664641525487e-01 ------------------- tc state : vr = 0.366464, vf = 0.341462, maxvel = 0.366464, current_vel = 0.366464, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.366464, acc = 0.000000,T = 0.004793, P = 0.002758 initial results: dx= 0.002035,dt = 0.005750, a_f = -4.348101, v_f = 0.341462 dt = 0.005750, not at end yet tc id = 169, canon_type = 3, mot type = 2 time: 6.870000 primary movement = 3.663874104367e-04 time: 6.870000000001e+00 total movement = 3.663874104367e-04 vel = 3.664641525487e-01 ------------------- tc state : vr = 0.366464, vf = 0.341462, maxvel = 0.366464, current_vel = 0.366464, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.366464, acc = 0.000000,T = 0.004793, P = 0.003124 initial results: dx= 0.001669,dt = 0.004715, a_f = -5.302894, v_f = 0.341462 dt = 0.004715, not at end yet tc id = 169, canon_type = 3, mot type = 2 time: 6.871000 primary movement = 3.663874104367e-04 time: 6.871000000001e+00 total movement = 3.663874104367e-04 vel = 3.664641525487e-01 ------------------- tc state : vr = 0.366464, vf = 0.341462, maxvel = 0.366464, current_vel = 0.366464, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.366464, acc = 0.000000,T = 0.004793, P = 0.003491 initial results: dx= 0.001302,dt = 0.003679, a_f = -6.794998, v_f = 0.341462 dt = 0.003679, not at end yet tc id = 169, canon_type = 3, mot type = 2 time: 6.872000 primary movement = 3.663874104367e-04 time: 6.872000000001e+00 total movement = 3.663874104367e-04 vel = 3.664641525487e-01 ------------------- tc state : vr = 0.366464, vf = 0.341462, maxvel = 0.366464, current_vel = 0.366464, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.366464, acc = 0.000000,T = 0.004793, P = 0.003857 initial results: dx= 0.000936,dt = 0.002644, a_f = -9.455558, v_f = 0.341462 dt = 0.002644, not at end yet tc id = 169, canon_type = 3, mot type = 2 time: 6.873000 primary movement = 3.663874104367e-04 time: 6.873000000001e+00 total movement = 3.663874104367e-04 vel = 3.664641525487e-01 ------------------- tc state : vr = 0.366464, vf = 0.341462, maxvel = 0.366464, current_vel = 0.365640, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.365640, acc = -0.823716,T = 0.004793, P = 0.004223 on final decel initial results: dx= 0.000570,dt = 0.001612, a_f = -15.000000, v_f = 0.341462 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.001612 dt = 0.001612, not at end yet tc id = 169, canon_type = 3, mot type = 2 time: 6.874000 primary movement = 3.659758107045e-04 time: 6.874000000001e+00 total movement = 3.659758107045e-04 vel = 3.656404361981e-01 ------------------- tc state : vr = 0.366464, vf = 0.341462, maxvel = 0.366464, current_vel = 0.350640, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.350640, acc = -15.000000,T = 0.004793, P = 0.004581 on final decel initial results: dx= 0.000212,dt = 0.000612, a_f = -15.000000, v_f = 0.341462 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.000612 actual v_f = 0.341462, a = -15.000000 split time is 0.000611894 tc id = 169, canon_type = 3, mot type = 2 time: 6.875000 primary movement = 3.580688052744e-04 time: 6.875000000001e+00 total movement = 3.580688052744e-04 vel = 3.506404361981e-01 ------------------- tc id 169 done Finishing split-cycle on id 169 tc state : vr = 0.341462, vf = 0.241450, maxvel = 9.316913, current_vel = 0.328445, fs = 1.000000, tc = 0.000388, term = 3 tc result: v = 0.328445, acc = -33.541020,T = 0.000869, P = 0.000130 on final decel initial results: dx= 0.000739,dt = 0.002594, a_f = -33.541020, v_f = 0.241450 dt = 0.002594, not at end yet secondary movement = 0.000130 tc id = 169, canon_type = 2, mot type = 1 time: 6.876000 primary movement = 2.117317748716e-04 time: 6.876000000001e+00 total movement = 3.417292470231e-04 vel = 3.284445502118e-01 Finished tc id 169 ------------------- Activate tc id = 169 target_vel = 0.341462 final_vel = 0.241450 length = 0.000869 tc state : vr = 0.341462, vf = 0.241450, maxvel = 9.316913, current_vel = 0.294904, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.294904, acc = -33.541020,T = 0.000869, P = 0.000442 on final decel initial results: dx= 0.000427,dt = 0.001594, a_f = -33.541020, v_f = 0.241450 dt = 0.001594, not at end yet tc id = 169, canon_type = 2, mot type = 1 time: 6.877000 primary movement = 3.116740403806e-04 time: 6.877000000001e+00 total movement = 3.116740403806e-04 vel = 2.949035305493e-01 ------------------- tc state : vr = 0.341462, vf = 0.241450, maxvel = 9.316913, current_vel = 0.261363, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.261363, acc = -33.541020,T = 0.000869, P = 0.000720 on final decel initial results: dx= 0.000149,dt = 0.000594, a_f = -33.541020, v_f = 0.241450 recalculating with a_f = -33.541020, a = -33.541020 revised dt = 0.000594 actual v_f = 0.241450, a = -33.541020 split time is 0.000593673 tc id = 169, canon_type = 2, mot type = 1 time: 6.878000 primary movement = 2.781330207181e-04 time: 6.878000000001e+00 total movement = 2.781330207181e-04 vel = 2.613625108868e-01 ------------------- tc id 169 done Finishing split-cycle on id 170 tc state : vr = 0.241450, vf = 0.000000, maxvel = 0.413837, current_vel = 0.241450, fs = 1.000000, tc = 0.000406, term = 3 tc result: v = 0.241450, acc = 0.000000,T = 0.006046, P = 0.000098 initial results: dx= 0.005948,dt = 0.049271, a_f = -4.900465, v_f = 0.000000 dt = 0.049271, not at end yet secondary movement = 0.000098 tc id = 170, canon_type = 3, mot type = 2 time: 6.879000 primary movement = 1.492531107637e-04 time: 6.879000000001e+00 total movement = 2.473599357099e-04 vel = 2.414501171079e-01 Finished tc id 169 ------------------- Activate tc id = 170 target_vel = 0.241450 final_vel = 0.000000 length = 0.006046 tc state : vr = 0.241450, vf = 0.000000, maxvel = 0.413837, current_vel = 0.241450, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.241450, acc = 0.000000,T = 0.006046, P = 0.000340 initial results: dx= 0.005707,dt = 0.047271, a_f = -5.107801, v_f = 0.000000 dt = 0.047271, not at end yet tc id = 170, canon_type = 3, mot type = 2 time: 6.880000 primary movement = 2.414366197007e-04 time: 6.880000000001e+00 total movement = 2.414366197007e-04 vel = 2.414501171079e-01 ------------------- tc state : vr = 0.241450, vf = 0.000000, maxvel = 0.413837, current_vel = 0.241450, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.241450, acc = 0.000000,T = 0.006046, P = 0.000581 initial results: dx= 0.005465,dt = 0.045271, a_f = -5.333456, v_f = 0.000000 dt = 0.045271, not at end yet tc id = 170, canon_type = 3, mot type = 2 time: 6.881000 primary movement = 2.414366197006e-04 time: 6.881000000001e+00 total movement = 2.414366197006e-04 vel = 2.414501171079e-01 ------------------- tc state : vr = 0.241450, vf = 0.000000, maxvel = 0.413837, current_vel = 0.241450, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.241450, acc = 0.000000,T = 0.006046, P = 0.000822 initial results: dx= 0.005224,dt = 0.043271, a_f = -5.579971, v_f = 0.000000 dt = 0.043271, not at end yet tc id = 170, canon_type = 3, mot type = 2 time: 6.882000 primary movement = 2.414366197007e-04 time: 6.882000000001e+00 total movement = 2.414366197007e-04 vel = 2.414501171079e-01 ------------------- tc state : vr = 0.241450, vf = 0.000000, maxvel = 0.413837, current_vel = 0.241450, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.241450, acc = 0.000000,T = 0.006046, P = 0.001064 initial results: dx= 0.004982,dt = 0.041271, a_f = -5.850378, v_f = 0.000000 dt = 0.041271, not at end yet tc id = 170, canon_type = 3, mot type = 2 time: 6.883000 primary movement = 2.414366197006e-04 time: 6.883000000001e+00 total movement = 2.414366197006e-04 vel = 2.414501171079e-01 ------------------- tc state : vr = 0.241450, vf = 0.000000, maxvel = 0.413837, current_vel = 0.241450, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.241450, acc = 0.000000,T = 0.006046, P = 0.001305 initial results: dx= 0.004741,dt = 0.039271, a_f = -6.148328, v_f = 0.000000 dt = 0.039271, not at end yet tc id = 170, canon_type = 3, mot type = 2 time: 6.884000 primary movement = 2.414366197007e-04 time: 6.884000000001e+00 total movement = 2.414366197007e-04 vel = 2.414501171079e-01 ------------------- tc state : vr = 0.241450, vf = 0.000000, maxvel = 0.413837, current_vel = 0.241450, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.241450, acc = 0.000000,T = 0.006046, P = 0.001547 initial results: dx= 0.004500,dt = 0.037271, a_f = -6.478255, v_f = 0.000000 dt = 0.037271, not at end yet tc id = 170, canon_type = 3, mot type = 2 time: 6.885000 primary movement = 2.414366197006e-04 time: 6.885000000001e+00 total movement = 2.414366197006e-04 vel = 2.414501171079e-01 ------------------- tc state : vr = 0.241450, vf = 0.000000, maxvel = 0.413837, current_vel = 0.241450, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.241450, acc = 0.000000,T = 0.006046, P = 0.001788 initial results: dx= 0.004258,dt = 0.035271, a_f = -6.845598, v_f = 0.000000 dt = 0.035271, not at end yet tc id = 170, canon_type = 3, mot type = 2 time: 6.886000 primary movement = 2.414366197007e-04 time: 6.886000000001e+00 total movement = 2.414366197007e-04 vel = 2.414501171079e-01 ------------------- tc state : vr = 0.241450, vf = 0.000000, maxvel = 0.413837, current_vel = 0.241450, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.241450, acc = 0.000000,T = 0.006046, P = 0.002030 initial results: dx= 0.004017,dt = 0.033271, a_f = -7.257106, v_f = 0.000000 dt = 0.033271, not at end yet tc id = 170, canon_type = 3, mot type = 2 time: 6.887000 primary movement = 2.414366197006e-04 time: 6.887000000001e+00 total movement = 2.414366197006e-04 vel = 2.414501171079e-01 ------------------- tc state : vr = 0.241450, vf = 0.000000, maxvel = 0.413837, current_vel = 0.241450, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.241450, acc = 0.000000,T = 0.006046, P = 0.002271 initial results: dx= 0.003775,dt = 0.031271, a_f = -7.721251, v_f = 0.000000 dt = 0.031271, not at end yet tc id = 170, canon_type = 3, mot type = 2 time: 6.888000 primary movement = 2.414366197006e-04 time: 6.888000000001e+00 total movement = 2.414366197006e-04 vel = 2.414501171079e-01 ------------------- tc state : vr = 0.241450, vf = 0.000000, maxvel = 0.413837, current_vel = 0.241450, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.241450, acc = 0.000000,T = 0.006046, P = 0.002513 initial results: dx= 0.003534,dt = 0.029271, a_f = -8.248823, v_f = 0.000000 dt = 0.029271, not at end yet tc id = 170, canon_type = 3, mot type = 2 time: 6.889000 primary movement = 2.414366197007e-04 time: 6.889000000001e+00 total movement = 2.414366197007e-04 vel = 2.414501171079e-01 ------------------- tc state : vr = 0.241450, vf = 0.000000, maxvel = 0.413837, current_vel = 0.241450, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.241450, acc = 0.000000,T = 0.006046, P = 0.002754 initial results: dx= 0.003292,dt = 0.027271, a_f = -8.853778, v_f = 0.000000 dt = 0.027271, not at end yet tc id = 170, canon_type = 3, mot type = 2 time: 6.890000 primary movement = 2.414366197007e-04 time: 6.890000000001e+00 total movement = 2.414366197007e-04 vel = 2.414501171079e-01 ------------------- tc state : vr = 0.241450, vf = 0.000000, maxvel = 0.413837, current_vel = 0.241450, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.241450, acc = 0.000000,T = 0.006046, P = 0.002996 initial results: dx= 0.003051,dt = 0.025271, a_f = -9.554489, v_f = 0.000000 dt = 0.025271, not at end yet tc id = 170, canon_type = 3, mot type = 2 time: 6.891000 primary movement = 2.414366197007e-04 time: 6.891000000001e+00 total movement = 2.414366197007e-04 vel = 2.414501171079e-01 ------------------- tc state : vr = 0.241450, vf = 0.000000, maxvel = 0.413837, current_vel = 0.241450, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.241450, acc = 0.000000,T = 0.006046, P = 0.003237 initial results: dx= 0.002809,dt = 0.023271, a_f = -10.375644, v_f = 0.000000 dt = 0.023271, not at end yet tc id = 170, canon_type = 3, mot type = 2 time: 6.892000 primary movement = 2.414366197006e-04 time: 6.892000000001e+00 total movement = 2.414366197006e-04 vel = 2.414501171079e-01 ------------------- tc state : vr = 0.241450, vf = 0.000000, maxvel = 0.413837, current_vel = 0.241450, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.241450, acc = 0.000000,T = 0.006046, P = 0.003478 initial results: dx= 0.002568,dt = 0.021271, a_f = -11.351217, v_f = 0.000000 dt = 0.021271, not at end yet tc id = 170, canon_type = 3, mot type = 2 time: 6.893000 primary movement = 2.414366197007e-04 time: 6.893000000001e+00 total movement = 2.414366197007e-04 vel = 2.414501171079e-01 ------------------- tc state : vr = 0.241450, vf = 0.000000, maxvel = 0.413837, current_vel = 0.241450, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.241450, acc = 0.000000,T = 0.006046, P = 0.003720 initial results: dx= 0.002326,dt = 0.019271, a_f = -12.529288, v_f = 0.000000 dt = 0.019271, not at end yet tc id = 170, canon_type = 3, mot type = 2 time: 6.894000 primary movement = 2.414366197007e-04 time: 6.894000000001e+00 total movement = 2.414366197007e-04 vel = 2.414501171079e-01 ------------------- tc state : vr = 0.241450, vf = 0.000000, maxvel = 0.413837, current_vel = 0.241450, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.241450, acc = 0.000000,T = 0.006046, P = 0.003961 initial results: dx= 0.002085,dt = 0.017271, a_f = -13.980205, v_f = 0.000000 dt = 0.017271, not at end yet tc id = 170, canon_type = 3, mot type = 2 time: 6.895000 primary movement = 2.414366197007e-04 time: 6.895000000001e+00 total movement = 2.414366197007e-04 vel = 2.414501171079e-01 ------------------- tc state : vr = 0.241450, vf = 0.000000, maxvel = 0.413837, current_vel = 0.235369, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.235369, acc = -6.081319,T = 0.006046, P = 0.004200 on final decel initial results: dx= 0.001847,dt = 0.015691, a_f = -15.000000, v_f = 0.000000 dt = 0.015691, not at end yet tc id = 170, canon_type = 3, mot type = 2 time: 6.896000 primary movement = 2.383964638971e-04 time: 6.896000000001e+00 total movement = 2.383964638971e-04 vel = 2.353687984380e-01 ------------------- tc state : vr = 0.241450, vf = 0.000000, maxvel = 0.413837, current_vel = 0.220369, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.220369, acc = -15.000000,T = 0.006046, P = 0.004428 on final decel initial results: dx= 0.001619,dt = 0.014691, a_f = -15.000000, v_f = 0.000000 dt = 0.014691, not at end yet tc id = 170, canon_type = 3, mot type = 2 time: 6.897000 primary movement = 2.278574529424e-04 time: 6.897000000001e+00 total movement = 2.278574529424e-04 vel = 2.203687984380e-01 ------------------- tc state : vr = 0.241450, vf = 0.000000, maxvel = 0.413837, current_vel = 0.205369, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.205369, acc = -15.000000,T = 0.006046, P = 0.004640 on final decel initial results: dx= 0.001406,dt = 0.013691, a_f = -15.000000, v_f = 0.000000 dt = 0.013691, not at end yet tc id = 170, canon_type = 3, mot type = 2 time: 6.898000 primary movement = 2.128595492046e-04 time: 6.898000000001e+00 total movement = 2.128595492046e-04 vel = 2.053687984380e-01 ------------------- tc state : vr = 0.241450, vf = 0.000000, maxvel = 0.413837, current_vel = 0.190369, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.190369, acc = -15.000000,T = 0.006046, P = 0.004838 on final decel initial results: dx= 0.001208,dt = 0.012691, a_f = -15.000000, v_f = 0.000000 dt = 0.012691, not at end yet tc id = 170, canon_type = 3, mot type = 2 time: 6.899000 primary movement = 1.978613699157e-04 time: 6.899000000001e+00 total movement = 1.978613699157e-04 vel = 1.903687984380e-01 ------------------- tc state : vr = 0.241450, vf = 0.000000, maxvel = 0.413837, current_vel = 0.175369, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.175369, acc = -15.000000,T = 0.006046, P = 0.005021 on final decel initial results: dx= 0.001025,dt = 0.011691, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.011691 dt = 0.011691, not at end yet tc id = 170, canon_type = 3, mot type = 2 time: 6.900000 primary movement = 1.828629344911e-04 time: 6.900000000001e+00 total movement = 1.828629344911e-04 vel = 1.753687984380e-01 ------------------- tc state : vr = 0.241450, vf = 0.000000, maxvel = 0.413837, current_vel = 0.160369, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.160369, acc = -15.000000,T = 0.006046, P = 0.005189 on final decel initial results: dx= 0.000857,dt = 0.010691, a_f = -15.000000, v_f = 0.000000 dt = 0.010691, not at end yet tc id = 170, canon_type = 3, mot type = 2 time: 6.901000 primary movement = 1.678642623466e-04 time: 6.901000000001e+00 total movement = 1.678642623466e-04 vel = 1.603687984380e-01 ------------------- tc state : vr = 0.241450, vf = 0.000000, maxvel = 0.413837, current_vel = 0.145369, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.145369, acc = -15.000000,T = 0.006046, P = 0.005342 on final decel initial results: dx= 0.000704,dt = 0.009691, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.009691 dt = 0.009691, not at end yet tc id = 170, canon_type = 3, mot type = 2 time: 6.902000 primary movement = 1.528653728983e-04 time: 6.902000000001e+00 total movement = 1.528653728983e-04 vel = 1.453687984380e-01 ------------------- tc state : vr = 0.241450, vf = 0.000000, maxvel = 0.413837, current_vel = 0.130369, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.130369, acc = -15.000000,T = 0.006046, P = 0.005480 on final decel initial results: dx= 0.000567,dt = 0.008691, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.008691 dt = 0.008691, not at end yet tc id = 170, canon_type = 3, mot type = 2 time: 6.903000 primary movement = 1.378662855626e-04 time: 6.903000000001e+00 total movement = 1.378662855626e-04 vel = 1.303687984380e-01 ------------------- tc state : vr = 0.241450, vf = 0.000000, maxvel = 0.413837, current_vel = 0.115369, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.115369, acc = -15.000000,T = 0.006046, P = 0.005603 on final decel initial results: dx= 0.000444,dt = 0.007691, a_f = -15.000000, v_f = 0.000000 dt = 0.007691, not at end yet tc id = 170, canon_type = 3, mot type = 2 time: 6.904000 primary movement = 1.228670197560e-04 time: 6.904000000001e+00 total movement = 1.228670197560e-04 vel = 1.153687984380e-01 ------------------- tc state : vr = 0.241450, vf = 0.000000, maxvel = 0.413837, current_vel = 0.100369, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.100369, acc = -15.000000,T = 0.006046, P = 0.005711 on final decel initial results: dx= 0.000336,dt = 0.006691, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.006691 dt = 0.006691, not at end yet tc id = 170, canon_type = 3, mot type = 2 time: 6.905000 primary movement = 1.078675948955e-04 time: 6.905000000001e+00 total movement = 1.078675948955e-04 vel = 1.003687984380e-01 ------------------- tc state : vr = 0.241450, vf = 0.000000, maxvel = 0.413837, current_vel = 0.085369, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.085369, acc = -15.000000,T = 0.006046, P = 0.005803 on final decel initial results: dx= 0.000243,dt = 0.005691, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.005691 dt = 0.005691, not at end yet tc id = 170, canon_type = 3, mot type = 2 time: 6.906000 primary movement = 9.286803039811e-05 time: 6.906000000001e+00 total movement = 9.286803039811e-05 vel = 8.536879843803e-02 ------------------- tc state : vr = 0.241450, vf = 0.000000, maxvel = 0.413837, current_vel = 0.070369, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.070369, acc = -15.000000,T = 0.006046, P = 0.005881 on final decel initial results: dx= 0.000165,dt = 0.004691, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.004691 dt = 0.004691, not at end yet tc id = 170, canon_type = 3, mot type = 2 time: 6.907000 primary movement = 7.786834568121e-05 time: 6.907000000001e+00 total movement = 7.786834568121e-05 vel = 7.036879843803e-02 ------------------- tc state : vr = 0.241450, vf = 0.000000, maxvel = 0.413837, current_vel = 0.055369, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.055369, acc = -15.000000,T = 0.006046, P = 0.005944 on final decel initial results: dx= 0.000102,dt = 0.003691, a_f = -15.000000, v_f = 0.000000 dt = 0.003691, not at end yet tc id = 170, canon_type = 3, mot type = 2 time: 6.908000 primary movement = 6.286856016195e-05 time: 6.908000000001e+00 total movement = 6.286856016195e-05 vel = 5.536879843803e-02 ------------------- tc state : vr = 0.241450, vf = 0.000000, maxvel = 0.413837, current_vel = 0.040369, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.040369, acc = -15.000000,T = 0.006046, P = 0.005992 on final decel initial results: dx= 0.000054,dt = 0.002691, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.002691 dt = 0.002691, not at end yet tc id = 170, canon_type = 3, mot type = 2 time: 6.909000 primary movement = 4.786869325815e-05 time: 6.909000000001e+00 total movement = 4.786869325815e-05 vel = 4.036879843803e-02 ------------------- tc state : vr = 0.241450, vf = 0.000000, maxvel = 0.413837, current_vel = 0.025369, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.025369, acc = -15.000000,T = 0.006046, P = 0.006025 on final decel initial results: dx= 0.000021,dt = 0.001691, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.001691 dt = 0.001691, not at end yet tc id = 170, canon_type = 3, mot type = 2 time: 6.910000 primary movement = 3.286876438729e-05 time: 6.910000000001e+00 total movement = 3.286876438729e-05 vel = 2.536879843803e-02 ------------------- tc state : vr = 0.241450, vf = 0.000000, maxvel = 0.413837, current_vel = 0.010369, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.010369, acc = -15.000000,T = 0.006046, P = 0.006043 on final decel initial results: dx= 0.000004,dt = 0.000691, a_f = -15.000000, v_f = 0.000000 actual v_f = 0.000000, a = -15.000000 split time is 0.000691253 tc id = 170, canon_type = 3, mot type = 2 time: 6.911000 primary movement = 1.786879296710e-05 time: 6.911000000001e+00 total movement = 1.786879296710e-05 vel = 1.036879843803e-02 ------------------- tc id 170 done Finishing split-cycle on id 170 tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.005152, fs = 1.000000, tc = 0.000309, term = 2 tc result: v = 0.005152, acc = 16.687500,T = 0.005645, P = 0.000001 secondary movement = 0.000001 tc id = 170, canon_type = 2, mot type = 1 time: 6.912000 primary movement = 3.583732657494e-06 time: 6.912000000001e+00 total movement = 4.379097025717e-06 vel = 5.152211737690e-03 Finished tc id 170 ------------------- Activate tc id = 170 target_vel = 9.270796 final_vel = 0.000000 length = 0.005645 Activate nexttc id 171 tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.021840, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.021840, acc = 16.687500,T = 0.005645, P = 0.000014 tc id = 170, canon_type = 2, mot type = 1 time: 6.913000 primary movement = 1.349596173769e-05 time: 6.913000000001e+00 total movement = 1.349596173769e-05 vel = 2.183971173769e-02 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.038527, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.038527, acc = 16.687500,T = 0.005645, P = 0.000044 tc id = 170, canon_type = 2, mot type = 1 time: 6.914000 primary movement = 3.018346173772e-05 time: 6.914000000001e+00 total movement = 3.018346173772e-05 vel = 3.852721173769e-02 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.055215, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.055215, acc = 16.687500,T = 0.005645, P = 0.000091 tc id = 170, canon_type = 2, mot type = 1 time: 6.915000 primary movement = 4.687096173766e-05 time: 6.915000000001e+00 total movement = 4.687096173766e-05 vel = 5.521471173769e-02 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.071902, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.071902, acc = 16.687500,T = 0.005645, P = 0.000155 tc id = 170, canon_type = 2, mot type = 1 time: 6.916000 primary movement = 6.355846173769e-05 time: 6.916000000001e+00 total movement = 6.355846173769e-05 vel = 7.190221173769e-02 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.088590, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.088590, acc = 16.687500,T = 0.005645, P = 0.000235 tc id = 170, canon_type = 2, mot type = 1 time: 6.917000 primary movement = 8.024596173769e-05 time: 6.917000000001e+00 total movement = 8.024596173769e-05 vel = 8.858971173769e-02 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.105277, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.105277, acc = 16.687500,T = 0.005645, P = 0.000332 tc id = 170, canon_type = 2, mot type = 1 time: 6.918000 primary movement = 9.693346173772e-05 time: 6.918000000001e+00 total movement = 9.693346173772e-05 vel = 1.052772117377e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.121965, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.121965, acc = 16.687500,T = 0.005645, P = 0.000446 tc id = 170, canon_type = 2, mot type = 1 time: 6.919000 primary movement = 1.136209617377e-04 time: 6.919000000001e+00 total movement = 1.136209617377e-04 vel = 1.219647117377e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.138652, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.138652, acc = 16.687500,T = 0.005645, P = 0.000576 tc id = 170, canon_type = 2, mot type = 1 time: 6.920000 primary movement = 1.303084617377e-04 time: 6.920000000001e+00 total movement = 1.303084617377e-04 vel = 1.386522117377e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.155340, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.155340, acc = 16.687500,T = 0.005645, P = 0.000723 tc id = 170, canon_type = 2, mot type = 1 time: 6.921000 primary movement = 1.469959617377e-04 time: 6.921000000001e+00 total movement = 1.469959617377e-04 vel = 1.553397117377e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.172027, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.172027, acc = 16.687500,T = 0.005645, P = 0.000887 tc id = 170, canon_type = 2, mot type = 1 time: 6.922000 primary movement = 1.636834617377e-04 time: 6.922000000001e+00 total movement = 1.636834617377e-04 vel = 1.720272117377e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.188715, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.188715, acc = 16.687500,T = 0.005645, P = 0.001067 tc id = 170, canon_type = 2, mot type = 1 time: 6.923000 primary movement = 1.803709617377e-04 time: 6.923000000001e+00 total movement = 1.803709617377e-04 vel = 1.887147117377e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.205402, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.205402, acc = 16.687500,T = 0.005645, P = 0.001264 tc id = 170, canon_type = 2, mot type = 1 time: 6.924000 primary movement = 1.970584617377e-04 time: 6.924000000001e+00 total movement = 1.970584617377e-04 vel = 2.054022117377e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.222090, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.222090, acc = 16.687500,T = 0.005645, P = 0.001478 tc id = 170, canon_type = 2, mot type = 1 time: 6.925000 primary movement = 2.137459617377e-04 time: 6.925000000001e+00 total movement = 2.137459617377e-04 vel = 2.220897117377e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.238777, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.238777, acc = 16.687500,T = 0.005645, P = 0.001708 tc id = 170, canon_type = 2, mot type = 1 time: 6.926000 primary movement = 2.304334617377e-04 time: 6.926000000001e+00 total movement = 2.304334617377e-04 vel = 2.387772117377e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.255465, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.255465, acc = 16.687500,T = 0.005645, P = 0.001955 tc id = 170, canon_type = 2, mot type = 1 time: 6.927000 primary movement = 2.471209617377e-04 time: 6.927000000001e+00 total movement = 2.471209617377e-04 vel = 2.554647117377e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.272152, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.272152, acc = 16.687500,T = 0.005645, P = 0.002219 tc id = 170, canon_type = 2, mot type = 1 time: 6.928000 primary movement = 2.638084617377e-04 time: 6.928000000001e+00 total movement = 2.638084617377e-04 vel = 2.721522117377e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.288840, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.288840, acc = 16.687500,T = 0.005645, P = 0.002500 tc id = 170, canon_type = 2, mot type = 1 time: 6.929000 primary movement = 2.804959617377e-04 time: 6.929000000001e+00 total movement = 2.804959617377e-04 vel = 2.888397117377e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.305527, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.305527, acc = 16.687500,T = 0.005645, P = 0.002797 tc id = 170, canon_type = 2, mot type = 1 time: 6.930000 primary movement = 2.971834617377e-04 time: 6.930000000001e+00 total movement = 2.971834617377e-04 vel = 3.055272117377e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.291721, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.291721, acc = -13.806227,T = 0.005645, P = 0.003096 on final decel tc id = 170, canon_type = 2, mot type = 1 tc state : vr = 0.013806, vf = 0.000000, maxvel = 0.411435, current_vel = 0.007500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.007500, acc = 7.500000,T = 0.012045, P = 0.000004 tc id = 170, canon_type = 2, mot type = 1 secondary movement = 0.000004 time: 6.931000 primary movement = 2.986240983430e-04 time: 6.931000000001e+00 total movement = 3.023741039497e-04 vel = 2.992209849483e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.275033, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.275033, acc = -16.687500,T = 0.005645, P = 0.003379 on final decel tc id = 170, canon_type = 2, mot type = 1 tc state : vr = 0.030494, vf = 0.000000, maxvel = 0.411435, current_vel = 0.015000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.015000, acc = 7.500000,T = 0.012045, P = 0.000015 tc id = 170, canon_type = 2, mot type = 1 secondary movement = 0.000011 time: 6.932000 primary movement = 2.833772349483e-04 time: 6.932000000001e+00 total movement = 2.946272392781e-04 vel = 2.900334849483e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.258346, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.258346, acc = -16.687500,T = 0.005645, P = 0.003646 on final decel tc id = 170, canon_type = 2, mot type = 1 tc state : vr = 0.047181, vf = 0.000000, maxvel = 0.411435, current_vel = 0.022500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.022500, acc = 7.500000,T = 0.012045, P = 0.000034 tc id = 170, canon_type = 2, mot type = 1 secondary movement = 0.000019 time: 6.933000 primary movement = 2.666897349483e-04 time: 6.933000000001e+00 total movement = 2.854397005302e-04 vel = 2.808459849483e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.241658, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.241658, acc = -16.687500,T = 0.005645, P = 0.003896 on final decel tc id = 170, canon_type = 2, mot type = 1 tc state : vr = 0.063869, vf = 0.000000, maxvel = 0.411435, current_vel = 0.030000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.030000, acc = 7.500000,T = 0.012045, P = 0.000060 tc id = 170, canon_type = 2, mot type = 1 secondary movement = 0.000026 time: 6.934000 primary movement = 2.500022349484e-04 time: 6.934000000001e+00 total movement = 2.762520993308e-04 vel = 2.716584849483e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.224971, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.224971, acc = -16.687500,T = 0.005645, P = 0.004129 on final decel tc id = 170, canon_type = 2, mot type = 1 tc state : vr = 0.080556, vf = 0.000000, maxvel = 0.411435, current_vel = 0.037500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.037500, acc = 7.500000,T = 0.012045, P = 0.000094 tc id = 170, canon_type = 2, mot type = 1 secondary movement = 0.000034 time: 6.935000 primary movement = 2.333147349483e-04 time: 6.935000000001e+00 total movement = 2.670644106991e-04 vel = 2.624709849483e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.208283, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.208283, acc = -16.687500,T = 0.005645, P = 0.004346 on final decel tc id = 170, canon_type = 2, mot type = 1 tc state : vr = 0.097244, vf = 0.000000, maxvel = 0.411435, current_vel = 0.045000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.045000, acc = 7.500000,T = 0.012045, P = 0.000135 tc id = 170, canon_type = 2, mot type = 1 secondary movement = 0.000041 time: 6.936000 primary movement = 2.166272349483e-04 time: 6.936000000001e+00 total movement = 2.578766096547e-04 vel = 2.532834849483e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.191596, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.191596, acc = -16.687500,T = 0.005645, P = 0.004545 on final decel tc id = 170, canon_type = 2, mot type = 1 tc state : vr = 0.113931, vf = 0.000000, maxvel = 0.411435, current_vel = 0.052500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.052500, acc = 7.500000,T = 0.012045, P = 0.000184 tc id = 170, canon_type = 2, mot type = 1 secondary movement = 0.000049 time: 6.937000 primary movement = 1.999397349483e-04 time: 6.937000000001e+00 total movement = 2.486886712169e-04 vel = 2.440959849483e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.174908, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.174908, acc = -16.687500,T = 0.005645, P = 0.004729 on final decel tc id = 170, canon_type = 2, mot type = 1 tc state : vr = 0.130619, vf = 0.000000, maxvel = 0.411435, current_vel = 0.060000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.060000, acc = 7.500000,T = 0.012045, P = 0.000240 tc id = 170, canon_type = 2, mot type = 1 secondary movement = 0.000056 time: 6.938000 primary movement = 1.832522349483e-04 time: 6.938000000001e+00 total movement = 2.395005704054e-04 vel = 2.349084849483e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.158221, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.158221, acc = -16.687500,T = 0.005645, P = 0.004895 on final decel tc id = 170, canon_type = 2, mot type = 1 tc state : vr = 0.147306, vf = 0.000000, maxvel = 0.411435, current_vel = 0.067500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.067500, acc = 7.500000,T = 0.012045, P = 0.000304 tc id = 170, canon_type = 2, mot type = 1 secondary movement = 0.000064 time: 6.939000 primary movement = 1.665647349483e-04 time: 6.939000000001e+00 total movement = 2.303122822394e-04 vel = 2.257209849483e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.141533, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.141533, acc = -16.687500,T = 0.005645, P = 0.005045 on final decel tc id = 170, canon_type = 2, mot type = 1 tc state : vr = 0.163994, vf = 0.000000, maxvel = 0.411435, current_vel = 0.075000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.075000, acc = 7.500000,T = 0.012045, P = 0.000375 tc id = 170, canon_type = 2, mot type = 1 secondary movement = 0.000071 time: 6.940000 primary movement = 1.498772349484e-04 time: 6.940000000001e+00 total movement = 2.211237817388e-04 vel = 2.165334849483e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.124846, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.124846, acc = -16.687500,T = 0.005645, P = 0.005178 on final decel tc id = 170, canon_type = 2, mot type = 1 tc state : vr = 0.180681, vf = 0.000000, maxvel = 0.411435, current_vel = 0.082500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.082500, acc = 7.500000,T = 0.012045, P = 0.000454 tc id = 170, canon_type = 2, mot type = 1 secondary movement = 0.000079 time: 6.941000 primary movement = 1.331897349483e-04 time: 6.941000000001e+00 total movement = 2.119350439229e-04 vel = 2.073459849483e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.108158, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.108158, acc = -16.687500,T = 0.005645, P = 0.005295 on final decel tc id = 170, canon_type = 2, mot type = 1 tc state : vr = 0.197369, vf = 0.000000, maxvel = 0.411435, current_vel = 0.090000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.090000, acc = 7.500000,T = 0.012045, P = 0.000540 tc id = 170, canon_type = 2, mot type = 1 secondary movement = 0.000086 time: 6.942000 primary movement = 1.165022349483e-04 time: 6.942000000001e+00 total movement = 2.027460438118e-04 vel = 1.981584849483e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.091471, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.091471, acc = -16.687500,T = 0.005645, P = 0.005395 on final decel tc id = 170, canon_type = 2, mot type = 1 tc state : vr = 0.214056, vf = 0.000000, maxvel = 0.411435, current_vel = 0.097500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.097500, acc = 7.500000,T = 0.012045, P = 0.000634 tc id = 171, canon_type = 3, mot type = 2 secondary movement = 0.000094 time: 6.943000 primary movement = 9.981473494831e-05 time: 6.943000000001e+00 total movement = 1.935567564249e-04 vel = 1.889709849483e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.074783, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.074783, acc = -16.687500,T = 0.005645, P = 0.005478 on final decel tc id = 170, canon_type = 2, mot type = 1 tc state : vr = 0.230744, vf = 0.000000, maxvel = 0.411435, current_vel = 0.105000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.105000, acc = 7.500000,T = 0.012045, P = 0.000735 tc id = 171, canon_type = 3, mot type = 2 secondary movement = 0.000101 time: 6.944000 primary movement = 8.312723494831e-05 time: 6.944000000001e+00 total movement = 1.843671567823e-04 vel = 1.797834849483e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.058096, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.058096, acc = -16.687500,T = 0.005645, P = 0.005544 on final decel tc id = 170, canon_type = 2, mot type = 1 tc state : vr = 0.247431, vf = 0.000000, maxvel = 0.411435, current_vel = 0.112500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.112500, acc = 7.500000,T = 0.012045, P = 0.000844 tc id = 171, canon_type = 3, mot type = 2 secondary movement = 0.000109 time: 6.945000 primary movement = 6.643973494833e-05 time: 6.945000000001e+00 total movement = 1.751772199038e-04 vel = 1.705959849483e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.041408, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.041408, acc = -16.687500,T = 0.005645, P = 0.005594 on final decel tc id = 170, canon_type = 2, mot type = 1 tc state : vr = 0.264119, vf = 0.000000, maxvel = 0.411435, current_vel = 0.120000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.120000, acc = 7.500000,T = 0.012045, P = 0.000960 tc id = 171, canon_type = 3, mot type = 2 secondary movement = 0.000116 time: 6.946000 primary movement = 4.975223494834e-05 time: 6.946000000001e+00 total movement = 1.659869208095e-04 vel = 1.614084849483e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.024721, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.024721, acc = -16.687500,T = 0.005645, P = 0.005627 on final decel tc id = 170, canon_type = 2, mot type = 1 tc state : vr = 0.280806, vf = 0.000000, maxvel = 0.411435, current_vel = 0.127500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.127500, acc = 7.500000,T = 0.012045, P = 0.001084 tc id = 171, canon_type = 3, mot type = 2 secondary movement = 0.000124 time: 6.947000 primary movement = 3.306473494829e-05 time: 6.947000000001e+00 total movement = 1.567962345194e-04 vel = 1.522209849483e-01 ------------------- tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.008033, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.008033, acc = -16.687500,T = 0.005645, P = 0.005643 on final decel tc id = 170, canon_type = 2, mot type = 1 tc state : vr = 0.297494, vf = 0.000000, maxvel = 0.411435, current_vel = 0.135000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.135000, acc = 7.500000,T = 0.012045, P = 0.001215 tc id = 171, canon_type = 3, mot type = 2 secondary movement = 0.000131 time: 6.948000 primary movement = 1.637723494837e-05 time: 6.948000000001e+00 total movement = 1.476051360539e-04 vel = 1.430334849483e-01 ------------------- Found newvel = -0.008033, assuming segment is done segment 170 at target in runcycle tc state : vr = 9.270796, vf = 0.000000, maxvel = 9.270796, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.005645, P = 0.005645 tc id = 170, canon_type = 2, mot type = 1 tc state : vr = 0.305527, vf = 0.000000, maxvel = 0.411435, current_vel = 0.142500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.142500, acc = 7.500000,T = 0.012045, P = 0.001354 tc id = 171, canon_type = 3, mot type = 2 secondary movement = 0.000139 time: 6.949000 primary movement = 1.933689300804e-06 time: 6.949000000001e+00 total movement = 1.406575547857e-04 vel = 1.425000000000e-01 Finished tc id 170 ------------------- Activate nexttc id 172 tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.150000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.150000, acc = 7.500000,T = 0.012045, P = 0.001500 tc id = 171, canon_type = 3, mot type = 2 time: 6.950000 primary movement = 1.462193677295e-04 time: 6.950000000001e+00 total movement = 1.462193677295e-04 vel = 1.500000000000e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.157500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.157500, acc = 7.500000,T = 0.012045, P = 0.001654 tc id = 171, canon_type = 3, mot type = 2 time: 6.951000 primary movement = 1.537143828600e-04 time: 6.951000000001e+00 total movement = 1.537143828600e-04 vel = 1.575000000000e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.165000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.165000, acc = 7.500000,T = 0.012045, P = 0.001815 tc id = 171, canon_type = 3, mot type = 2 time: 6.952000 primary movement = 1.612088858971e-04 time: 6.952000000001e+00 total movement = 1.612088858971e-04 vel = 1.650000000000e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.172500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.172500, acc = 7.500000,T = 0.012045, P = 0.001984 tc id = 171, canon_type = 3, mot type = 2 time: 6.953000 primary movement = 1.687028518618e-04 time: 6.953000000001e+00 total movement = 1.687028518618e-04 vel = 1.725000000000e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.180000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.180000, acc = 7.500000,T = 0.012045, P = 0.002160 tc id = 171, canon_type = 3, mot type = 2 time: 6.954000 primary movement = 1.761962557748e-04 time: 6.954000000001e+00 total movement = 1.761962557748e-04 vel = 1.800000000000e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.187500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.187500, acc = 7.500000,T = 0.012045, P = 0.002344 tc id = 171, canon_type = 3, mot type = 2 time: 6.955000 primary movement = 1.836890726575e-04 time: 6.955000000001e+00 total movement = 1.836890726575e-04 vel = 1.875000000000e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.195000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.195000, acc = 7.500000,T = 0.012045, P = 0.002535 tc id = 171, canon_type = 3, mot type = 2 time: 6.956000 primary movement = 1.911812775311e-04 time: 6.956000000001e+00 total movement = 1.911812775311e-04 vel = 1.950000000000e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.202500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.202500, acc = 7.500000,T = 0.012045, P = 0.002734 tc id = 171, canon_type = 3, mot type = 2 time: 6.957000 primary movement = 1.986728454171e-04 time: 6.957000000001e+00 total movement = 1.986728454171e-04 vel = 2.025000000000e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.210000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.210000, acc = 7.500000,T = 0.012045, P = 0.002940 tc id = 171, canon_type = 3, mot type = 2 time: 6.958000 primary movement = 2.061637513372e-04 time: 6.958000000001e+00 total movement = 2.061637513372e-04 vel = 2.100000000000e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.217500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.217500, acc = 7.500000,T = 0.012045, P = 0.003154 tc id = 171, canon_type = 3, mot type = 2 time: 6.959000 primary movement = 2.136539703132e-04 time: 6.959000000001e+00 total movement = 2.136539703132e-04 vel = 2.175000000000e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.225000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.225000, acc = 7.500000,T = 0.012045, P = 0.003375 tc id = 171, canon_type = 3, mot type = 2 time: 6.960000 primary movement = 2.211434773671e-04 time: 6.960000000001e+00 total movement = 2.211434773671e-04 vel = 2.250000000000e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.232500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.232500, acc = 7.500000,T = 0.012045, P = 0.003604 tc id = 171, canon_type = 3, mot type = 2 time: 6.961000 primary movement = 2.286322475210e-04 time: 6.961000000001e+00 total movement = 2.286322475210e-04 vel = 2.325000000000e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.240000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.240000, acc = 7.500000,T = 0.012045, P = 0.003840 tc id = 171, canon_type = 3, mot type = 2 time: 6.962000 primary movement = 2.361202557976e-04 time: 6.962000000001e+00 total movement = 2.361202557976e-04 vel = 2.400000000000e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.247500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.247500, acc = 7.500000,T = 0.012045, P = 0.004084 tc id = 171, canon_type = 3, mot type = 2 time: 6.963000 primary movement = 2.436074772192e-04 time: 6.963000000001e+00 total movement = 2.436074772192e-04 vel = 2.475000000000e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.255000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.255000, acc = 7.500000,T = 0.012045, P = 0.004335 tc id = 171, canon_type = 3, mot type = 2 time: 6.964000 primary movement = 2.510938868088e-04 time: 6.964000000001e+00 total movement = 2.510938868088e-04 vel = 2.550000000000e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.262500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.262500, acc = 7.500000,T = 0.012045, P = 0.004594 tc id = 171, canon_type = 3, mot type = 2 time: 6.965000 primary movement = 2.585794595894e-04 time: 6.965000000001e+00 total movement = 2.585794595894e-04 vel = 2.625000000000e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.270000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.270000, acc = 7.500000,T = 0.012045, P = 0.004860 tc id = 171, canon_type = 3, mot type = 2 time: 6.966000 primary movement = 2.660641705844e-04 time: 6.966000000001e+00 total movement = 2.660641705844e-04 vel = 2.700000000000e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.277500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.277500, acc = 7.500000,T = 0.012045, P = 0.005134 tc id = 171, canon_type = 3, mot type = 2 time: 6.967000 primary movement = 2.735479948171e-04 time: 6.967000000001e+00 total movement = 2.735479948171e-04 vel = 2.775000000000e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.285000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.285000, acc = 7.500000,T = 0.012045, P = 0.005415 tc id = 171, canon_type = 3, mot type = 2 time: 6.968000 primary movement = 2.810309073114e-04 time: 6.968000000001e+00 total movement = 2.810309073114e-04 vel = 2.850000000000e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.292500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.292500, acc = 7.500000,T = 0.012045, P = 0.005704 tc id = 171, canon_type = 3, mot type = 2 time: 6.969000 primary movement = 2.885128830912e-04 time: 6.969000000001e+00 total movement = 2.885128830912e-04 vel = 2.925000000000e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.300000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.300000, acc = 7.500000,T = 0.012045, P = 0.006000 tc id = 171, canon_type = 3, mot type = 2 time: 6.970000 primary movement = 2.959938971809e-04 time: 6.970000000001e+00 total movement = 2.959938971809e-04 vel = 3.000000000000e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.293640, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.293640, acc = -6.360375,T = 0.012045, P = 0.006297 on final decel tc id = 171, canon_type = 3, mot type = 2 time: 6.971000 primary movement = 2.965504873612e-04 time: 6.971000000001e+00 total movement = 2.965504873612e-04 vel = 2.936396253083e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.286140, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.286140, acc = -7.500000,T = 0.012045, P = 0.006587 on final decel tc id = 171, canon_type = 3, mot type = 2 time: 6.972000 primary movement = 2.896146016376e-04 time: 6.972000000001e+00 total movement = 2.896146016376e-04 vel = 2.861396253083e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.278640, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.278640, acc = -7.500000,T = 0.012045, P = 0.006869 on final decel tc id = 171, canon_type = 3, mot type = 2 time: 6.973000 primary movement = 2.821103502593e-04 time: 6.973000000001e+00 total movement = 2.821103502593e-04 vel = 2.786396253083e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.271140, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.271140, acc = -7.500000,T = 0.012045, P = 0.007144 on final decel tc id = 171, canon_type = 3, mot type = 2 time: 6.974000 primary movement = 2.746069926605e-04 time: 6.974000000001e+00 total movement = 2.746069926605e-04 vel = 2.711396253083e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.263640, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.263640, acc = -7.500000,T = 0.012045, P = 0.007411 on final decel tc id = 171, canon_type = 3, mot type = 2 time: 6.975000 primary movement = 2.671045051064e-04 time: 6.975000000001e+00 total movement = 2.671045051064e-04 vel = 2.636396253083e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.256140, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.256140, acc = -7.500000,T = 0.012045, P = 0.007671 on final decel tc id = 171, canon_type = 3, mot type = 2 time: 6.976000 primary movement = 2.596028638618e-04 time: 6.976000000001e+00 total movement = 2.596028638618e-04 vel = 2.561396253083e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.248640, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.248640, acc = -7.500000,T = 0.012045, P = 0.007924 on final decel tc id = 171, canon_type = 3, mot type = 2 time: 6.977000 primary movement = 2.521020451914e-04 time: 6.977000000001e+00 total movement = 2.521020451914e-04 vel = 2.486396253083e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.241140, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.241140, acc = -7.500000,T = 0.012045, P = 0.008169 on final decel tc id = 171, canon_type = 3, mot type = 2 time: 6.978000 primary movement = 2.446020253593e-04 time: 6.978000000001e+00 total movement = 2.446020253593e-04 vel = 2.411396253083e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.233640, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.233640, acc = -7.500000,T = 0.012045, P = 0.008406 on final decel tc id = 171, canon_type = 3, mot type = 2 time: 6.979000 primary movement = 2.371027806299e-04 time: 6.979000000001e+00 total movement = 2.371027806299e-04 vel = 2.336396253083e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.226140, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.226140, acc = -7.500000,T = 0.012045, P = 0.008636 on final decel tc id = 171, canon_type = 3, mot type = 2 time: 6.980000 primary movement = 2.296042872671e-04 time: 6.980000000001e+00 total movement = 2.296042872671e-04 vel = 2.261396253083e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.218640, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.218640, acc = -7.500000,T = 0.012045, P = 0.008858 on final decel tc id = 171, canon_type = 3, mot type = 2 time: 6.981000 primary movement = 2.221065215346e-04 time: 6.981000000001e+00 total movement = 2.221065215346e-04 vel = 2.186396253083e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.211140, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.211140, acc = -7.500000,T = 0.012045, P = 0.009073 on final decel tc id = 171, canon_type = 3, mot type = 2 time: 6.982000 primary movement = 2.146094596958e-04 time: 6.982000000001e+00 total movement = 2.146094596958e-04 vel = 2.111396253083e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.203640, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.203640, acc = -7.500000,T = 0.012045, P = 0.009280 on final decel tc id = 171, canon_type = 3, mot type = 2 time: 6.983000 primary movement = 2.071130780143e-04 time: 6.983000000001e+00 total movement = 2.071130780143e-04 vel = 2.036396253083e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.196140, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.196140, acc = -7.500000,T = 0.012045, P = 0.009480 on final decel tc id = 171, canon_type = 3, mot type = 2 time: 6.984000 primary movement = 1.996173527530e-04 time: 6.984000000001e+00 total movement = 1.996173527530e-04 vel = 1.961396253083e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.188640, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.188640, acc = -7.500000,T = 0.012045, P = 0.009673 on final decel tc id = 171, canon_type = 3, mot type = 2 time: 6.985000 primary movement = 1.921222601749e-04 time: 6.985000000001e+00 total movement = 1.921222601749e-04 vel = 1.886396253083e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.181140, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.181140, acc = -7.500000,T = 0.012045, P = 0.009858 on final decel tc id = 171, canon_type = 3, mot type = 2 time: 6.986000 primary movement = 1.846277765428e-04 time: 6.986000000001e+00 total movement = 1.846277765428e-04 vel = 1.811396253083e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.173640, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.173640, acc = -7.500000,T = 0.012045, P = 0.010035 on final decel tc id = 171, canon_type = 3, mot type = 2 time: 6.987000 primary movement = 1.771338781194e-04 time: 6.987000000001e+00 total movement = 1.771338781194e-04 vel = 1.736396253083e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.166140, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.166140, acc = -7.500000,T = 0.012045, P = 0.010205 on final decel tc id = 171, canon_type = 3, mot type = 2 tc state : vr = 0.007500, vf = 0.007500, maxvel = 8.374863, current_vel = 0.007500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.007500, acc = 7.500000,T = 0.007971, P = 0.000004 initial results: dx= 0.007968,dt = 0.045809, a_f = 7.266307, v_f = 0.340362 dt = 0.045809, not at end yet tc id = 171, canon_type = 3, mot type = 2 secondary movement = 0.000004 time: 6.988000 primary movement = 1.696405411669e-04 time: 6.988000000001e+00 total movement = 1.733905411669e-04 vel = 1.736396253083e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.158640, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.158640, acc = -7.500000,T = 0.012045, P = 0.010367 on final decel tc id = 171, canon_type = 3, mot type = 2 tc state : vr = 0.015000, vf = 0.015000, maxvel = 8.374863, current_vel = 0.015000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.015000, acc = 7.500000,T = 0.007971, P = 0.000015 initial results: dx= 0.007956,dt = 0.044779, a_f = 7.265976, v_f = 0.340362 dt = 0.044779, not at end yet tc id = 171, canon_type = 3, mot type = 2 secondary movement = 0.000011 time: 6.989000 primary movement = 1.621477419478e-04 time: 6.989000000001e+00 total movement = 1.733977419478e-04 vel = 1.736396253083e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.151140, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.151140, acc = -7.500000,T = 0.012045, P = 0.010522 on final decel tc id = 171, canon_type = 3, mot type = 2 tc state : vr = 0.022500, vf = 0.022500, maxvel = 8.374863, current_vel = 0.022500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.022500, acc = 7.500000,T = 0.007971, P = 0.000034 initial results: dx= 0.007938,dt = 0.043750, a_f = 7.265424, v_f = 0.340362 dt = 0.043750, not at end yet tc id = 171, canon_type = 3, mot type = 2 secondary movement = 0.000019 time: 6.990000 primary movement = 1.546554567241e-04 time: 6.990000000001e+00 total movement = 1.734054567241e-04 vel = 1.736396253083e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.143640, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.143640, acc = -7.500000,T = 0.012045, P = 0.010670 on final decel tc id = 171, canon_type = 3, mot type = 2 tc state : vr = 0.030000, vf = 0.030000, maxvel = 8.374863, current_vel = 0.030000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.030000, acc = 7.500000,T = 0.007971, P = 0.000060 initial results: dx= 0.007911,dt = 0.042722, a_f = 7.264645, v_f = 0.340362 dt = 0.042722, not at end yet tc id = 171, canon_type = 3, mot type = 2 secondary movement = 0.000026 time: 6.991000 primary movement = 1.471636617578e-04 time: 6.991000000001e+00 total movement = 1.734136617578e-04 vel = 1.736396253083e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.136140, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.136140, acc = -7.500000,T = 0.012045, P = 0.010810 on final decel tc id = 171, canon_type = 3, mot type = 2 tc state : vr = 0.037500, vf = 0.037500, maxvel = 8.374863, current_vel = 0.037500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.037500, acc = 7.500000,T = 0.007971, P = 0.000094 initial results: dx= 0.007878,dt = 0.041696, a_f = 7.263637, v_f = 0.340362 dt = 0.041696, not at end yet tc id = 171, canon_type = 3, mot type = 2 secondary movement = 0.000034 time: 6.992000 primary movement = 1.396723333107e-04 time: 6.992000000001e+00 total movement = 1.734223333108e-04 vel = 1.736396253083e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.128640, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.128640, acc = -7.500000,T = 0.012045, P = 0.010942 on final decel tc id = 171, canon_type = 3, mot type = 2 tc state : vr = 0.045000, vf = 0.045000, maxvel = 8.374863, current_vel = 0.045000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.045000, acc = 7.500000,T = 0.007971, P = 0.000135 initial results: dx= 0.007836,dt = 0.040670, a_f = 7.262393, v_f = 0.340362 dt = 0.040670, not at end yet tc id = 171, canon_type = 3, mot type = 2 secondary movement = 0.000041 time: 6.993000 primary movement = 1.321814476447e-04 time: 6.993000000001e+00 total movement = 1.734314476446e-04 vel = 1.736396253083e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.121140, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.121140, acc = -7.500000,T = 0.012045, P = 0.011067 on final decel tc id = 171, canon_type = 3, mot type = 2 tc state : vr = 0.052500, vf = 0.052500, maxvel = 8.374863, current_vel = 0.052500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.052500, acc = 7.500000,T = 0.007971, P = 0.000184 initial results: dx= 0.007788,dt = 0.039645, a_f = 7.260905, v_f = 0.340362 dt = 0.039645, not at end yet tc id = 171, canon_type = 3, mot type = 2 secondary movement = 0.000049 time: 6.994000 primary movement = 1.246909810211e-04 time: 6.994000000001e+00 total movement = 1.734409810211e-04 vel = 1.736396253083e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.113640, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.113640, acc = -7.500000,T = 0.012045, P = 0.011184 on final decel tc id = 171, canon_type = 3, mot type = 2 tc state : vr = 0.060000, vf = 0.060000, maxvel = 8.374863, current_vel = 0.060000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.060000, acc = 7.500000,T = 0.007971, P = 0.000240 initial results: dx= 0.007731,dt = 0.038622, a_f = 7.259166, v_f = 0.340362 dt = 0.038622, not at end yet tc id = 171, canon_type = 3, mot type = 2 secondary movement = 0.000056 time: 6.995000 primary movement = 1.172009097016e-04 time: 6.995000000001e+00 total movement = 1.734509097017e-04 vel = 1.736396253083e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.106140, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.106140, acc = -7.500000,T = 0.012045, P = 0.011294 on final decel tc id = 171, canon_type = 3, mot type = 2 tc state : vr = 0.067500, vf = 0.067500, maxvel = 8.374863, current_vel = 0.067500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.067500, acc = 7.500000,T = 0.007971, P = 0.000304 initial results: dx= 0.007668,dt = 0.037599, a_f = 7.257163, v_f = 0.340362 dt = 0.037599, not at end yet tc id = 171, canon_type = 3, mot type = 2 secondary movement = 0.000064 time: 6.996000 primary movement = 1.097112099476e-04 time: 6.996000000001e+00 total movement = 1.734612099475e-04 vel = 1.736396253083e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.098640, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.098640, acc = -7.500000,T = 0.012045, P = 0.011396 on final decel tc id = 171, canon_type = 3, mot type = 2 tc state : vr = 0.075000, vf = 0.075000, maxvel = 8.374863, current_vel = 0.075000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.075000, acc = 7.500000,T = 0.007971, P = 0.000375 initial results: dx= 0.007596,dt = 0.036577, a_f = 7.254886, v_f = 0.340362 dt = 0.036577, not at end yet tc id = 171, canon_type = 3, mot type = 2 secondary movement = 0.000071 time: 6.997000 primary movement = 1.022218580201e-04 time: 6.997000000001e+00 total movement = 1.734718580201e-04 vel = 1.736396253083e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.091140, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.091140, acc = -7.500000,T = 0.012045, P = 0.011491 on final decel tc id = 171, canon_type = 3, mot type = 2 tc state : vr = 0.082500, vf = 0.082500, maxvel = 8.374863, current_vel = 0.082500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.082500, acc = 7.500000,T = 0.007971, P = 0.000454 initial results: dx= 0.007518,dt = 0.035556, a_f = 7.252318, v_f = 0.340362 dt = 0.035556, not at end yet tc id = 171, canon_type = 3, mot type = 2 secondary movement = 0.000079 time: 6.998000 primary movement = 9.473283018040e-05 time: 6.998000000001e+00 total movement = 1.734828301804e-04 vel = 1.736396253083e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.083640, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.083640, acc = -7.500000,T = 0.012045, P = 0.011579 on final decel tc id = 171, canon_type = 3, mot type = 2 tc state : vr = 0.090000, vf = 0.090000, maxvel = 8.374863, current_vel = 0.090000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.090000, acc = 7.500000,T = 0.007971, P = 0.000540 initial results: dx= 0.007431,dt = 0.034535, a_f = 7.249443, v_f = 0.340362 dt = 0.034535, not at end yet tc id = 172, canon_type = 2, mot type = 1 secondary movement = 0.000086 time: 6.999000 primary movement = 8.724410268960e-05 time: 6.999000000001e+00 total movement = 1.734941026896e-04 vel = 1.736396253083e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.076140, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.076140, acc = -7.500000,T = 0.012045, P = 0.011659 on final decel tc id = 171, canon_type = 3, mot type = 2 tc state : vr = 0.097500, vf = 0.097500, maxvel = 8.374863, current_vel = 0.097500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.097500, acc = 7.500000,T = 0.007971, P = 0.000634 initial results: dx= 0.007338,dt = 0.033516, a_f = 7.246242, v_f = 0.340362 dt = 0.033516, not at end yet tc id = 172, canon_type = 2, mot type = 1 secondary movement = 0.000094 time: 7.000000 primary movement = 7.975565180865e-05 time: 7.000000000001e+00 total movement = 1.735056518086e-04 vel = 1.736396253083e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.068640, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.068640, acc = -7.500000,T = 0.012045, P = 0.011731 on final decel tc id = 171, canon_type = 3, mot type = 2 tc state : vr = 0.105000, vf = 0.105000, maxvel = 8.374863, current_vel = 0.105000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.105000, acc = 7.500000,T = 0.007971, P = 0.000735 initial results: dx= 0.007236,dt = 0.032496, a_f = 7.242692, v_f = 0.340362 dt = 0.032496, not at end yet tc id = 172, canon_type = 2, mot type = 1 secondary movement = 0.000101 time: 7.001000 primary movement = 7.226745379839e-05 time: 7.001000000001e+00 total movement = 1.735174537984e-04 vel = 1.736396253083e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.061140, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.061140, acc = -7.500000,T = 0.012045, P = 0.011796 on final decel tc id = 171, canon_type = 3, mot type = 2 tc state : vr = 0.112500, vf = 0.112500, maxvel = 8.374863, current_vel = 0.112500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.112500, acc = 7.500000,T = 0.007971, P = 0.000844 initial results: dx= 0.007128,dt = 0.031478, a_f = 7.238766, v_f = 0.340362 dt = 0.031478, not at end yet tc id = 172, canon_type = 2, mot type = 1 secondary movement = 0.000109 time: 7.002000 primary movement = 6.477948491978e-05 time: 7.002000000001e+00 total movement = 1.735294849197e-04 vel = 1.736396253083e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.053640, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.053640, acc = -7.500000,T = 0.012045, P = 0.011853 on final decel tc id = 171, canon_type = 3, mot type = 2 tc state : vr = 0.120000, vf = 0.120000, maxvel = 8.374863, current_vel = 0.120000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.120000, acc = 7.500000,T = 0.007971, P = 0.000960 initial results: dx= 0.007011,dt = 0.030460, a_f = 7.234434, v_f = 0.340362 dt = 0.030460, not at end yet tc id = 172, canon_type = 2, mot type = 1 secondary movement = 0.000116 time: 7.003000 primary movement = 5.729172143349e-05 time: 7.003000000001e+00 total movement = 1.735417214335e-04 vel = 1.736396253083e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.046140, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.046140, acc = -7.500000,T = 0.012045, P = 0.011903 on final decel tc id = 171, canon_type = 3, mot type = 2 tc state : vr = 0.127500, vf = 0.127500, maxvel = 8.374863, current_vel = 0.127500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.127500, acc = 7.500000,T = 0.007971, P = 0.001084 initial results: dx= 0.006888,dt = 0.029443, a_f = 7.229663, v_f = 0.340362 dt = 0.029443, not at end yet tc id = 172, canon_type = 2, mot type = 1 secondary movement = 0.000124 time: 7.004000 primary movement = 4.980413960028e-05 time: 7.004000000001e+00 total movement = 1.735541396003e-04 vel = 1.736396253083e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.038640, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.038640, acc = -7.500000,T = 0.012045, P = 0.011946 on final decel tc id = 171, canon_type = 3, mot type = 2 tc state : vr = 0.135000, vf = 0.135000, maxvel = 8.374863, current_vel = 0.135000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.135000, acc = 7.500000,T = 0.007971, P = 0.001215 initial results: dx= 0.006756,dt = 0.028426, a_f = 7.224411, v_f = 0.340362 dt = 0.028426, not at end yet tc id = 172, canon_type = 2, mot type = 1 secondary movement = 0.000131 time: 7.005000 primary movement = 4.231671568076e-05 time: 7.005000000001e+00 total movement = 1.735667156808e-04 vel = 1.736396253083e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.031140, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.031140, acc = -7.500000,T = 0.012045, P = 0.011980 on final decel tc id = 171, canon_type = 3, mot type = 2 tc state : vr = 0.142500, vf = 0.142500, maxvel = 8.374863, current_vel = 0.142500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.142500, acc = 7.500000,T = 0.007971, P = 0.001354 initial results: dx= 0.006618,dt = 0.027410, a_f = 7.218633, v_f = 0.340362 dt = 0.027410, not at end yet tc id = 172, canon_type = 2, mot type = 1 secondary movement = 0.000139 time: 7.006000 primary movement = 3.482942593557e-05 time: 7.006000000001e+00 total movement = 1.735794259355e-04 vel = 1.736396253083e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.023640, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.023640, acc = -7.500000,T = 0.012045, P = 0.012008 on final decel tc id = 171, canon_type = 3, mot type = 2 tc state : vr = 0.150000, vf = 0.150000, maxvel = 8.374863, current_vel = 0.150000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.150000, acc = 7.500000,T = 0.007971, P = 0.001500 initial results: dx= 0.006471,dt = 0.026394, a_f = 7.212274, v_f = 0.340362 dt = 0.026394, not at end yet tc id = 172, canon_type = 2, mot type = 1 secondary movement = 0.000146 time: 7.007000 primary movement = 2.734224662529e-05 time: 7.007000000001e+00 total movement = 1.735922466253e-04 vel = 1.736396253083e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.016140, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.016140, acc = -7.500000,T = 0.012045, P = 0.012028 on final decel tc id = 171, canon_type = 3, mot type = 2 tc state : vr = 0.157500, vf = 0.157500, maxvel = 8.374863, current_vel = 0.157500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.157500, acc = 7.500000,T = 0.007971, P = 0.001654 initial results: dx= 0.006318,dt = 0.025379, a_f = 7.205272, v_f = 0.340362 dt = 0.025379, not at end yet tc id = 172, canon_type = 2, mot type = 1 secondary movement = 0.000154 time: 7.008000 primary movement = 1.985515401049e-05 time: 7.008000000001e+00 total movement = 1.736051540105e-04 vel = 1.736396253083e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.008640, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.008640, acc = -7.500000,T = 0.012045, P = 0.012040 on final decel tc id = 171, canon_type = 3, mot type = 2 tc state : vr = 0.165000, vf = 0.165000, maxvel = 8.374863, current_vel = 0.165000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.165000, acc = 7.500000,T = 0.007971, P = 0.001815 initial results: dx= 0.006156,dt = 0.024364, a_f = 7.197552, v_f = 0.340362 dt = 0.024364, not at end yet tc id = 172, canon_type = 2, mot type = 1 secondary movement = 0.000161 time: 7.009000 primary movement = 1.236812435167e-05 time: 7.009000000001e+00 total movement = 1.736181243517e-04 vel = 1.736396253083e-01 ------------------- tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.001140, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.001140, acc = -7.500000,T = 0.012045, P = 0.012045 on final decel tc id = 171, canon_type = 3, mot type = 2 tc state : vr = 0.172500, vf = 0.172500, maxvel = 8.374863, current_vel = 0.172500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.172500, acc = 7.500000,T = 0.007971, P = 0.001984 initial results: dx= 0.005988,dt = 0.023350, a_f = 7.189028, v_f = 0.340362 dt = 0.023350, not at end yet tc id = 172, canon_type = 2, mot type = 1 secondary movement = 0.000169 time: 7.010000 primary movement = 4.881133909317e-06 time: 7.010000000001e+00 total movement = 1.736311339094e-04 vel = 1.736396253083e-01 ------------------- Found newvel = -0.001140, assuming segment is done segment 171 at target in runcycle tc state : vr = 0.411435, vf = 0.000000, maxvel = 0.411435, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.012045, P = 0.012045 tc id = 171, canon_type = 3, mot type = 2 tc state : vr = 0.173640, vf = 0.173640, maxvel = 8.374863, current_vel = 0.173640, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.173640, acc = 1.139625,T = 0.007971, P = 0.002157 initial results: dx= 0.005815,dt = 0.022625, a_f = 7.369089, v_f = 0.340362 dt = 0.022625, not at end yet tc id = 172, canon_type = 2, mot type = 1 secondary movement = 0.000173 time: 7.011000 primary movement = 8.643266415350e-08 time: 7.011000000001e+00 total movement = 1.731562453183e-04 vel = 1.736396253083e-01 Finished tc id 171 ------------------- tc state : vr = 3.795876, vf = 0.340362, maxvel = 8.374863, current_vel = 0.188714, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.188714, acc = 15.074813,T = 0.007971, P = 0.002338 initial results: dx= 0.005633,dt = 0.021295, a_f = 7.121261, v_f = 0.340362 dt = 0.021295, not at end yet tc id = 172, canon_type = 2, mot type = 1 time: 7.012000 primary movement = 1.811770320242e-04 time: 7.012000000001e+00 total movement = 1.811770320242e-04 vel = 1.887144387400e-01 ------------------- tc state : vr = 3.795876, vf = 0.340362, maxvel = 8.374863, current_vel = 0.203789, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.203789, acc = 15.074813,T = 0.007971, P = 0.002534 initial results: dx= 0.005437,dt = 0.019984, a_f = 6.834178, v_f = 0.340362 dt = 0.019984, not at end yet tc id = 172, canon_type = 2, mot type = 1 time: 7.013000 primary movement = 1.962518454558e-04 time: 7.013000000001e+00 total movement = 1.962518454558e-04 vel = 2.037892521717e-01 ------------------- tc state : vr = 3.795876, vf = 0.340362, maxvel = 8.374863, current_vel = 0.218864, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.218864, acc = 15.074813,T = 0.007971, P = 0.002746 initial results: dx= 0.005226,dt = 0.018689, a_f = 6.500932, v_f = 0.340362 dt = 0.018689, not at end yet tc id = 172, canon_type = 2, mot type = 1 time: 7.014000 primary movement = 2.113266588875e-04 time: 7.014000000001e+00 total movement = 2.113266588875e-04 vel = 2.188640656034e-01 ------------------- tc state : vr = 3.795876, vf = 0.340362, maxvel = 8.374863, current_vel = 0.233939, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.233939, acc = 15.074813,T = 0.007971, P = 0.002972 initial results: dx= 0.004999,dt = 0.017410, a_f = 6.112654, v_f = 0.340362 dt = 0.017410, not at end yet tc id = 172, canon_type = 2, mot type = 1 time: 7.015000 primary movement = 2.264014723192e-04 time: 7.015000000001e+00 total movement = 2.264014723192e-04 vel = 2.339388790351e-01 ------------------- tc state : vr = 3.795876, vf = 0.340362, maxvel = 8.374863, current_vel = 0.249014, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.249014, acc = 15.074813,T = 0.007971, P = 0.003213 initial results: dx= 0.004758,dt = 0.016146, a_f = 5.657799, v_f = 0.340362 dt = 0.016146, not at end yet tc id = 172, canon_type = 2, mot type = 1 time: 7.016000 primary movement = 2.414762857509e-04 time: 7.016000000001e+00 total movement = 2.414762857509e-04 vel = 2.490136924667e-01 ------------------- tc state : vr = 3.795876, vf = 0.340362, maxvel = 8.374863, current_vel = 0.264089, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.264089, acc = 15.074813,T = 0.007971, P = 0.003470 initial results: dx= 0.004501,dt = 0.014894, a_f = 5.121082, v_f = 0.340362 dt = 0.014894, not at end yet tc id = 172, canon_type = 2, mot type = 1 time: 7.017000 primary movement = 2.565510991826e-04 time: 7.017000000001e+00 total movement = 2.565510991826e-04 vel = 2.640885058984e-01 ------------------- tc state : vr = 3.795876, vf = 0.340362, maxvel = 8.374863, current_vel = 0.279163, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.279163, acc = 15.074813,T = 0.007971, P = 0.003742 initial results: dx= 0.004230,dt = 0.013655, a_f = 4.481867, v_f = 0.340362 dt = 0.013655, not at end yet tc id = 172, canon_type = 2, mot type = 1 time: 7.018000 primary movement = 2.716259126143e-04 time: 7.018000000001e+00 total movement = 2.716259126143e-04 vel = 2.791633193301e-01 ------------------- tc state : vr = 3.795876, vf = 0.340362, maxvel = 8.374863, current_vel = 0.294238, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.294238, acc = 15.074813,T = 0.007971, P = 0.004028 initial results: dx= 0.003943,dt = 0.012427, a_f = 3.711642, v_f = 0.340362 dt = 0.012427, not at end yet tc id = 172, canon_type = 2, mot type = 1 time: 7.019000 primary movement = 2.867007260459e-04 time: 7.019000000001e+00 total movement = 2.867007260459e-04 vel = 2.942381327618e-01 ------------------- tc state : vr = 3.795876, vf = 0.340362, maxvel = 8.374863, current_vel = 0.309313, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.309313, acc = 15.074813,T = 0.007971, P = 0.004330 initial results: dx= 0.003641,dt = 0.011209, a_f = 2.769893, v_f = 0.340362 dt = 0.011209, not at end yet tc id = 172, canon_type = 2, mot type = 1 time: 7.020000 primary movement = 3.017755394776e-04 time: 7.020000000001e+00 total movement = 3.017755394776e-04 vel = 3.093129461935e-01 ------------------- tc state : vr = 3.795876, vf = 0.340362, maxvel = 8.374863, current_vel = 0.324388, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.324388, acc = 15.074813,T = 0.007971, P = 0.004647 initial results: dx= 0.003324,dt = 0.010002, a_f = 1.597099, v_f = 0.340362 dt = 0.010002, not at end yet tc id = 172, canon_type = 2, mot type = 1 time: 7.021000 primary movement = 3.168503529093e-04 time: 7.021000000001e+00 total movement = 3.168503529093e-04 vel = 3.243877596251e-01 ------------------- tc state : vr = 3.795876, vf = 0.340362, maxvel = 8.374863, current_vel = 0.339463, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.339463, acc = 15.074813,T = 0.007971, P = 0.004979 initial results: dx= 0.002992,dt = 0.008804, a_f = 0.102143, v_f = 0.340362 dt = 0.008804, not at end yet tc id = 172, canon_type = 2, mot type = 1 time: 7.022000 primary movement = 3.319251663410e-04 time: 7.022000000001e+00 total movement = 3.319251663410e-04 vel = 3.394625730568e-01 ------------------- tc state : vr = 3.795876, vf = 0.340362, maxvel = 8.374863, current_vel = 0.354537, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.354537, acc = 15.074813,T = 0.007971, P = 0.005326 initial results: dx= 0.002645,dt = 0.007614, a_f = -1.861795, v_f = 0.340362 dt = 0.007614, not at end yet tc id = 172, canon_type = 2, mot type = 1 time: 7.023000 primary movement = 3.469999797726e-04 time: 7.023000000001e+00 total movement = 3.469999797726e-04 vel = 3.545373864885e-01 ------------------- tc state : vr = 3.795876, vf = 0.340362, maxvel = 8.374863, current_vel = 0.369612, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.369612, acc = 15.074813,T = 0.007971, P = 0.005688 initial results: dx= 0.002283,dt = 0.006432, a_f = -4.547424, v_f = 0.340362 dt = 0.006432, not at end yet tc id = 172, canon_type = 2, mot type = 1 time: 7.024000 primary movement = 3.620747932043e-04 time: 7.024000000001e+00 total movement = 3.620747932043e-04 vel = 3.696121999202e-01 ------------------- tc state : vr = 3.795876, vf = 0.340362, maxvel = 8.374863, current_vel = 0.384687, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.384687, acc = 15.074813,T = 0.007971, P = 0.006065 initial results: dx= 0.001906,dt = 0.005258, a_f = -8.429697, v_f = 0.340362 dt = 0.005258, not at end yet tc id = 172, canon_type = 2, mot type = 1 time: 7.025000 primary movement = 3.771496066361e-04 time: 7.025000000001e+00 total movement = 3.771496066361e-04 vel = 3.846870133519e-01 ------------------- tc state : vr = 3.795876, vf = 0.340362, maxvel = 8.374863, current_vel = 0.399762, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.399762, acc = 15.074813,T = 0.007971, P = 0.006457 initial results: dx= 0.001514,dt = 0.004091, a_f = -14.518856, v_f = 0.340362 dt = 0.004091, not at end yet tc id = 172, canon_type = 2, mot type = 1 time: 7.026000 primary movement = 3.922244200677e-04 time: 7.026000000001e+00 total movement = 3.922244200677e-04 vel = 3.997618267835e-01 ------------------- tc state : vr = 3.795876, vf = 0.340362, maxvel = 8.374863, current_vel = 0.386827, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.386827, acc = -12.934625,T = 0.007971, P = 0.006851 on final decel initial results: dx= 0.001121,dt = 0.003082, a_f = -15.074813, v_f = 0.340362 dt = 0.003082, not at end yet tc id = 172, canon_type = 2, mot type = 1 time: 7.027000 primary movement = 3.932945144360e-04 time: 7.027000000001e+00 total movement = 3.932945144360e-04 vel = 3.868272020885e-01 ------------------- tc state : vr = 3.795876, vf = 0.340362, maxvel = 8.374863, current_vel = 0.371752, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.371752, acc = -15.074813,T = 0.007971, P = 0.007230 on final decel initial results: dx= 0.000741,dt = 0.002082, a_f = -15.074813, v_f = 0.340362 recalculating with a_f = -15.074813, a = -15.074813 revised dt = 0.002082 dt = 0.002082, not at end yet tc id = 172, canon_type = 2, mot type = 1 time: 7.028000 primary movement = 3.792897953726e-04 time: 7.028000000001e+00 total movement = 3.792897953726e-04 vel = 3.717523886568e-01 ------------------- tc state : vr = 3.795876, vf = 0.340362, maxvel = 8.374863, current_vel = 0.356678, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.356678, acc = -15.074813,T = 0.007971, P = 0.007594 on final decel initial results: dx= 0.000377,dt = 0.001082, a_f = -15.074813, v_f = 0.340362 recalculating with a_f = -15.074813, a = -15.074813 revised dt = 0.001082 dt = 0.001082, not at end yet tc id = 172, canon_type = 2, mot type = 1 time: 7.029000 primary movement = 3.642149819409e-04 time: 7.029000000001e+00 total movement = 3.642149819409e-04 vel = 3.566775752251e-01 ------------------- tc state : vr = 3.795876, vf = 0.340362, maxvel = 8.374863, current_vel = 0.341603, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.341603, acc = -15.074813,T = 0.007971, P = 0.007943 on final decel initial results: dx= 0.000028,dt = 0.000082, a_f = -15.074813, v_f = 0.340362 recalculating with a_f = -15.074813, a = -15.074813 revised dt = 0.000082 actual v_f = 0.340362, a = -15.074813 split time is 8.23201e-05 tc id = 172, canon_type = 2, mot type = 1 time: 7.030000 primary movement = 3.491401685092e-04 time: 7.030000000001e+00 total movement = 3.491401685092e-04 vel = 3.416027617934e-01 ------------------- tc id 172 done Finishing split-cycle on id 173 tc state : vr = 0.340362, vf = 0.000000, maxvel = 0.340362, current_vel = 0.327875, fs = 1.000000, tc = 0.000918, term = 3 tc result: v = 0.327875, acc = -13.607443,T = 0.003890, P = 0.000307 on final decel initial results: dx= 0.003583,dt = 0.021858, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.021858 dt = 0.021858, not at end yet secondary movement = 0.000307 tc id = 173, canon_type = 3, mot type = 2 time: 7.031000 primary movement = 2.806969621523e-05 time: 7.031000000001e+00 total movement = 3.346228125759e-04 vel = 3.278745249698e-01 Finished tc id 172 ------------------- Activate tc id = 173 target_vel = 0.340362 final_vel = 0.000000 length = 0.003890 tc state : vr = 0.340362, vf = 0.000000, maxvel = 0.340362, current_vel = 0.312875, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.312875, acc = -15.000000,T = 0.003890, P = 0.000627 on final decel initial results: dx= 0.003263,dt = 0.020858, a_f = -15.000000, v_f = 0.000000 dt = 0.020858, not at end yet tc id = 173, canon_type = 3, mot type = 2 time: 7.032000 primary movement = 3.203056160921e-04 time: 7.032000000001e+00 total movement = 3.203056160921e-04 vel = 3.128745249698e-01 ------------------- tc state : vr = 0.340362, vf = 0.000000, maxvel = 0.340362, current_vel = 0.297875, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.297875, acc = -15.000000,T = 0.003890, P = 0.000932 on final decel initial results: dx= 0.002958,dt = 0.019858, a_f = -15.000000, v_f = 0.000000 dt = 0.019858, not at end yet tc id = 173, canon_type = 3, mot type = 2 time: 7.033000 primary movement = 3.053148486233e-04 time: 7.033000000001e+00 total movement = 3.053148486233e-04 vel = 2.978745249698e-01 ------------------- tc state : vr = 0.340362, vf = 0.000000, maxvel = 0.340362, current_vel = 0.282875, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.282875, acc = -15.000000,T = 0.003890, P = 0.001223 on final decel initial results: dx= 0.002667,dt = 0.018858, a_f = -15.000000, v_f = 0.000000 dt = 0.018858, not at end yet tc id = 173, canon_type = 3, mot type = 2 time: 7.034000 primary movement = 2.903232173591e-04 time: 7.034000000001e+00 total movement = 2.903232173591e-04 vel = 2.828745249698e-01 ------------------- tc state : vr = 0.340362, vf = 0.000000, maxvel = 0.340362, current_vel = 0.267875, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.267875, acc = -15.000000,T = 0.003890, P = 0.001498 on final decel initial results: dx= 0.002392,dt = 0.017858, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.017858 dt = 0.017858, not at end yet tc id = 173, canon_type = 3, mot type = 2 time: 7.035000 primary movement = 2.753307647138e-04 time: 7.035000000001e+00 total movement = 2.753307647138e-04 vel = 2.678745249698e-01 ------------------- tc state : vr = 0.340362, vf = 0.000000, maxvel = 0.340362, current_vel = 0.252875, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.252875, acc = -15.000000,T = 0.003890, P = 0.001758 on final decel initial results: dx= 0.002132,dt = 0.016858, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.016858 dt = 0.016858, not at end yet tc id = 173, canon_type = 3, mot type = 2 time: 7.036000 primary movement = 2.603375331039e-04 time: 7.036000000001e+00 total movement = 2.603375331039e-04 vel = 2.528745249698e-01 ------------------- tc state : vr = 0.340362, vf = 0.000000, maxvel = 0.340362, current_vel = 0.237875, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.237875, acc = -15.000000,T = 0.003890, P = 0.002004 on final decel initial results: dx= 0.001886,dt = 0.015858, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.015858 dt = 0.015858, not at end yet tc id = 173, canon_type = 3, mot type = 2 time: 7.037000 primary movement = 2.453435649484e-04 time: 7.037000000001e+00 total movement = 2.453435649484e-04 vel = 2.378745249698e-01 ------------------- tc state : vr = 0.340362, vf = 0.000000, maxvel = 0.340362, current_vel = 0.222875, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.222875, acc = -15.000000,T = 0.003890, P = 0.002234 on final decel initial results: dx= 0.001656,dt = 0.014858, a_f = -15.000000, v_f = 0.000000 dt = 0.014858, not at end yet tc id = 173, canon_type = 3, mot type = 2 time: 7.038000 primary movement = 2.303489026679e-04 time: 7.038000000001e+00 total movement = 2.303489026679e-04 vel = 2.228745249698e-01 ------------------- tc state : vr = 0.340362, vf = 0.000000, maxvel = 0.340362, current_vel = 0.207875, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.207875, acc = -15.000000,T = 0.003890, P = 0.002450 on final decel initial results: dx= 0.001440,dt = 0.013858, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.013858 dt = 0.013858, not at end yet tc id = 173, canon_type = 3, mot type = 2 time: 7.039000 primary movement = 2.153535886854e-04 time: 7.039000000001e+00 total movement = 2.153535886854e-04 vel = 2.078745249698e-01 ------------------- tc state : vr = 0.340362, vf = 0.000000, maxvel = 0.340362, current_vel = 0.192875, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.192875, acc = -15.000000,T = 0.003890, P = 0.002650 on final decel initial results: dx= 0.001240,dt = 0.012858, a_f = -15.000000, v_f = 0.000000 dt = 0.012858, not at end yet tc id = 173, canon_type = 3, mot type = 2 time: 7.040000 primary movement = 2.003576654255e-04 time: 7.040000000001e+00 total movement = 2.003576654255e-04 vel = 1.928745249698e-01 ------------------- tc state : vr = 0.340362, vf = 0.000000, maxvel = 0.340362, current_vel = 0.177875, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.177875, acc = -15.000000,T = 0.003890, P = 0.002835 on final decel initial results: dx= 0.001055,dt = 0.011858, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.011858 dt = 0.011858, not at end yet tc id = 173, canon_type = 3, mot type = 2 time: 7.041000 primary movement = 1.853611753146e-04 time: 7.041000000001e+00 total movement = 1.853611753146e-04 vel = 1.778745249698e-01 ------------------- tc state : vr = 0.340362, vf = 0.000000, maxvel = 0.340362, current_vel = 0.162875, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.162875, acc = -15.000000,T = 0.003890, P = 0.003006 on final decel initial results: dx= 0.000884,dt = 0.010858, a_f = -15.000000, v_f = 0.000000 dt = 0.010858, not at end yet tc id = 173, canon_type = 3, mot type = 2 time: 7.042000 primary movement = 1.703641607808e-04 time: 7.042000000001e+00 total movement = 1.703641607808e-04 vel = 1.628745249698e-01 ------------------- tc state : vr = 0.340362, vf = 0.000000, maxvel = 0.340362, current_vel = 0.147875, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.147875, acc = -15.000000,T = 0.003890, P = 0.003161 on final decel initial results: dx= 0.000729,dt = 0.009858, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.009858 dt = 0.009858, not at end yet tc id = 173, canon_type = 3, mot type = 2 time: 7.043000 primary movement = 1.553666642534e-04 time: 7.043000000001e+00 total movement = 1.553666642534e-04 vel = 1.478745249698e-01 ------------------- tc state : vr = 0.340362, vf = 0.000000, maxvel = 0.340362, current_vel = 0.132875, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.132875, acc = -15.000000,T = 0.003890, P = 0.003301 on final decel initial results: dx= 0.000589,dt = 0.008858, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.008858 dt = 0.008858, not at end yet tc id = 173, canon_type = 3, mot type = 2 time: 7.044000 primary movement = 1.403687281634e-04 time: 7.044000000001e+00 total movement = 1.403687281634e-04 vel = 1.328745249698e-01 ------------------- tc state : vr = 0.340362, vf = 0.000000, maxvel = 0.340362, current_vel = 0.117875, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.117875, acc = -15.000000,T = 0.003890, P = 0.003427 on final decel initial results: dx= 0.000463,dt = 0.007858, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.007858 dt = 0.007858, not at end yet tc id = 173, canon_type = 3, mot type = 2 time: 7.045000 primary movement = 1.253703949428e-04 time: 7.045000000001e+00 total movement = 1.253703949428e-04 vel = 1.178745249698e-01 ------------------- tc state : vr = 0.340362, vf = 0.000000, maxvel = 0.340362, current_vel = 0.102875, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.102875, acc = -15.000000,T = 0.003890, P = 0.003537 on final decel initial results: dx= 0.000353,dt = 0.006858, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.006858 dt = 0.006858, not at end yet tc id = 173, canon_type = 3, mot type = 2 time: 7.046000 primary movement = 1.103717070249e-04 time: 7.046000000001e+00 total movement = 1.103717070249e-04 vel = 1.028745249698e-01 ------------------- tc state : vr = 0.340362, vf = 0.000000, maxvel = 0.340362, current_vel = 0.087875, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.087875, acc = -15.000000,T = 0.003890, P = 0.003633 on final decel initial results: dx= 0.000257,dt = 0.005858, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.005858 dt = 0.005858, not at end yet tc id = 173, canon_type = 3, mot type = 2 time: 7.047000 primary movement = 9.537270684384e-05 time: 7.047000000001e+00 total movement = 9.537270684384e-05 vel = 8.787452496975e-02 ------------------- tc state : vr = 0.340362, vf = 0.000000, maxvel = 0.340362, current_vel = 0.072875, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.072875, acc = -15.000000,T = 0.003890, P = 0.003713 on final decel initial results: dx= 0.000177,dt = 0.004858, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.004858 dt = 0.004858, not at end yet tc id = 173, canon_type = 3, mot type = 2 time: 7.048000 primary movement = 8.037343683481e-05 time: 7.048000000001e+00 total movement = 8.037343683481e-05 vel = 7.287452496975e-02 ------------------- tc state : vr = 0.340362, vf = 0.000000, maxvel = 0.340362, current_vel = 0.057875, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.057875, acc = -15.000000,T = 0.003890, P = 0.003778 on final decel initial results: dx= 0.000112,dt = 0.003858, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.003858 dt = 0.003858, not at end yet tc id = 173, canon_type = 3, mot type = 2 time: 7.049000 primary movement = 6.537393943353e-05 time: 7.049000000001e+00 total movement = 6.537393943353e-05 vel = 5.787452496975e-02 ------------------- tc state : vr = 0.340362, vf = 0.000000, maxvel = 0.340362, current_vel = 0.042875, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.042875, acc = -15.000000,T = 0.003890, P = 0.003829 on final decel initial results: dx= 0.000061,dt = 0.002858, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.002858 dt = 0.002858, not at end yet tc id = 173, canon_type = 3, mot type = 2 time: 7.050000 primary movement = 5.037425707669e-05 time: 7.050000000001e+00 total movement = 5.037425707669e-05 vel = 4.287452496975e-02 ------------------- tc state : vr = 0.340362, vf = 0.000000, maxvel = 0.340362, current_vel = 0.027875, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.027875, acc = -15.000000,T = 0.003890, P = 0.003864 on final decel initial results: dx= 0.000026,dt = 0.001858, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.001858 dt = 0.001858, not at end yet tc id = 173, canon_type = 3, mot type = 2 time: 7.051000 primary movement = 3.537443220119e-05 time: 7.051000000001e+00 total movement = 3.537443220119e-05 vel = 2.787452496975e-02 ------------------- tc state : vr = 0.340362, vf = 0.000000, maxvel = 0.340362, current_vel = 0.012875, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.012875, acc = -15.000000,T = 0.003890, P = 0.003884 on final decel initial results: dx= 0.000006,dt = 0.000858, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.000858 actual v_f = 0.000000, a = -15.000000 split time is 0.000858301 tc id = 173, canon_type = 3, mot type = 2 time: 7.052000 primary movement = 2.037450724454e-05 time: 7.052000000001e+00 total movement = 2.037450724454e-05 vel = 1.287452496975e-02 ------------------- tc id 173 done Finishing split-cycle on id 173 tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.002969, fs = 1.000000, tc = 0.000142, term = 2 tc result: v = 0.002969, acc = 20.949717,T = 0.003508, P = 0.000000 secondary movement = 0.000000 tc id = 173, canon_type = 2, mot type = 1 time: 7.053000 primary movement = 5.525112753090e-06 time: 7.053000000001e+00 total movement = 5.735432438791e-06 vel = 2.968547728369e-03 Finished tc id 173 ------------------- Activate tc id = 173 target_vel = 11.638685 final_vel = 0.000000 length = 0.003508 Activate nexttc id 174 tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.023918, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.023918, acc = 20.949717,T = 0.003508, P = 0.000014 tc id = 173, canon_type = 2, mot type = 1 time: 7.054000 primary movement = 1.344340602097e-05 time: 7.054000000001e+00 total movement = 1.344340602097e-05 vel = 2.391826431356e-02 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.044868, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.044868, acc = 20.949717,T = 0.003508, P = 0.000048 tc id = 173, canon_type = 2, mot type = 1 time: 7.055000 primary movement = 3.439312260619e-05 time: 7.055000000001e+00 total movement = 3.439312260619e-05 vel = 4.486798089876e-02 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.065818, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.065818, acc = 20.949717,T = 0.003508, P = 0.000103 tc id = 173, canon_type = 2, mot type = 1 time: 7.056000 primary movement = 5.534283919133e-05 time: 7.056000000001e+00 total movement = 5.534283919133e-05 vel = 6.581769748395e-02 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.086767, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.086767, acc = 20.949717,T = 0.003508, P = 0.000180 tc id = 173, canon_type = 2, mot type = 1 time: 7.057000 primary movement = 7.629255577655e-05 time: 7.057000000001e+00 total movement = 7.629255577655e-05 vel = 8.676741406915e-02 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.107717, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.107717, acc = 20.949717,T = 0.003508, P = 0.000277 tc id = 173, canon_type = 2, mot type = 1 time: 7.058000 primary movement = 9.724227236175e-05 time: 7.058000000001e+00 total movement = 9.724227236175e-05 vel = 1.077171306543e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.128667, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.128667, acc = 20.949717,T = 0.003508, P = 0.000395 tc id = 173, canon_type = 2, mot type = 1 time: 7.059000 primary movement = 1.181919889469e-04 time: 7.059000000001e+00 total movement = 1.181919889469e-04 vel = 1.286668472395e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.149617, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.149617, acc = 20.949717,T = 0.003508, P = 0.000534 tc id = 173, canon_type = 2, mot type = 1 time: 7.060000 primary movement = 1.391417055322e-04 time: 7.060000000001e+00 total movement = 1.391417055322e-04 vel = 1.496165638247e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.170566, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.170566, acc = 20.949717,T = 0.003508, P = 0.000694 tc id = 173, canon_type = 2, mot type = 1 time: 7.061000 primary movement = 1.600914221173e-04 time: 7.061000000001e+00 total movement = 1.600914221173e-04 vel = 1.705662804099e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.191516, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.191516, acc = 20.949717,T = 0.003508, P = 0.000875 tc id = 173, canon_type = 2, mot type = 1 time: 7.062000 primary movement = 1.810411387025e-04 time: 7.062000000001e+00 total movement = 1.810411387025e-04 vel = 1.915159969951e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.212466, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.212466, acc = 20.949717,T = 0.003508, P = 0.001077 tc id = 173, canon_type = 2, mot type = 1 time: 7.063000 primary movement = 2.019908552877e-04 time: 7.063000000001e+00 total movement = 2.019908552877e-04 vel = 2.124657135803e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.233415, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.233415, acc = 20.949717,T = 0.003508, P = 0.001300 tc id = 173, canon_type = 2, mot type = 1 time: 7.064000 primary movement = 2.229405718729e-04 time: 7.064000000001e+00 total movement = 2.229405718729e-04 vel = 2.334154301655e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.254365, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.254365, acc = 20.949717,T = 0.003508, P = 0.001544 tc id = 173, canon_type = 2, mot type = 1 time: 7.065000 primary movement = 2.438902884581e-04 time: 7.065000000001e+00 total movement = 2.438902884581e-04 vel = 2.543651467507e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.267131, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.267131, acc = 12.765375,T = 0.003508, P = 0.001805 tc id = 173, canon_type = 2, mot type = 1 time: 7.066000 primary movement = 2.607478340608e-04 time: 7.066000000001e+00 total movement = 2.607478340608e-04 vel = 2.671305213710e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.246181, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.246181, acc = -20.949717,T = 0.003508, P = 0.002062 on final decel tc id = 173, canon_type = 2, mot type = 1 tc state : vr = 0.020950, vf = 0.020950, maxvel = 8.573191, current_vel = 0.015432, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.015432, acc = 15.431806,T = 0.010831, P = 0.000008 initial results: dx= 0.010824,dt = 0.062068, a_f = 5.121765, v_f = 0.333331 dt = 0.062068, not at end yet tc id = 173, canon_type = 2, mot type = 1 secondary movement = 0.000008 time: 7.067000 primary movement = 2.566556630784e-04 time: 7.067000000001e+00 total movement = 2.643715658934e-04 vel = 2.616126104157e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.225231, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.225231, acc = -20.949717,T = 0.003508, P = 0.002297 on final decel tc id = 173, canon_type = 2, mot type = 1 tc state : vr = 0.041899, vf = 0.041899, maxvel = 8.573191, current_vel = 0.030864, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.030864, acc = 15.431806,T = 0.010831, P = 0.000031 initial results: dx= 0.010800,dt = 0.059311, a_f = 5.099668, v_f = 0.333331 dt = 0.059311, not at end yet tc id = 173, canon_type = 2, mot type = 1 secondary movement = 0.000023 time: 7.068000 primary movement = 2.357059464932e-04 time: 7.068000000001e+00 total movement = 2.588536549381e-04 vel = 2.560946994604e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.204281, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.204281, acc = -20.949717,T = 0.003508, P = 0.002512 on final decel tc id = 173, canon_type = 2, mot type = 1 tc state : vr = 0.062849, vf = 0.062849, maxvel = 8.573191, current_vel = 0.046295, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.046295, acc = 15.431806,T = 0.010831, P = 0.000069 initial results: dx= 0.010762,dt = 0.056697, a_f = 5.062629, v_f = 0.333331 dt = 0.056697, not at end yet tc id = 173, canon_type = 2, mot type = 1 secondary movement = 0.000039 time: 7.069000 primary movement = 2.147562299080e-04 time: 7.069000000001e+00 total movement = 2.533357439829e-04 vel = 2.505767885052e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.183332, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.183332, acc = -20.949717,T = 0.003508, P = 0.002706 on final decel tc id = 173, canon_type = 2, mot type = 1 tc state : vr = 0.083799, vf = 0.083799, maxvel = 8.573191, current_vel = 0.061727, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.061727, acc = 15.431806,T = 0.010831, P = 0.000123 initial results: dx= 0.010708,dt = 0.054209, a_f = 5.010326, v_f = 0.333331 dt = 0.054209, not at end yet tc id = 173, canon_type = 2, mot type = 1 secondary movement = 0.000054 time: 7.070000 primary movement = 1.938065133228e-04 time: 7.070000000001e+00 total movement = 2.478178330275e-04 vel = 2.450588775499e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.162382, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.162382, acc = -20.949717,T = 0.003508, P = 0.002879 on final decel tc id = 173, canon_type = 2, mot type = 1 tc state : vr = 0.104749, vf = 0.104749, maxvel = 8.573191, current_vel = 0.077159, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.077159, acc = 15.431806,T = 0.010831, P = 0.000193 initial results: dx= 0.010638,dt = 0.051833, a_f = 4.942298, v_f = 0.333331 dt = 0.051833, not at end yet tc id = 173, canon_type = 2, mot type = 1 secondary movement = 0.000069 time: 7.071000 primary movement = 1.728567967376e-04 time: 7.071000000001e+00 total movement = 2.422999220723e-04 vel = 2.395409665947e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.141432, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.141432, acc = -20.949717,T = 0.003508, P = 0.003031 on final decel tc id = 173, canon_type = 2, mot type = 1 tc state : vr = 0.125698, vf = 0.125698, maxvel = 8.573191, current_vel = 0.092591, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.092591, acc = 15.431806,T = 0.010831, P = 0.000278 initial results: dx= 0.010554,dt = 0.049556, a_f = 4.857938, v_f = 0.333331 dt = 0.049556, not at end yet tc id = 173, canon_type = 2, mot type = 1 secondary movement = 0.000085 time: 7.072000 primary movement = 1.519070801524e-04 time: 7.072000000001e+00 total movement = 2.367820111170e-04 vel = 2.340230556394e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.120483, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.120483, acc = -20.949717,T = 0.003508, P = 0.003162 on final decel tc id = 173, canon_type = 2, mot type = 1 tc state : vr = 0.146648, vf = 0.146648, maxvel = 8.573191, current_vel = 0.108023, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.108023, acc = 15.431806,T = 0.010831, P = 0.000378 initial results: dx= 0.010453,dt = 0.047369, a_f = 4.756474, v_f = 0.333331 dt = 0.047369, not at end yet tc id = 173, canon_type = 2, mot type = 1 secondary movement = 0.000100 time: 7.073000 primary movement = 1.309573635672e-04 time: 7.073000000001e+00 total movement = 2.312641001618e-04 vel = 2.285051446841e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.099533, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.099533, acc = -20.949717,T = 0.003508, P = 0.003272 on final decel tc id = 173, canon_type = 2, mot type = 1 tc state : vr = 0.167598, vf = 0.167598, maxvel = 8.573191, current_vel = 0.123454, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.123454, acc = 15.431806,T = 0.010831, P = 0.000494 initial results: dx= 0.010337,dt = 0.045262, a_f = 4.636952, v_f = 0.333331 dt = 0.045262, not at end yet tc id = 174, canon_type = 2, mot type = 1 secondary movement = 0.000116 time: 7.074000 primary movement = 1.100076469820e-04 time: 7.074000000001e+00 total movement = 2.257461892065e-04 vel = 2.229872337289e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.078583, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.078583, acc = -20.949717,T = 0.003508, P = 0.003361 on final decel tc id = 173, canon_type = 2, mot type = 1 tc state : vr = 0.188547, vf = 0.188547, maxvel = 8.573191, current_vel = 0.138886, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.138886, acc = 15.431806,T = 0.010831, P = 0.000625 initial results: dx= 0.010206,dt = 0.043227, a_f = 4.498218, v_f = 0.333331 dt = 0.043227, not at end yet tc id = 174, canon_type = 2, mot type = 1 secondary movement = 0.000131 time: 7.075000 primary movement = 8.905793039680e-05 time: 7.075000000001e+00 total movement = 2.202282782512e-04 vel = 2.174693227736e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.057633, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.057633, acc = -20.949717,T = 0.003508, P = 0.003429 on final decel tc id = 173, canon_type = 2, mot type = 1 tc state : vr = 0.209497, vf = 0.209497, maxvel = 8.573191, current_vel = 0.154318, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.154318, acc = 15.431806,T = 0.010831, P = 0.000772 initial results: dx= 0.010060,dt = 0.041258, a_f = 4.338880, v_f = 0.333331 dt = 0.041258, not at end yet tc id = 174, canon_type = 2, mot type = 1 secondary movement = 0.000147 time: 7.076000 primary movement = 6.810821381162e-05 time: 7.076000000001e+00 total movement = 2.147103672960e-04 vel = 2.119514118183e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.036684, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.036684, acc = -20.949717,T = 0.003508, P = 0.003476 on final decel tc id = 173, canon_type = 2, mot type = 1 tc state : vr = 0.230447, vf = 0.230447, maxvel = 8.573191, current_vel = 0.169750, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.169750, acc = 15.431806,T = 0.010831, P = 0.000934 initial results: dx= 0.009898,dt = 0.039348, a_f = 4.157278, v_f = 0.333331 dt = 0.039348, not at end yet tc id = 174, canon_type = 2, mot type = 1 secondary movement = 0.000162 time: 7.077000 primary movement = 4.715849722644e-05 time: 7.077000000001e+00 total movement = 2.091924563408e-04 vel = 2.064335008631e-01 ------------------- tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.015734, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.015734, acc = -20.949717,T = 0.003508, P = 0.003502 on final decel tc id = 173, canon_type = 2, mot type = 1 tc state : vr = 0.251397, vf = 0.251397, maxvel = 8.573191, current_vel = 0.185182, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.185182, acc = 15.431806,T = 0.010831, P = 0.001111 initial results: dx= 0.009720,dt = 0.037493, a_f = 3.951434, v_f = 0.333331 dt = 0.037493, not at end yet tc id = 174, canon_type = 2, mot type = 1 secondary movement = 0.000177 time: 7.078000 primary movement = 2.620878064123e-05 time: 7.078000000001e+00 total movement = 2.036745453855e-04 vel = 2.009155899078e-01 ------------------- Found newvel = -0.005216, assuming segment is done segment 173 at target in runcycle tc state : vr = 11.638685, vf = 0.000000, maxvel = 11.638685, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.003508, P = 0.003508 tc id = 173, canon_type = 2, mot type = 1 tc state : vr = 0.267131, vf = 0.267131, maxvel = 8.573191, current_vel = 0.200613, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.200613, acc = 15.431806,T = 0.010831, P = 0.001304 initial results: dx= 0.009527,dt = 0.035686, a_f = 3.718993, v_f = 0.333331 dt = 0.035686, not at end yet tc id = 174, canon_type = 2, mot type = 1 secondary movement = 0.000193 time: 7.079000 primary movement = 5.908345143154e-06 time: 7.079000000001e+00 total movement = 1.988059155173e-04 vel = 2.006134731891e-01 Finished tc id 173 ------------------- tc state : vr = 5.157753, vf = 0.333331, maxvel = 8.573191, current_vel = 0.216045, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.216045, acc = 15.431806,T = 0.010831, P = 0.001512 initial results: dx= 0.009319,dt = 0.033926, a_f = 3.457148, v_f = 0.333331 dt = 0.033926, not at end yet tc id = 174, canon_type = 2, mot type = 1 time: 7.080000 primary movement = 2.083293760041e-04 time: 7.080000000001e+00 total movement = 2.083293760041e-04 vel = 2.160452788190e-01 ------------------- tc state : vr = 5.157753, vf = 0.333331, maxvel = 8.573191, current_vel = 0.231477, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.231477, acc = 15.431806,T = 0.010831, P = 0.001736 initial results: dx= 0.009095,dt = 0.032206, a_f = 3.162547, v_f = 0.333331 dt = 0.032206, not at end yet tc id = 174, canon_type = 2, mot type = 1 time: 7.081000 primary movement = 2.237611816340e-04 time: 7.081000000001e+00 total movement = 2.237611816340e-04 vel = 2.314770844490e-01 ------------------- tc state : vr = 5.157753, vf = 0.333331, maxvel = 8.573191, current_vel = 0.246909, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.246909, acc = 15.431806,T = 0.010831, P = 0.001975 initial results: dx= 0.008856,dt = 0.030525, a_f = 2.831165, v_f = 0.333331 dt = 0.030525, not at end yet tc id = 174, canon_type = 2, mot type = 1 time: 7.082000 primary movement = 2.391929872639e-04 time: 7.082000000001e+00 total movement = 2.391929872639e-04 vel = 2.469088900789e-01 ------------------- tc state : vr = 5.157753, vf = 0.333331, maxvel = 8.573191, current_vel = 0.262341, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.262341, acc = 15.431806,T = 0.010831, P = 0.002230 initial results: dx= 0.008601,dt = 0.028880, a_f = 2.458151, v_f = 0.333331 dt = 0.028880, not at end yet tc id = 174, canon_type = 2, mot type = 1 time: 7.083000 primary movement = 2.546247928939e-04 time: 7.083000000001e+00 total movement = 2.546247928939e-04 vel = 2.623406957088e-01 ------------------- tc state : vr = 5.157753, vf = 0.333331, maxvel = 8.573191, current_vel = 0.277773, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.277773, acc = 15.431806,T = 0.010831, P = 0.002500 initial results: dx= 0.008331,dt = 0.027266, a_f = 2.037615, v_f = 0.333331 dt = 0.027266, not at end yet tc id = 174, canon_type = 2, mot type = 1 time: 7.084000 primary movement = 2.700565985238e-04 time: 7.084000000001e+00 total movement = 2.700565985238e-04 vel = 2.777725013388e-01 ------------------- tc state : vr = 5.157753, vf = 0.333331, maxvel = 8.573191, current_vel = 0.293204, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.293204, acc = 15.431806,T = 0.010831, P = 0.002785 initial results: dx= 0.008046,dt = 0.025684, a_f = 1.562353, v_f = 0.333331 dt = 0.025684, not at end yet tc id = 174, canon_type = 2, mot type = 1 time: 7.085000 primary movement = 2.854884041537e-04 time: 7.085000000001e+00 total movement = 2.854884041537e-04 vel = 2.932043069687e-01 ------------------- tc state : vr = 5.157753, vf = 0.333331, maxvel = 8.573191, current_vel = 0.308636, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.308636, acc = 15.431806,T = 0.010831, P = 0.003086 initial results: dx= 0.007745,dt = 0.024129, a_f = 1.023471, v_f = 0.333331 dt = 0.024129, not at end yet tc id = 174, canon_type = 2, mot type = 1 time: 7.086000 primary movement = 3.009202097837e-04 time: 7.086000000001e+00 total movement = 3.009202097837e-04 vel = 3.086361125986e-01 ------------------- tc state : vr = 5.157753, vf = 0.333331, maxvel = 8.573191, current_vel = 0.324068, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.324068, acc = 15.431806,T = 0.010831, P = 0.003403 initial results: dx= 0.007429,dt = 0.022600, a_f = 0.409879, v_f = 0.333331 dt = 0.022600, not at end yet tc id = 174, canon_type = 2, mot type = 1 time: 7.087000 primary movement = 3.163520154136e-04 time: 7.087000000001e+00 total movement = 3.163520154136e-04 vel = 3.240679182286e-01 ------------------- tc state : vr = 5.157753, vf = 0.333331, maxvel = 8.573191, current_vel = 0.339500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.339500, acc = 15.431806,T = 0.010831, P = 0.003734 initial results: dx= 0.007097,dt = 0.021095, a_f = -0.292415, v_f = 0.333331 dt = 0.021095, not at end yet tc id = 174, canon_type = 2, mot type = 1 time: 7.088000 primary movement = 3.317838210435e-04 time: 7.088000000001e+00 total movement = 3.317838210435e-04 vel = 3.394997238585e-01 ------------------- tc state : vr = 5.157753, vf = 0.333331, maxvel = 8.573191, current_vel = 0.354932, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.354932, acc = 15.431806,T = 0.010831, P = 0.004082 initial results: dx= 0.006750,dt = 0.019613, a_f = -1.101311, v_f = 0.333331 dt = 0.019613, not at end yet tc id = 174, canon_type = 2, mot type = 1 time: 7.089000 primary movement = 3.472156266735e-04 time: 7.089000000001e+00 total movement = 3.472156266735e-04 vel = 3.549315294884e-01 ------------------- tc state : vr = 5.157753, vf = 0.333331, maxvel = 8.573191, current_vel = 0.370363, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.370363, acc = 15.431806,T = 0.010831, P = 0.004444 initial results: dx= 0.006387,dt = 0.018153, a_f = -2.040056, v_f = 0.333331 dt = 0.018153, not at end yet tc id = 174, canon_type = 2, mot type = 1 time: 7.090000 primary movement = 3.626474323034e-04 time: 7.090000000001e+00 total movement = 3.626474323034e-04 vel = 3.703633351184e-01 ------------------- tc state : vr = 5.157753, vf = 0.333331, maxvel = 8.573191, current_vel = 0.385795, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.385795, acc = 15.431806,T = 0.010831, P = 0.004822 initial results: dx= 0.006009,dt = 0.016712, a_f = -3.139394, v_f = 0.333331 dt = 0.016712, not at end yet tc id = 174, canon_type = 2, mot type = 1 time: 7.091000 primary movement = 3.780792379334e-04 time: 7.091000000001e+00 total movement = 3.780792379334e-04 vel = 3.857951407483e-01 ------------------- tc state : vr = 5.157753, vf = 0.333331, maxvel = 8.573191, current_vel = 0.401227, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.401227, acc = 15.431806,T = 0.010831, P = 0.005216 initial results: dx= 0.005615,dt = 0.015289, a_f = -4.440827, v_f = 0.333331 dt = 0.015289, not at end yet tc id = 174, canon_type = 2, mot type = 1 time: 7.092000 primary movement = 3.935110435633e-04 time: 7.092000000001e+00 total movement = 3.935110435633e-04 vel = 4.012269463782e-01 ------------------- tc state : vr = 5.157753, vf = 0.333331, maxvel = 8.573191, current_vel = 0.416659, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.416659, acc = 15.431806,T = 0.010831, P = 0.005625 initial results: dx= 0.005206,dt = 0.013884, a_f = -6.001750, v_f = 0.333331 dt = 0.013884, not at end yet tc id = 174, canon_type = 2, mot type = 1 time: 7.093000 primary movement = 4.089428491932e-04 time: 7.093000000001e+00 total movement = 4.089428491932e-04 vel = 4.166587520082e-01 ------------------- tc state : vr = 5.157753, vf = 0.333331, maxvel = 8.573191, current_vel = 0.432091, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.432091, acc = 15.431806,T = 0.010831, P = 0.006049 initial results: dx= 0.004782,dt = 0.012495, a_f = -7.903848, v_f = 0.333331 dt = 0.012495, not at end yet tc id = 174, canon_type = 2, mot type = 1 time: 7.094000 primary movement = 4.243746548231e-04 time: 7.094000000001e+00 total movement = 4.243746548231e-04 vel = 4.320905576381e-01 ------------------- tc state : vr = 5.157753, vf = 0.333331, maxvel = 8.573191, current_vel = 0.447522, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.447522, acc = 15.431806,T = 0.010831, P = 0.006489 initial results: dx= 0.004342,dt = 0.011122, a_f = -10.267432, v_f = 0.333331 dt = 0.011122, not at end yet tc id = 174, canon_type = 2, mot type = 1 time: 7.095000 primary movement = 4.398064604531e-04 time: 7.095000000001e+00 total movement = 4.398064604531e-04 vel = 4.475223632680e-01 ------------------- tc state : vr = 5.157753, vf = 0.333331, maxvel = 8.573191, current_vel = 0.462954, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.462954, acc = 15.431806,T = 0.010831, P = 0.006944 initial results: dx= 0.003887,dt = 0.009763, a_f = -13.277304, v_f = 0.333331 dt = 0.009763, not at end yet tc id = 174, canon_type = 2, mot type = 1 time: 7.096000 primary movement = 4.552382660829e-04 time: 7.096000000001e+00 total movement = 4.552382660829e-04 vel = 4.629541688980e-01 ------------------- tc state : vr = 5.157753, vf = 0.333331, maxvel = 8.573191, current_vel = 0.465561, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.465561, acc = 2.606635,T = 0.010831, P = 0.007409 initial results: dx= 0.003423,dt = 0.008569, a_f = -15.431806, v_f = 0.333331 recalculating with a_f = -15.431806, a = -15.431806 revised dt = 0.008569 dt = 0.008569, not at end yet tc id = 174, canon_type = 2, mot type = 1 time: 7.097000 primary movement = 4.642574865675e-04 time: 7.097000000001e+00 total movement = 4.642574865675e-04 vel = 4.655608042370e-01 ------------------- tc state : vr = 5.157753, vf = 0.333331, maxvel = 8.573191, current_vel = 0.450129, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.450129, acc = -15.431806,T = 0.010831, P = 0.007866 on final decel initial results: dx= 0.002965,dt = 0.007569, a_f = -15.431806, v_f = 0.333331 recalculating with a_f = -15.431806, a = -15.431806 revised dt = 0.007569 dt = 0.007569, not at end yet tc id = 174, canon_type = 2, mot type = 1 time: 7.098000 primary movement = 4.578449014221e-04 time: 7.098000000001e+00 total movement = 4.578449014221e-04 vel = 4.501289986071e-01 ------------------- tc state : vr = 5.157753, vf = 0.333331, maxvel = 8.573191, current_vel = 0.434697, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.434697, acc = -15.431806,T = 0.010831, P = 0.008309 on final decel initial results: dx= 0.002522,dt = 0.006569, a_f = -15.431806, v_f = 0.333331 recalculating with a_f = -15.431806, a = -15.431806 revised dt = 0.006569 dt = 0.006569, not at end yet tc id = 174, canon_type = 2, mot type = 1 time: 7.099000 primary movement = 4.424130957921e-04 time: 7.099000000001e+00 total movement = 4.424130957921e-04 vel = 4.346971929772e-01 ------------------- tc state : vr = 5.157753, vf = 0.333331, maxvel = 8.573191, current_vel = 0.419265, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.419265, acc = -15.431806,T = 0.010831, P = 0.008736 on final decel initial results: dx= 0.002095,dt = 0.005569, a_f = -15.431806, v_f = 0.333331 recalculating with a_f = -15.431806, a = -15.431806 revised dt = 0.005569 dt = 0.005569, not at end yet tc id = 174, canon_type = 2, mot type = 1 time: 7.100000 primary movement = 4.269812901622e-04 time: 7.100000000001e+00 total movement = 4.269812901622e-04 vel = 4.192653873472e-01 ------------------- tc state : vr = 5.157753, vf = 0.333331, maxvel = 8.573191, current_vel = 0.403834, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.403834, acc = -15.431806,T = 0.010831, P = 0.009147 on final decel initial results: dx= 0.001684,dt = 0.004569, a_f = -15.431806, v_f = 0.333331 recalculating with a_f = -15.431806, a = -15.431806 revised dt = 0.004569 dt = 0.004569, not at end yet tc id = 174, canon_type = 2, mot type = 1 time: 7.101000 primary movement = 4.115494845323e-04 time: 7.101000000001e+00 total movement = 4.115494845323e-04 vel = 4.038335817173e-01 ------------------- tc state : vr = 5.157753, vf = 0.333331, maxvel = 8.573191, current_vel = 0.388402, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.388402, acc = -15.431806,T = 0.010831, P = 0.009543 on final decel initial results: dx= 0.001288,dt = 0.003569, a_f = -15.431806, v_f = 0.333331 recalculating with a_f = -15.431806, a = -15.431806 revised dt = 0.003569 dt = 0.003569, not at end yet tc id = 174, canon_type = 2, mot type = 1 time: 7.102000 primary movement = 3.961176789023e-04 time: 7.102000000001e+00 total movement = 3.961176789023e-04 vel = 3.884017760874e-01 ------------------- tc state : vr = 5.157753, vf = 0.333331, maxvel = 8.573191, current_vel = 0.372970, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.372970, acc = -15.431806,T = 0.010831, P = 0.009924 on final decel initial results: dx= 0.000907,dt = 0.002569, a_f = -15.431806, v_f = 0.333331 recalculating with a_f = -15.431806, a = -15.431806 revised dt = 0.002569 dt = 0.002569, not at end yet tc id = 174, canon_type = 2, mot type = 1 time: 7.103000 primary movement = 3.806858732724e-04 time: 7.103000000001e+00 total movement = 3.806858732724e-04 vel = 3.729699704574e-01 ------------------- tc state : vr = 5.157753, vf = 0.333331, maxvel = 8.573191, current_vel = 0.357538, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.357538, acc = -15.431806,T = 0.010831, P = 0.010289 on final decel initial results: dx= 0.000542,dt = 0.001569, a_f = -15.431806, v_f = 0.333331 recalculating with a_f = -15.431806, a = -15.431806 revised dt = 0.001569 dt = 0.001569, not at end yet tc id = 174, canon_type = 2, mot type = 1 time: 7.104000 primary movement = 3.652540676425e-04 time: 7.104000000001e+00 total movement = 3.652540676425e-04 vel = 3.575381648275e-01 ------------------- tc state : vr = 5.157753, vf = 0.333331, maxvel = 8.573191, current_vel = 0.342106, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.342106, acc = -15.431806,T = 0.010831, P = 0.010639 on final decel initial results: dx= 0.000192,dt = 0.000569, a_f = -15.431806, v_f = 0.333331 recalculating with a_f = -15.431806, a = -15.431806 revised dt = 0.000569 actual v_f = 0.333331, a = -15.431806 split time is 0.000568645 tc id = 174, canon_type = 2, mot type = 1 time: 7.105000 primary movement = 3.498222620126e-04 time: 7.105000000001e+00 total movement = 3.498222620126e-04 vel = 3.421063591976e-01 ------------------- tc id 174 done Finishing split-cycle on id 175 tc state : vr = 0.333331, vf = 0.333331, maxvel = 0.333331, current_vel = 0.333331, fs = 1.000000, tc = 0.000431, term = 3 tc result: v = 0.333331, acc = -0.000000,T = 0.002911, P = 0.000144 initial results: dx= 0.002767,dt = 0.008300, a_f = 0.000000, v_f = 0.333331 dt = 0.008300, not at end yet secondary movement = 0.000144 tc id = 175, canon_type = 3, mot type = 2 time: 7.106000 primary movement = 1.920422273213e-04 time: 7.106000000001e+00 total movement = 3.358193573981e-04 vel = 3.333311331903e-01 Finished tc id 174 ------------------- Activate tc id = 175 target_vel = 0.333331 final_vel = 0.333331 length = 0.002911 tc state : vr = 0.333331, vf = 0.333331, maxvel = 0.333331, current_vel = 0.333331, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.333331, acc = 0.000000,T = 0.002911, P = 0.000477 initial results: dx= 0.002433,dt = 0.007300, a_f = 0.000000, v_f = 0.333331 dt = 0.007300, not at end yet tc id = 175, canon_type = 3, mot type = 2 time: 7.107000 primary movement = 3.332467640404e-04 time: 7.107000000001e+00 total movement = 3.332467640404e-04 vel = 3.333311331903e-01 ------------------- tc state : vr = 0.333331, vf = 0.333331, maxvel = 0.333331, current_vel = 0.333331, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.333331, acc = 0.000000,T = 0.002911, P = 0.000810 initial results: dx= 0.002100,dt = 0.006300, a_f = 0.000000, v_f = 0.333331 dt = 0.006300, not at end yet tc id = 175, canon_type = 3, mot type = 2 time: 7.108000 primary movement = 3.332467640405e-04 time: 7.108000000001e+00 total movement = 3.332467640405e-04 vel = 3.333311331903e-01 ------------------- tc state : vr = 0.333331, vf = 0.333331, maxvel = 0.333331, current_vel = 0.333331, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.333331, acc = 0.000000,T = 0.002911, P = 0.001144 initial results: dx= 0.001767,dt = 0.005300, a_f = 0.000000, v_f = 0.333331 dt = 0.005300, not at end yet tc id = 175, canon_type = 3, mot type = 2 time: 7.109000 primary movement = 3.332467640405e-04 time: 7.109000000001e+00 total movement = 3.332467640405e-04 vel = 3.333311331903e-01 ------------------- tc state : vr = 0.333331, vf = 0.333331, maxvel = 0.333331, current_vel = 0.333331, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.333331, acc = 0.000000,T = 0.002911, P = 0.001477 initial results: dx= 0.001433,dt = 0.004300, a_f = 0.000000, v_f = 0.333331 dt = 0.004300, not at end yet tc id = 175, canon_type = 3, mot type = 2 time: 7.110000 primary movement = 3.332467640405e-04 time: 7.110000000001e+00 total movement = 3.332467640405e-04 vel = 3.333311331903e-01 ------------------- tc state : vr = 0.333331, vf = 0.333331, maxvel = 0.333331, current_vel = 0.333331, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.333331, acc = 0.000000,T = 0.002911, P = 0.001810 initial results: dx= 0.001100,dt = 0.003300, a_f = 0.000000, v_f = 0.333331 dt = 0.003300, not at end yet tc id = 175, canon_type = 3, mot type = 2 time: 7.111000 primary movement = 3.332467640405e-04 time: 7.111000000001e+00 total movement = 3.332467640405e-04 vel = 3.333311331903e-01 ------------------- tc state : vr = 0.333331, vf = 0.333331, maxvel = 0.333331, current_vel = 0.333331, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.333331, acc = 0.000000,T = 0.002911, P = 0.002144 initial results: dx= 0.000767,dt = 0.002300, a_f = 0.000000, v_f = 0.333331 dt = 0.002300, not at end yet tc id = 175, canon_type = 3, mot type = 2 time: 7.112000 primary movement = 3.332467640404e-04 time: 7.112000000001e+00 total movement = 3.332467640404e-04 vel = 3.333311331903e-01 ------------------- tc state : vr = 0.333331, vf = 0.333331, maxvel = 0.333331, current_vel = 0.333331, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.333331, acc = 0.000000,T = 0.002911, P = 0.002477 initial results: dx= 0.000433,dt = 0.001300, a_f = 0.000000, v_f = 0.333331 dt = 0.001300, not at end yet tc id = 175, canon_type = 3, mot type = 2 time: 7.113000 primary movement = 3.332467640405e-04 time: 7.113000000001e+00 total movement = 3.332467640405e-04 vel = 3.333311331903e-01 ------------------- tc state : vr = 0.333331, vf = 0.333331, maxvel = 0.333331, current_vel = 0.333331, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.333331, acc = 0.000000,T = 0.002911, P = 0.002810 initial results: dx= 0.000100,dt = 0.000300, a_f = 0.000000, v_f = 0.333331 actual v_f = 0.333331, a = 0.000000 split time is 0.000300287 tc id = 175, canon_type = 3, mot type = 2 time: 7.114000 primary movement = 3.332467640405e-04 time: 7.114000000001e+00 total movement = 3.332467640405e-04 vel = 3.333311331903e-01 ------------------- tc id 175 done Finishing split-cycle on id 175 tc state : vr = 0.420491, vf = 0.420491, maxvel = 9.225626, current_vel = 0.356570, fs = 1.000000, tc = 0.000700, term = 3 tc result: v = 0.356570, acc = 33.212385,T = 0.000989, P = 0.000241 initial results: dx= 0.000748,dt = 0.001925, a_f = 33.212385, v_f = 0.420491 recalculating with a_f = 33.212385, a = 33.212385 revised dt = 0.001925 dt = 0.001925, not at end yet secondary movement = 0.000241 tc id = 175, canon_type = 2, mot type = 1 time: 7.115000 primary movement = 1.000927937486e-04 time: 7.115000000001e+00 total movement = 3.414592067273e-04 vel = 3.565702633358e-01 Finished tc id 175 ------------------- Activate tc id = 175 target_vel = 0.420491 final_vel = 0.420491 length = 0.000989 tc state : vr = 0.420491, vf = 0.420491, maxvel = 9.225626, current_vel = 0.389783, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.389783, acc = 33.212385,T = 0.000989, P = 0.000615 initial results: dx= 0.000375,dt = 0.000925, a_f = 33.212385, v_f = 0.420491 recalculating with a_f = 33.212385, a = 33.212385 revised dt = 0.000925 actual v_f = 0.420491, a = 33.212385 split time is 0.00092461 tc id = 175, canon_type = 2, mot type = 1 time: 7.116000 primary movement = 3.731764557049e-04 time: 7.116000000001e+00 total movement = 3.731764557049e-04 vel = 3.897826480740e-01 ------------------- tc id 175 done Finishing split-cycle on id 176 tc state : vr = 0.471017, vf = 0.471017, maxvel = 0.471017, current_vel = 0.421622, fs = 1.000000, tc = 0.000075, term = 3 tc result: v = 0.421622, acc = 15.000000,T = 0.003787, P = 0.000032 initial results: dx= 0.003755,dt = 0.008413, a_f = 5.871155, v_f = 0.471017 dt = 0.008413, not at end yet secondary movement = 0.000032 tc id = 176, canon_type = 3, mot type = 2 time: 7.117000 primary movement = 3.745937164466e-04 time: 7.117000000001e+00 total movement = 4.063370660232e-04 vel = 4.216220049256e-01 Finished tc id 175 ------------------- Activate tc id = 176 target_vel = 0.471017 final_vel = 0.471017 length = 0.003787 tc state : vr = 0.471017, vf = 0.471017, maxvel = 0.471017, current_vel = 0.436622, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.436622, acc = 15.000000,T = 0.003787, P = 0.000461 initial results: dx= 0.003326,dt = 0.007329, a_f = 4.693302, v_f = 0.471017 dt = 0.007329, not at end yet tc id = 176, canon_type = 3, mot type = 2 time: 7.118000 primary movement = 4.290768533100e-04 time: 7.118000000001e+00 total movement = 4.290768533100e-04 vel = 4.366220049256e-01 ------------------- tc state : vr = 0.471017, vf = 0.471017, maxvel = 0.471017, current_vel = 0.451622, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.451622, acc = 15.000000,T = 0.003787, P = 0.000905 initial results: dx= 0.002882,dt = 0.006247, a_f = 3.104881, v_f = 0.471017 dt = 0.006247, not at end yet tc id = 176, canon_type = 3, mot type = 2 time: 7.119000 primary movement = 4.440719511504e-04 time: 7.119000000001e+00 total movement = 4.440719511504e-04 vel = 4.516220049256e-01 ------------------- tc state : vr = 0.471017, vf = 0.471017, maxvel = 0.471017, current_vel = 0.466622, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.466622, acc = 15.000000,T = 0.003787, P = 0.001364 initial results: dx= 0.002423,dt = 0.005168, a_f = 0.850588, v_f = 0.471017 dt = 0.005168, not at end yet tc id = 176, canon_type = 3, mot type = 2 time: 7.120000 primary movement = 4.590667064346e-04 time: 7.120000000001e+00 total movement = 4.590667064346e-04 vel = 4.666220049256e-01 ------------------- tc state : vr = 0.471017, vf = 0.471017, maxvel = 0.471017, current_vel = 0.471017, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.471017, acc = 4.395417,T = 0.003787, P = 0.001833 initial results: dx= 0.001954,dt = 0.004148, a_f = 0.000000, v_f = 0.471017 dt = 0.004148, not at end yet tc id = 176, canon_type = 3, mot type = 2 time: 7.121000 primary movement = 4.687608361800e-04 time: 7.121000000001e+00 total movement = 4.687608361800e-04 vel = 4.710174214906e-01 ------------------- tc state : vr = 0.471017, vf = 0.471017, maxvel = 0.471017, current_vel = 0.471017, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.471017, acc = 0.000000,T = 0.003787, P = 0.002304 initial results: dx= 0.001483,dt = 0.003148, a_f = 0.000000, v_f = 0.471017 dt = 0.003148, not at end yet tc id = 176, canon_type = 3, mot type = 2 time: 7.122000 primary movement = 4.709577125942e-04 time: 7.122000000001e+00 total movement = 4.709577125942e-04 vel = 4.710174214906e-01 ------------------- tc state : vr = 0.471017, vf = 0.471017, maxvel = 0.471017, current_vel = 0.471017, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.471017, acc = 0.000000,T = 0.003787, P = 0.002775 initial results: dx= 0.001012,dt = 0.002148, a_f = 0.000000, v_f = 0.471017 dt = 0.002148, not at end yet tc id = 176, canon_type = 3, mot type = 2 time: 7.123000 primary movement = 4.709577125942e-04 time: 7.123000000001e+00 total movement = 4.709577125942e-04 vel = 4.710174214906e-01 ------------------- tc state : vr = 0.471017, vf = 0.471017, maxvel = 0.471017, current_vel = 0.471017, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.471017, acc = 0.000000,T = 0.003787, P = 0.003246 initial results: dx= 0.000541,dt = 0.001148, a_f = 0.000000, v_f = 0.471017 dt = 0.001148, not at end yet tc id = 176, canon_type = 3, mot type = 2 time: 7.124000 primary movement = 4.709577125942e-04 time: 7.124000000001e+00 total movement = 4.709577125942e-04 vel = 4.710174214906e-01 ------------------- tc state : vr = 0.471017, vf = 0.471017, maxvel = 0.471017, current_vel = 0.471017, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.471017, acc = 0.000000,T = 0.003787, P = 0.003717 initial results: dx= 0.000070,dt = 0.000148, a_f = 0.000000, v_f = 0.471017 actual v_f = 0.471017, a = 0.000000 split time is 0.000148058 tc id = 176, canon_type = 3, mot type = 2 time: 7.125000 primary movement = 4.709577125942e-04 time: 7.125000000001e+00 total movement = 4.709577125942e-04 vel = 4.710174214906e-01 ------------------- tc id 176 done Finishing split-cycle on id 176 tc state : vr = 2.918665, vf = 0.571922, maxvel = 8.333300, current_vel = 0.496576, fs = 1.000000, tc = 0.000852, term = 3 tc result: v = 0.496576, acc = 30.000000,T = 0.006129, P = 0.000412 initial results: dx= 0.005717,dt = 0.010701, a_f = 7.041057, v_f = 0.571922 dt = 0.010701, not at end yet secondary movement = 0.000412 tc id = 176, canon_type = 2, mot type = 1 time: 7.126000 primary movement = 6.973751637141e-05 time: 7.126000000001e+00 total movement = 4.819043154230e-04 vel = 4.965756934151e-01 Finished tc id 176 ------------------- Activate tc id = 176 target_vel = 2.918665 final_vel = 0.571922 length = 0.006129 tc state : vr = 2.918665, vf = 0.571922, maxvel = 8.333300, current_vel = 0.526576, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.526576, acc = 30.000000,T = 0.006129, P = 0.000924 initial results: dx= 0.005205,dt = 0.009477, a_f = 4.784724, v_f = 0.571922 dt = 0.009477, not at end yet tc id = 176, canon_type = 2, mot type = 1 time: 7.127000 primary movement = 5.115756934151e-04 time: 7.127000000001e+00 total movement = 5.115756934151e-04 vel = 5.265756934151e-01 ------------------- tc state : vr = 2.918665, vf = 0.571922, maxvel = 8.333300, current_vel = 0.556576, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.556576, acc = 30.000000,T = 0.006129, P = 0.001465 initial results: dx= 0.004664,dt = 0.008266, a_f = 1.856692, v_f = 0.571922 dt = 0.008266, not at end yet tc id = 176, canon_type = 2, mot type = 1 time: 7.128000 primary movement = 5.415756934151e-04 time: 7.128000000001e+00 total movement = 5.415756934151e-04 vel = 5.565756934151e-01 ------------------- tc state : vr = 2.918665, vf = 0.571922, maxvel = 8.333300, current_vel = 0.586576, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.586576, acc = 30.000000,T = 0.006129, P = 0.002037 initial results: dx= 0.004092,dt = 0.007065, a_f = -2.074110, v_f = 0.571922 dt = 0.007065, not at end yet tc id = 176, canon_type = 2, mot type = 1 time: 7.129000 primary movement = 5.715756934151e-04 time: 7.129000000001e+00 total movement = 5.715756934151e-04 vel = 5.865756934151e-01 ------------------- tc state : vr = 2.918665, vf = 0.571922, maxvel = 8.333300, current_vel = 0.616576, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.616576, acc = 30.000000,T = 0.006129, P = 0.002638 initial results: dx= 0.003491,dt = 0.005874, a_f = -7.601615, v_f = 0.571922 dt = 0.005874, not at end yet tc id = 176, canon_type = 2, mot type = 1 time: 7.130000 primary movement = 6.015756934151e-04 time: 7.130000000001e+00 total movement = 6.015756934151e-04 vel = 6.165756934151e-01 ------------------- tc state : vr = 2.918665, vf = 0.571922, maxvel = 8.333300, current_vel = 0.646576, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.646576, acc = 30.000000,T = 0.006129, P = 0.003270 initial results: dx= 0.002859,dt = 0.004693, a_f = -15.907673, v_f = 0.571922 dt = 0.004693, not at end yet tc id = 176, canon_type = 2, mot type = 1 time: 7.131000 primary movement = 6.315756934152e-04 time: 7.131000000001e+00 total movement = 6.315756934152e-04 vel = 6.465756934151e-01 ------------------- tc state : vr = 2.918665, vf = 0.571922, maxvel = 8.333300, current_vel = 0.676576, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.676576, acc = 30.000000,T = 0.006129, P = 0.003932 initial results: dx= 0.002198,dt = 0.003520, a_f = -29.728091, v_f = 0.571922 dt = 0.003520, not at end yet tc id = 176, canon_type = 2, mot type = 1 time: 7.132000 primary movement = 6.615756934151e-04 time: 7.132000000001e+00 total movement = 6.615756934151e-04 vel = 6.765756934151e-01 ------------------- tc state : vr = 2.918665, vf = 0.571922, maxvel = 8.333300, current_vel = 0.647478, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.647478, acc = -29.097408,T = 0.006129, P = 0.004594 on final decel initial results: dx= 0.001536,dt = 0.002519, a_f = -30.000000, v_f = 0.571922 dt = 0.002519, not at end yet tc id = 176, canon_type = 2, mot type = 1 time: 7.133000 primary movement = 6.620269895913e-04 time: 7.133000000001e+00 total movement = 6.620269895913e-04 vel = 6.474782857676e-01 ------------------- tc state : vr = 2.918665, vf = 0.571922, maxvel = 8.333300, current_vel = 0.617478, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.617478, acc = -30.000000,T = 0.006129, P = 0.005226 on final decel initial results: dx= 0.000903,dt = 0.001519, a_f = -30.000000, v_f = 0.571922 dt = 0.001519, not at end yet tc id = 176, canon_type = 2, mot type = 1 time: 7.134000 primary movement = 6.324782857677e-04 time: 7.134000000001e+00 total movement = 6.324782857677e-04 vel = 6.174782857676e-01 ------------------- tc state : vr = 2.918665, vf = 0.571922, maxvel = 8.333300, current_vel = 0.587478, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.587478, acc = -30.000000,T = 0.006129, P = 0.005829 on final decel initial results: dx= 0.000301,dt = 0.000519, a_f = -30.000000, v_f = 0.571922 recalculating with a_f = -30.000000, a = -30.000000 revised dt = 0.000519 actual v_f = 0.571922, a = -30.000000 split time is 0.000518528 tc id = 176, canon_type = 2, mot type = 1 time: 7.135000 primary movement = 6.024782857676e-04 time: 7.135000000001e+00 total movement = 6.024782857676e-04 vel = 5.874782857676e-01 ------------------- tc id 176 done Finishing split-cycle on id 177 tc state : vr = 0.571922, vf = 0.571922, maxvel = 0.571922, current_vel = 0.571922, fs = 1.000000, tc = 0.000481, term = 3 tc result: v = 0.571922, acc = 0.000000,T = 0.003861, P = 0.000275 initial results: dx= 0.003586,dt = 0.006269, a_f = 0.000000, v_f = 0.571922 dt = 0.006269, not at end yet secondary movement = 0.000275 tc id = 177, canon_type = 3, mot type = 2 time: 7.136000 primary movement = 3.005910257912e-04 time: 7.136000000001e+00 total movement = 5.759500225212e-04 vel = 5.719224376618e-01 Finished tc id 176 ------------------- Activate tc id = 177 target_vel = 0.571922 final_vel = 0.571922 length = 0.003861 tc state : vr = 0.571922, vf = 0.571922, maxvel = 0.571922, current_vel = 0.571922, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.571922, acc = 0.000000,T = 0.003861, P = 0.000847 initial results: dx= 0.003014,dt = 0.005269, a_f = 0.000000, v_f = 0.571922 dt = 0.005269, not at end yet tc id = 177, canon_type = 3, mot type = 2 time: 7.137000 primary movement = 5.718732626817e-04 time: 7.137000000001e+00 total movement = 5.718732626817e-04 vel = 5.719224376618e-01 ------------------- tc state : vr = 0.571922, vf = 0.571922, maxvel = 0.571922, current_vel = 0.571922, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.571922, acc = 0.000000,T = 0.003861, P = 0.001419 initial results: dx= 0.002442,dt = 0.004269, a_f = 0.000000, v_f = 0.571922 dt = 0.004269, not at end yet tc id = 177, canon_type = 3, mot type = 2 time: 7.138000 primary movement = 5.718732626816e-04 time: 7.138000000001e+00 total movement = 5.718732626816e-04 vel = 5.719224376618e-01 ------------------- tc state : vr = 0.571922, vf = 0.571922, maxvel = 0.571922, current_vel = 0.571922, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.571922, acc = 0.000000,T = 0.003861, P = 0.001991 initial results: dx= 0.001870,dt = 0.003269, a_f = 0.000000, v_f = 0.571922 dt = 0.003269, not at end yet tc id = 177, canon_type = 3, mot type = 2 time: 7.139000 primary movement = 5.718732626816e-04 time: 7.139000000001e+00 total movement = 5.718732626816e-04 vel = 5.719224376618e-01 ------------------- tc state : vr = 0.571922, vf = 0.571922, maxvel = 0.571922, current_vel = 0.571922, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.571922, acc = 0.000000,T = 0.003861, P = 0.002563 initial results: dx= 0.001298,dt = 0.002269, a_f = 0.000000, v_f = 0.571922 dt = 0.002269, not at end yet tc id = 177, canon_type = 3, mot type = 2 time: 7.140000 primary movement = 5.718732626817e-04 time: 7.140000000001e+00 total movement = 5.718732626817e-04 vel = 5.719224376618e-01 ------------------- tc state : vr = 0.571922, vf = 0.571922, maxvel = 0.571922, current_vel = 0.571922, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.571922, acc = 0.000000,T = 0.003861, P = 0.003135 initial results: dx= 0.000726,dt = 0.001269, a_f = 0.000000, v_f = 0.571922 dt = 0.001269, not at end yet tc id = 177, canon_type = 3, mot type = 2 time: 7.141000 primary movement = 5.718732626817e-04 time: 7.141000000001e+00 total movement = 5.718732626817e-04 vel = 5.719224376618e-01 ------------------- tc state : vr = 0.571922, vf = 0.571922, maxvel = 0.571922, current_vel = 0.571922, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.571922, acc = 0.000000,T = 0.003861, P = 0.003707 initial results: dx= 0.000154,dt = 0.000269, a_f = 0.000000, v_f = 0.571922 actual v_f = 0.571922, a = 0.000000 split time is 0.000269488 tc id = 177, canon_type = 3, mot type = 2 time: 7.142000 primary movement = 5.718732626816e-04 time: 7.142000000001e+00 total movement = 5.718732626816e-04 vel = 5.719224376618e-01 ------------------- tc id 177 done Finishing split-cycle on id 177 tc state : vr = 0.571922, vf = 0.454488, maxvel = 8.741142, current_vel = 0.566486, fs = 1.000000, tc = 0.000731, term = 3 tc result: v = 0.566486, acc = -7.442290,T = 0.002233, P = 0.000416 on final decel initial results: dx= 0.001817,dt = 0.003559, a_f = -31.468238, v_f = 0.454488 recalculating with a_f = -31.468238, a = -31.468238 revised dt = 0.003559 dt = 0.003559, not at end yet secondary movement = 0.000416 tc id = 177, canon_type = 2, mot type = 1 time: 7.143000 primary movement = 1.541250378250e-04 time: 7.143000000001e+00 total movement = 5.699356921906e-04 vel = 5.664857523590e-01 Finished tc id 177 ------------------- Activate tc id = 177 target_vel = 0.571922 final_vel = 0.454488 length = 0.002233 tc state : vr = 0.571922, vf = 0.454488, maxvel = 8.741142, current_vel = 0.535018, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.535018, acc = -31.468238,T = 0.002233, P = 0.000967 on final decel initial results: dx= 0.001266,dt = 0.002559, a_f = -31.468238, v_f = 0.454488 recalculating with a_f = -31.468238, a = -31.468238 revised dt = 0.002559 dt = 0.002559, not at end yet tc id = 177, canon_type = 2, mot type = 1 time: 7.144000 primary movement = 5.507516333814e-04 time: 7.144000000001e+00 total movement = 5.507516333814e-04 vel = 5.350175144039e-01 ------------------- tc state : vr = 0.571922, vf = 0.454488, maxvel = 8.741142, current_vel = 0.503549, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.503549, acc = -31.468238,T = 0.002233, P = 0.001486 on final decel initial results: dx= 0.000747,dt = 0.001559, a_f = -31.468238, v_f = 0.454488 recalculating with a_f = -31.468238, a = -31.468238 revised dt = 0.001559 dt = 0.001559, not at end yet tc id = 177, canon_type = 2, mot type = 1 time: 7.145000 primary movement = 5.192833954263e-04 time: 7.145000000001e+00 total movement = 5.192833954263e-04 vel = 5.035492764488e-01 ------------------- tc state : vr = 0.571922, vf = 0.454488, maxvel = 8.741142, current_vel = 0.472081, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.472081, acc = -31.468238,T = 0.002233, P = 0.001974 on final decel initial results: dx= 0.000259,dt = 0.000559, a_f = -31.468238, v_f = 0.454488 recalculating with a_f = -31.468238, a = -31.468238 revised dt = 0.000559 actual v_f = 0.454488, a = -31.468238 split time is 0.000559084 tc id = 177, canon_type = 2, mot type = 1 time: 7.146000 primary movement = 4.878151574712e-04 time: 7.146000000001e+00 total movement = 4.878151574712e-04 vel = 4.720810384937e-01 ------------------- tc id 177 done Finishing split-cycle on id 178 tc state : vr = 0.454488, vf = 0.454488, maxvel = 0.454488, current_vel = 0.454488, fs = 1.000000, tc = 0.000441, term = 3 tc result: v = 0.454488, acc = -0.000000,T = 0.004135, P = 0.000200 initial results: dx= 0.003934,dt = 0.008656, a_f = 0.000000, v_f = 0.454488 dt = 0.008656, not at end yet secondary movement = 0.000200 tc id = 178, canon_type = 3, mot type = 2 time: 7.147000 primary movement = 2.590150208701e-04 time: 7.147000000001e+00 total movement = 4.594004319656e-04 vel = 4.544876393081e-01 Finished tc id 177 ------------------- Activate tc id = 178 target_vel = 0.454488 final_vel = 0.454488 length = 0.004135 tc state : vr = 0.454488, vf = 0.454488, maxvel = 0.454488, current_vel = 0.454488, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.454488, acc = 0.000000,T = 0.004135, P = 0.000655 initial results: dx= 0.003480,dt = 0.007656, a_f = 0.000000, v_f = 0.454488 dt = 0.007656, not at end yet tc id = 178, canon_type = 3, mot type = 2 time: 7.148000 primary movement = 4.544257589648e-04 time: 7.148000000001e+00 total movement = 4.544257589648e-04 vel = 4.544876393081e-01 ------------------- tc state : vr = 0.454488, vf = 0.454488, maxvel = 0.454488, current_vel = 0.454488, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.454488, acc = 0.000000,T = 0.004135, P = 0.001109 initial results: dx= 0.003025,dt = 0.006656, a_f = 0.000000, v_f = 0.454488 dt = 0.006656, not at end yet tc id = 178, canon_type = 3, mot type = 2 time: 7.149000 primary movement = 4.544257589647e-04 time: 7.149000000001e+00 total movement = 4.544257589647e-04 vel = 4.544876393081e-01 ------------------- tc state : vr = 0.454488, vf = 0.454488, maxvel = 0.454488, current_vel = 0.454488, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.454488, acc = 0.000000,T = 0.004135, P = 0.001564 initial results: dx= 0.002571,dt = 0.005656, a_f = 0.000000, v_f = 0.454488 dt = 0.005656, not at end yet tc id = 178, canon_type = 3, mot type = 2 time: 7.150000 primary movement = 4.544257589648e-04 time: 7.150000000001e+00 total movement = 4.544257589648e-04 vel = 4.544876393081e-01 ------------------- tc state : vr = 0.454488, vf = 0.454488, maxvel = 0.454488, current_vel = 0.454488, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.454488, acc = 0.000000,T = 0.004135, P = 0.002018 initial results: dx= 0.002116,dt = 0.004656, a_f = 0.000000, v_f = 0.454488 dt = 0.004656, not at end yet tc id = 178, canon_type = 3, mot type = 2 time: 7.151000 primary movement = 4.544257589648e-04 time: 7.151000000001e+00 total movement = 4.544257589648e-04 vel = 4.544876393081e-01 ------------------- tc state : vr = 0.454488, vf = 0.454488, maxvel = 0.454488, current_vel = 0.454488, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.454488, acc = 0.000000,T = 0.004135, P = 0.002473 initial results: dx= 0.001662,dt = 0.003656, a_f = 0.000000, v_f = 0.454488 dt = 0.003656, not at end yet tc id = 178, canon_type = 3, mot type = 2 time: 7.152000 primary movement = 4.544257589648e-04 time: 7.152000000001e+00 total movement = 4.544257589648e-04 vel = 4.544876393081e-01 ------------------- tc state : vr = 0.454488, vf = 0.454488, maxvel = 0.454488, current_vel = 0.454488, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.454488, acc = 0.000000,T = 0.004135, P = 0.002927 initial results: dx= 0.001207,dt = 0.002656, a_f = 0.000000, v_f = 0.454488 dt = 0.002656, not at end yet tc id = 178, canon_type = 3, mot type = 2 time: 7.153000 primary movement = 4.544257589648e-04 time: 7.153000000001e+00 total movement = 4.544257589648e-04 vel = 4.544876393081e-01 ------------------- tc state : vr = 0.454488, vf = 0.454488, maxvel = 0.454488, current_vel = 0.454488, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.454488, acc = 0.000000,T = 0.004135, P = 0.003382 initial results: dx= 0.000753,dt = 0.001656, a_f = 0.000000, v_f = 0.454488 dt = 0.001656, not at end yet tc id = 178, canon_type = 3, mot type = 2 time: 7.154000 primary movement = 4.544257589647e-04 time: 7.154000000001e+00 total movement = 4.544257589647e-04 vel = 4.544876393081e-01 ------------------- tc state : vr = 0.454488, vf = 0.454488, maxvel = 0.454488, current_vel = 0.454488, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.454488, acc = 0.000000,T = 0.004135, P = 0.003836 initial results: dx= 0.000298,dt = 0.000656, a_f = 0.000000, v_f = 0.454488 actual v_f = 0.454488, a = 0.000000 split time is 0.000656354 tc id = 178, canon_type = 3, mot type = 2 time: 7.155000 primary movement = 4.544257589647e-04 time: 7.155000000001e+00 total movement = 4.544257589647e-04 vel = 4.544876393081e-01 ------------------- tc id 178 done Finishing split-cycle on id 178 tc state : vr = 1.072823, vf = 0.322481, maxvel = 8.526658, current_vel = 0.465036, fs = 1.000000, tc = 0.000344, term = 3 tc result: v = 0.465036, acc = 30.696091,T = 0.002253, P = 0.000158 initial results: dx= 0.002095,dt = 0.005320, a_f = -26.794315, v_f = 0.322481 dt = 0.005320, not at end yet secondary movement = 0.000158 tc id = 178, canon_type = 2, mot type = 1 time: 7.156000 primary movement = 2.982874242169e-04 time: 7.156000000001e+00 total movement = 4.562826286293e-04 vel = 4.650362186051e-01 Finished tc id 178 ------------------- Activate tc id = 178 target_vel = 1.072823 final_vel = 0.322481 length = 0.002253 tc state : vr = 1.072823, vf = 0.322481, maxvel = 8.526658, current_vel = 0.452164, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.452164, acc = -12.872372,T = 0.002253, P = 0.000617 on final decel initial results: dx= 0.001636,dt = 0.004225, a_f = -30.696091, v_f = 0.322481 dt = 0.004225, not at end yet tc id = 178, canon_type = 2, mot type = 1 time: 7.157000 primary movement = 4.586000328418e-04 time: 7.157000000001e+00 total movement = 4.586000328418e-04 vel = 4.521638470786e-01 ------------------- tc state : vr = 1.072823, vf = 0.322481, maxvel = 8.526658, current_vel = 0.421468, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.421468, acc = -30.696091,T = 0.002253, P = 0.001053 on final decel initial results: dx= 0.001200,dt = 0.003225, a_f = -30.696091, v_f = 0.322481 dt = 0.003225, not at end yet tc id = 178, canon_type = 2, mot type = 1 time: 7.158000 primary movement = 4.368158016004e-04 time: 7.158000000001e+00 total movement = 4.368158016004e-04 vel = 4.214677561223e-01 ------------------- tc state : vr = 1.072823, vf = 0.322481, maxvel = 8.526658, current_vel = 0.390772, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.390772, acc = -30.696091,T = 0.002253, P = 0.001460 on final decel initial results: dx= 0.000793,dt = 0.002225, a_f = -30.696091, v_f = 0.322481 recalculating with a_f = -30.696091, a = -30.696091 revised dt = 0.002225 dt = 0.002225, not at end yet tc id = 178, canon_type = 2, mot type = 1 time: 7.159000 primary movement = 4.061197106441e-04 time: 7.159000000001e+00 total movement = 4.061197106441e-04 vel = 3.907716651659e-01 ------------------- tc state : vr = 1.072823, vf = 0.322481, maxvel = 8.526658, current_vel = 0.360076, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.360076, acc = -30.696091,T = 0.002253, P = 0.001835 on final decel initial results: dx= 0.000418,dt = 0.001225, a_f = -30.696091, v_f = 0.322481 recalculating with a_f = -30.696091, a = -30.696091 revised dt = 0.001225 dt = 0.001225, not at end yet tc id = 178, canon_type = 2, mot type = 1 time: 7.160000 primary movement = 3.754236196878e-04 time: 7.160000000001e+00 total movement = 3.754236196878e-04 vel = 3.600755742096e-01 ------------------- tc state : vr = 1.072823, vf = 0.322481, maxvel = 8.526658, current_vel = 0.329379, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.329379, acc = -30.696091,T = 0.002253, P = 0.002180 on final decel initial results: dx= 0.000073,dt = 0.000225, a_f = -30.696091, v_f = 0.322481 recalculating with a_f = -30.696091, a = -30.696091 revised dt = 0.000225 actual v_f = 0.322481, a = -30.696091 split time is 0.000224729 tc id = 178, canon_type = 2, mot type = 1 time: 7.161000 primary movement = 3.447275287314e-04 time: 7.161000000001e+00 total movement = 3.447275287314e-04 vel = 3.293794832533e-01 ------------------- tc id 178 done Finishing split-cycle on id 179 tc state : vr = 0.422110, vf = 0.000000, maxvel = 0.422110, current_vel = 0.310852, fs = 1.000000, tc = 0.000775, term = 3 tc result: v = 0.310852, acc = -15.000000,T = 0.003466, P = 0.000246 on final decel initial results: dx= 0.003221,dt = 0.020723, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.020723 dt = 0.020723, not at end yet secondary movement = 0.000245 tc id = 179, canon_type = 3, mot type = 2 time: 7.162000 primary movement = 7.324594632354e-05 time: 7.162000000001e+00 total movement = 3.187353607484e-04 vel = 3.108521189273e-01 Finished tc id 178 ------------------- Activate tc id = 179 target_vel = 0.422110 final_vel = 0.000000 length = 0.003466 tc state : vr = 0.422110, vf = 0.000000, maxvel = 0.422110, current_vel = 0.295852, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.295852, acc = -15.000000,T = 0.003466, P = 0.000549 on final decel initial results: dx= 0.002918,dt = 0.019723, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.019723 dt = 0.019723, not at end yet tc id = 179, canon_type = 3, mot type = 2 time: 7.163000 primary movement = 3.033273891541e-04 time: 7.163000000001e+00 total movement = 3.033273891541e-04 vel = 2.958521189273e-01 ------------------- tc state : vr = 0.422110, vf = 0.000000, maxvel = 0.422110, current_vel = 0.280852, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.280852, acc = -15.000000,T = 0.003466, P = 0.000837 on final decel initial results: dx= 0.002629,dt = 0.018723, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.018723 dt = 0.018723, not at end yet tc id = 179, canon_type = 3, mot type = 2 time: 7.164000 primary movement = 2.883308791724e-04 time: 7.164000000001e+00 total movement = 2.883308791724e-04 vel = 2.808521189273e-01 ------------------- tc state : vr = 0.422110, vf = 0.000000, maxvel = 0.422110, current_vel = 0.265852, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.265852, acc = -15.000000,T = 0.003466, P = 0.001111 on final decel initial results: dx= 0.002356,dt = 0.017723, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.017723 dt = 0.017723, not at end yet tc id = 179, canon_type = 3, mot type = 2 time: 7.165000 primary movement = 2.733340243532e-04 time: 7.165000000001e+00 total movement = 2.733340243532e-04 vel = 2.658521189273e-01 ------------------- tc state : vr = 0.422110, vf = 0.000000, maxvel = 0.422110, current_vel = 0.250852, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.250852, acc = -15.000000,T = 0.003466, P = 0.001369 on final decel initial results: dx= 0.002098,dt = 0.016723, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.016723 dt = 0.016723, not at end yet tc id = 179, canon_type = 3, mot type = 2 time: 7.166000 primary movement = 2.583368426323e-04 time: 7.166000000001e+00 total movement = 2.583368426323e-04 vel = 2.508521189273e-01 ------------------- tc state : vr = 0.422110, vf = 0.000000, maxvel = 0.422110, current_vel = 0.235852, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.235852, acc = -15.000000,T = 0.003466, P = 0.001612 on final decel initial results: dx= 0.001854,dt = 0.015723, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.015723 dt = 0.015723, not at end yet tc id = 179, canon_type = 3, mot type = 2 time: 7.167000 primary movement = 2.433393519462e-04 time: 7.167000000001e+00 total movement = 2.433393519462e-04 vel = 2.358521189273e-01 ------------------- tc state : vr = 0.422110, vf = 0.000000, maxvel = 0.422110, current_vel = 0.220852, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.220852, acc = -15.000000,T = 0.003466, P = 0.001841 on final decel initial results: dx= 0.001626,dt = 0.014723, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.014723 dt = 0.014723, not at end yet tc id = 179, canon_type = 3, mot type = 2 time: 7.168000 primary movement = 2.283415702313e-04 time: 7.168000000001e+00 total movement = 2.283415702313e-04 vel = 2.208521189273e-01 ------------------- tc state : vr = 0.422110, vf = 0.000000, maxvel = 0.422110, current_vel = 0.205852, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.205852, acc = -15.000000,T = 0.003466, P = 0.002054 on final decel initial results: dx= 0.001413,dt = 0.013723, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.013723 dt = 0.013723, not at end yet tc id = 179, canon_type = 3, mot type = 2 time: 7.169000 primary movement = 2.133435154249e-04 time: 7.169000000001e+00 total movement = 2.133435154249e-04 vel = 2.058521189273e-01 ------------------- tc state : vr = 0.422110, vf = 0.000000, maxvel = 0.422110, current_vel = 0.190852, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.190852, acc = -15.000000,T = 0.003466, P = 0.002252 on final decel initial results: dx= 0.001214,dt = 0.012723, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.012723 dt = 0.012723, not at end yet tc id = 179, canon_type = 3, mot type = 2 time: 7.170000 primary movement = 1.983452054642e-04 time: 7.170000000001e+00 total movement = 1.983452054642e-04 vel = 1.908521189273e-01 ------------------- tc state : vr = 0.422110, vf = 0.000000, maxvel = 0.422110, current_vel = 0.175852, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.175852, acc = -15.000000,T = 0.003466, P = 0.002436 on final decel initial results: dx= 0.001031,dt = 0.011723, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.011723 dt = 0.011723, not at end yet tc id = 179, canon_type = 3, mot type = 2 time: 7.171000 primary movement = 1.833466582869e-04 time: 7.171000000001e+00 total movement = 1.833466582869e-04 vel = 1.758521189273e-01 ------------------- tc state : vr = 0.422110, vf = 0.000000, maxvel = 0.422110, current_vel = 0.160852, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.160852, acc = -15.000000,T = 0.003466, P = 0.002604 on final decel initial results: dx= 0.000862,dt = 0.010723, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.010723 dt = 0.010723, not at end yet tc id = 179, canon_type = 3, mot type = 2 time: 7.172000 primary movement = 1.683478918309e-04 time: 7.172000000001e+00 total movement = 1.683478918309e-04 vel = 1.608521189273e-01 ------------------- tc state : vr = 0.422110, vf = 0.000000, maxvel = 0.422110, current_vel = 0.145852, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.145852, acc = -15.000000,T = 0.003466, P = 0.002757 on final decel initial results: dx= 0.000709,dt = 0.009723, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.009723 dt = 0.009723, not at end yet tc id = 179, canon_type = 3, mot type = 2 time: 7.173000 primary movement = 1.533489240345e-04 time: 7.173000000001e+00 total movement = 1.533489240345e-04 vel = 1.458521189273e-01 ------------------- tc state : vr = 0.422110, vf = 0.000000, maxvel = 0.422110, current_vel = 0.130852, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.130852, acc = -15.000000,T = 0.003466, P = 0.002896 on final decel initial results: dx= 0.000571,dt = 0.008723, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.008723 dt = 0.008723, not at end yet tc id = 179, canon_type = 3, mot type = 2 time: 7.174000 primary movement = 1.383497728361e-04 time: 7.174000000001e+00 total movement = 1.383497728361e-04 vel = 1.308521189273e-01 ------------------- tc state : vr = 0.422110, vf = 0.000000, maxvel = 0.422110, current_vel = 0.115852, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.115852, acc = -15.000000,T = 0.003466, P = 0.003019 on final decel initial results: dx= 0.000447,dt = 0.007723, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.007723 dt = 0.007723, not at end yet tc id = 179, canon_type = 3, mot type = 2 time: 7.175000 primary movement = 1.233504561742e-04 time: 7.175000000001e+00 total movement = 1.233504561742e-04 vel = 1.158521189273e-01 ------------------- tc state : vr = 0.422110, vf = 0.000000, maxvel = 0.422110, current_vel = 0.100852, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.100852, acc = -15.000000,T = 0.003466, P = 0.003127 on final decel initial results: dx= 0.000339,dt = 0.006723, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.006723 dt = 0.006723, not at end yet tc id = 179, canon_type = 3, mot type = 2 time: 7.176000 primary movement = 1.083509919880e-04 time: 7.176000000001e+00 total movement = 1.083509919880e-04 vel = 1.008521189273e-01 ------------------- tc state : vr = 0.422110, vf = 0.000000, maxvel = 0.422110, current_vel = 0.085852, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.085852, acc = -15.000000,T = 0.003466, P = 0.003221 on final decel initial results: dx= 0.000246,dt = 0.005723, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.005723 dt = 0.005723, not at end yet tc id = 179, canon_type = 3, mot type = 2 time: 7.177000 primary movement = 9.335139821618e-05 time: 7.177000000001e+00 total movement = 9.335139821618e-05 vel = 8.585211892726e-02 ------------------- tc state : vr = 0.422110, vf = 0.000000, maxvel = 0.422110, current_vel = 0.070852, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.070852, acc = -15.000000,T = 0.003466, P = 0.003299 on final decel initial results: dx= 0.000167,dt = 0.004723, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.004723 dt = 0.004723, not at end yet tc id = 179, canon_type = 3, mot type = 2 time: 7.178000 primary movement = 7.835169279817e-05 time: 7.178000000001e+00 total movement = 7.835169279817e-05 vel = 7.085211892726e-02 ------------------- tc state : vr = 0.422110, vf = 0.000000, maxvel = 0.422110, current_vel = 0.055852, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.055852, acc = -15.000000,T = 0.003466, P = 0.003362 on final decel initial results: dx= 0.000104,dt = 0.003723, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.003723 dt = 0.003723, not at end yet tc id = 179, canon_type = 3, mot type = 2 time: 7.179000 primary movement = 6.335189367320e-05 time: 7.179000000001e+00 total movement = 6.335189367320e-05 vel = 5.585211892726e-02 ------------------- tc state : vr = 0.422110, vf = 0.000000, maxvel = 0.422110, current_vel = 0.040852, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.040852, acc = -15.000000,T = 0.003466, P = 0.003411 on final decel initial results: dx= 0.000056,dt = 0.002723, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.002723 dt = 0.002723, not at end yet tc id = 179, canon_type = 3, mot type = 2 time: 7.180000 primary movement = 4.835201878073e-05 time: 7.180000000001e+00 total movement = 4.835201878073e-05 vel = 4.085211892726e-02 ------------------- tc state : vr = 0.422110, vf = 0.000000, maxvel = 0.422110, current_vel = 0.025852, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.025852, acc = -15.000000,T = 0.003466, P = 0.003444 on final decel initial results: dx= 0.000022,dt = 0.001723, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.001723 dt = 0.001723, not at end yet tc id = 179, canon_type = 3, mot type = 2 time: 7.181000 primary movement = 3.335208606028e-05 time: 7.181000000001e+00 total movement = 3.335208606028e-05 vel = 2.585211892726e-02 ------------------- tc state : vr = 0.422110, vf = 0.000000, maxvel = 0.422110, current_vel = 0.010852, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.010852, acc = -15.000000,T = 0.003466, P = 0.003463 on final decel initial results: dx= 0.000004,dt = 0.000723, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.000723 actual v_f = 0.000000, a = -15.000000 split time is 0.000723474 tc id = 179, canon_type = 3, mot type = 2 time: 7.182000 primary movement = 1.835211345148e-05 time: 7.182000000001e+00 total movement = 1.835211345148e-05 vel = 1.085211892726e-02 ------------------- tc id 179 done Finishing split-cycle on id 179 tc state : vr = 11.073024, vf = 0.000000, maxvel = 11.073024, current_vel = 0.005512, fs = 1.000000, tc = 0.000277, term = 2 tc result: v = 0.005512, acc = 19.931523,T = 0.003544, P = 0.000001 secondary movement = 0.000001 tc id = 179, canon_type = 2, mot type = 1 time: 7.183000 primary movement = 3.925616120112e-06 time: 7.183000000001e+00 total movement = 4.687663056184e-06 vel = 5.511579871038e-03 Finished tc id 179 ------------------- Activate tc id = 179 target_vel = 11.073024 final_vel = 0.000000 length = 0.003544 Activate nexttc id 180 tc state : vr = 11.073024, vf = 0.000000, maxvel = 11.073024, current_vel = 0.025443, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.025443, acc = 19.931523,T = 0.003544, P = 0.000016 tc id = 179, canon_type = 2, mot type = 1 time: 7.184000 primary movement = 1.547734157047e-05 time: 7.184000000001e+00 total movement = 1.547734157047e-05 vel = 2.544310326992e-02 ------------------- tc state : vr = 11.073024, vf = 0.000000, maxvel = 11.073024, current_vel = 0.045375, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.045375, acc = 19.931523,T = 0.003544, P = 0.000052 tc id = 179, canon_type = 2, mot type = 1 time: 7.185000 primary movement = 3.540886496938e-05 time: 7.185000000001e+00 total movement = 3.540886496938e-05 vel = 4.537462666879e-02 ------------------- tc state : vr = 11.073024, vf = 0.000000, maxvel = 11.073024, current_vel = 0.065306, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.065306, acc = 19.931523,T = 0.003544, P = 0.000107 tc id = 179, canon_type = 2, mot type = 1 time: 7.186000 primary movement = 5.534038836823e-05 time: 7.186000000001e+00 total movement = 5.534038836823e-05 vel = 6.530615006767e-02 ------------------- tc state : vr = 11.073024, vf = 0.000000, maxvel = 11.073024, current_vel = 0.085238, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.085238, acc = 19.931523,T = 0.003544, P = 0.000182 tc id = 179, canon_type = 2, mot type = 1 time: 7.187000 primary movement = 7.527191176710e-05 time: 7.187000000001e+00 total movement = 7.527191176710e-05 vel = 8.523767346655e-02 ------------------- tc state : vr = 11.073024, vf = 0.000000, maxvel = 11.073024, current_vel = 0.105169, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.105169, acc = 19.931523,T = 0.003544, P = 0.000277 tc id = 179, canon_type = 2, mot type = 1 time: 7.188000 primary movement = 9.520343516599e-05 time: 7.188000000001e+00 total movement = 9.520343516599e-05 vel = 1.051691968654e-01 ------------------- tc state : vr = 11.073024, vf = 0.000000, maxvel = 11.073024, current_vel = 0.125101, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.125101, acc = 19.931523,T = 0.003544, P = 0.000393 tc id = 179, canon_type = 2, mot type = 1 time: 7.189000 primary movement = 1.151349585648e-04 time: 7.189000000001e+00 total movement = 1.151349585648e-04 vel = 1.251007202643e-01 ------------------- tc state : vr = 11.073024, vf = 0.000000, maxvel = 11.073024, current_vel = 0.145032, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.145032, acc = 19.931523,T = 0.003544, P = 0.000528 tc id = 179, canon_type = 2, mot type = 1 time: 7.190000 primary movement = 1.350664819638e-04 time: 7.190000000001e+00 total movement = 1.350664819638e-04 vel = 1.450322436632e-01 ------------------- tc state : vr = 11.073024, vf = 0.000000, maxvel = 11.073024, current_vel = 0.164964, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.164964, acc = 19.931523,T = 0.003544, P = 0.000683 tc id = 179, canon_type = 2, mot type = 1 time: 7.191000 primary movement = 1.549980053626e-04 time: 7.191000000001e+00 total movement = 1.549980053626e-04 vel = 1.649637670621e-01 ------------------- tc state : vr = 11.073024, vf = 0.000000, maxvel = 11.073024, current_vel = 0.184895, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.184895, acc = 19.931523,T = 0.003544, P = 0.000858 tc id = 179, canon_type = 2, mot type = 1 time: 7.192000 primary movement = 1.749295287615e-04 time: 7.192000000001e+00 total movement = 1.749295287615e-04 vel = 1.848952904609e-01 ------------------- tc state : vr = 11.073024, vf = 0.000000, maxvel = 11.073024, current_vel = 0.204827, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.204827, acc = 19.931523,T = 0.003544, P = 0.001052 tc id = 179, canon_type = 2, mot type = 1 time: 7.193000 primary movement = 1.948610521604e-04 time: 7.193000000001e+00 total movement = 1.948610521604e-04 vel = 2.048268138598e-01 ------------------- tc state : vr = 11.073024, vf = 0.000000, maxvel = 11.073024, current_vel = 0.224758, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.224758, acc = 19.931523,T = 0.003544, P = 0.001267 tc id = 179, canon_type = 2, mot type = 1 time: 7.194000 primary movement = 2.147925755592e-04 time: 7.194000000001e+00 total movement = 2.147925755592e-04 vel = 2.247583372587e-01 ------------------- tc state : vr = 11.073024, vf = 0.000000, maxvel = 11.073024, current_vel = 0.244690, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.244690, acc = 19.931523,T = 0.003544, P = 0.001502 tc id = 179, canon_type = 2, mot type = 1 time: 7.195000 primary movement = 2.347240989581e-04 time: 7.195000000001e+00 total movement = 2.347240989581e-04 vel = 2.446898606576e-01 ------------------- tc state : vr = 11.073024, vf = 0.000000, maxvel = 11.073024, current_vel = 0.264621, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.264621, acc = 19.931523,T = 0.003544, P = 0.001757 tc id = 179, canon_type = 2, mot type = 1 time: 7.196000 primary movement = 2.546556223570e-04 time: 7.196000000001e+00 total movement = 2.546556223570e-04 vel = 2.646213840564e-01 ------------------- tc state : vr = 11.073024, vf = 0.000000, maxvel = 11.073024, current_vel = 0.247083, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.247083, acc = -17.538748,T = 0.003544, P = 0.002012 on final decel tc id = 179, canon_type = 2, mot type = 1 tc state : vr = 0.017539, vf = 0.000000, maxvel = 8.676642, current_vel = 0.015618, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.015618, acc = 15.618018,T = 0.010412, P = 0.000008 tc id = 179, canon_type = 2, mot type = 1 secondary movement = 0.000008 time: 7.197000 primary movement = 2.558520102444e-04 time: 7.197000000001e+00 total movement = 2.636610194645e-04 vel = 2.627006548725e-01 ------------------- tc state : vr = 11.073024, vf = 0.000000, maxvel = 11.073024, current_vel = 0.227151, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.227151, acc = -19.931523,T = 0.003544, P = 0.002250 on final decel tc id = 179, canon_type = 2, mot type = 1 tc state : vr = 0.037470, vf = 0.000000, maxvel = 8.676642, current_vel = 0.031236, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.031236, acc = 15.618018,T = 0.010412, P = 0.000031 tc id = 179, canon_type = 2, mot type = 1 secondary movement = 0.000023 time: 7.198000 primary movement = 2.371168747328e-04 time: 7.198000000001e+00 total movement = 2.605439023932e-04 vel = 2.583871499139e-01 ------------------- tc state : vr = 11.073024, vf = 0.000000, maxvel = 11.073024, current_vel = 0.207220, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.207220, acc = -19.931523,T = 0.003544, P = 0.002467 on final decel tc id = 179, canon_type = 2, mot type = 1 tc state : vr = 0.057402, vf = 0.000000, maxvel = 8.676642, current_vel = 0.046854, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.046854, acc = 15.618018,T = 0.010412, P = 0.000070 tc id = 179, canon_type = 2, mot type = 1 secondary movement = 0.000039 time: 7.199000 primary movement = 2.171853513339e-04 time: 7.199000000001e+00 total movement = 2.562303974346e-04 vel = 2.540736449552e-01 ------------------- tc state : vr = 11.073024, vf = 0.000000, maxvel = 11.073024, current_vel = 0.187288, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.187288, acc = -19.931523,T = 0.003544, P = 0.002664 on final decel tc id = 179, canon_type = 2, mot type = 1 tc state : vr = 0.077333, vf = 0.000000, maxvel = 8.676642, current_vel = 0.062472, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.062472, acc = 15.618018,T = 0.010412, P = 0.000125 tc id = 179, canon_type = 2, mot type = 1 secondary movement = 0.000055 time: 7.200000 primary movement = 1.972538279350e-04 time: 7.200000000001e+00 total movement = 2.519168924759e-04 vel = 2.497601399966e-01 ------------------- tc state : vr = 11.073024, vf = 0.000000, maxvel = 11.073024, current_vel = 0.167357, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.167357, acc = -19.931523,T = 0.003544, P = 0.002841 on final decel tc id = 179, canon_type = 2, mot type = 1 tc state : vr = 0.097265, vf = 0.000000, maxvel = 8.676642, current_vel = 0.078090, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.078090, acc = 15.618018,T = 0.010412, P = 0.000195 tc id = 179, canon_type = 2, mot type = 1 secondary movement = 0.000070 time: 7.201000 primary movement = 1.773223045362e-04 time: 7.201000000001e+00 total movement = 2.476033875173e-04 vel = 2.454466350380e-01 ------------------- tc state : vr = 11.073024, vf = 0.000000, maxvel = 11.073024, current_vel = 0.147425, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.147425, acc = -19.931523,T = 0.003544, P = 0.002999 on final decel tc id = 179, canon_type = 2, mot type = 1 tc state : vr = 0.117196, vf = 0.000000, maxvel = 8.676642, current_vel = 0.093708, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.093708, acc = 15.618018,T = 0.010412, P = 0.000281 tc id = 179, canon_type = 2, mot type = 1 secondary movement = 0.000086 time: 7.202000 primary movement = 1.573907811373e-04 time: 7.202000000001e+00 total movement = 2.432898825587e-04 vel = 2.411331300794e-01 ------------------- tc state : vr = 11.073024, vf = 0.000000, maxvel = 11.073024, current_vel = 0.127493, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.127493, acc = -19.931523,T = 0.003544, P = 0.003136 on final decel tc id = 179, canon_type = 2, mot type = 1 tc state : vr = 0.137128, vf = 0.000000, maxvel = 8.676642, current_vel = 0.109326, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.109326, acc = 15.618018,T = 0.010412, P = 0.000383 tc id = 179, canon_type = 2, mot type = 1 secondary movement = 0.000102 time: 7.203000 primary movement = 1.374592577384e-04 time: 7.203000000001e+00 total movement = 2.389763776001e-04 vel = 2.368196251207e-01 ------------------- tc state : vr = 11.073024, vf = 0.000000, maxvel = 11.073024, current_vel = 0.107562, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.107562, acc = -19.931523,T = 0.003544, P = 0.003254 on final decel tc id = 179, canon_type = 2, mot type = 1 tc state : vr = 0.157059, vf = 0.000000, maxvel = 8.676642, current_vel = 0.124944, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.124944, acc = 15.618018,T = 0.010412, P = 0.000500 tc id = 180, canon_type = 2, mot type = 1 secondary movement = 0.000117 time: 7.204000 primary movement = 1.175277343395e-04 time: 7.204000000001e+00 total movement = 2.346628726414e-04 vel = 2.325061201621e-01 ------------------- tc state : vr = 11.073024, vf = 0.000000, maxvel = 11.073024, current_vel = 0.087630, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.087630, acc = -19.931523,T = 0.003544, P = 0.003351 on final decel tc id = 179, canon_type = 2, mot type = 1 tc state : vr = 0.176991, vf = 0.000000, maxvel = 8.676642, current_vel = 0.140562, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.140562, acc = 15.618018,T = 0.010412, P = 0.000633 tc id = 180, canon_type = 2, mot type = 1 secondary movement = 0.000133 time: 7.205000 primary movement = 9.759621094068e-05 time: 7.205000000001e+00 total movement = 2.303493676828e-04 vel = 2.281926152035e-01 ------------------- tc state : vr = 11.073024, vf = 0.000000, maxvel = 11.073024, current_vel = 0.067699, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.067699, acc = -19.931523,T = 0.003544, P = 0.003429 on final decel tc id = 179, canon_type = 2, mot type = 1 tc state : vr = 0.196922, vf = 0.000000, maxvel = 8.676642, current_vel = 0.156180, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.156180, acc = 15.618018,T = 0.010412, P = 0.000781 tc id = 180, canon_type = 2, mot type = 1 secondary movement = 0.000148 time: 7.206000 primary movement = 7.766468754178e-05 time: 7.206000000001e+00 total movement = 2.260358627242e-04 vel = 2.238791102449e-01 ------------------- tc state : vr = 11.073024, vf = 0.000000, maxvel = 11.073024, current_vel = 0.047767, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.047767, acc = -19.931523,T = 0.003544, P = 0.003487 on final decel tc id = 179, canon_type = 2, mot type = 1 tc state : vr = 0.216854, vf = 0.000000, maxvel = 8.676642, current_vel = 0.171798, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.171798, acc = 15.618018,T = 0.010412, P = 0.000945 tc id = 180, canon_type = 2, mot type = 1 secondary movement = 0.000164 time: 7.207000 primary movement = 5.773316414291e-05 time: 7.207000000001e+00 total movement = 2.217223577656e-04 vel = 2.195656052862e-01 ------------------- tc state : vr = 11.073024, vf = 0.000000, maxvel = 11.073024, current_vel = 0.027836, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.027836, acc = -19.931523,T = 0.003544, P = 0.003525 on final decel tc id = 179, canon_type = 2, mot type = 1 tc state : vr = 0.236786, vf = 0.000000, maxvel = 8.676642, current_vel = 0.187416, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.187416, acc = 15.618018,T = 0.010412, P = 0.001124 tc id = 180, canon_type = 2, mot type = 1 secondary movement = 0.000180 time: 7.208000 primary movement = 3.780164074404e-05 time: 7.208000000001e+00 total movement = 2.174088528069e-04 vel = 2.152521003276e-01 ------------------- tc state : vr = 11.073024, vf = 0.000000, maxvel = 11.073024, current_vel = 0.007904, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.007904, acc = -19.931523,T = 0.003544, P = 0.003542 on final decel tc id = 179, canon_type = 2, mot type = 1 tc state : vr = 0.256717, vf = 0.000000, maxvel = 8.676642, current_vel = 0.203034, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.203034, acc = 15.618018,T = 0.010412, P = 0.001320 tc id = 180, canon_type = 2, mot type = 1 secondary movement = 0.000195 time: 7.209000 primary movement = 1.787011734513e-05 time: 7.209000000001e+00 total movement = 2.130953478482e-04 vel = 2.109385953690e-01 ------------------- Found newvel = -0.007904, assuming segment is done segment 179 at target in runcycle tc state : vr = 11.073024, vf = 0.000000, maxvel = 11.073024, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.003544, P = 0.003544 tc id = 179, canon_type = 2, mot type = 1 tc state : vr = 0.264621, vf = 0.000000, maxvel = 8.676642, current_vel = 0.218652, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.218652, acc = 15.618018,T = 0.010412, P = 0.001531 tc id = 180, canon_type = 2, mot type = 1 secondary movement = 0.000211 time: 7.210000 primary movement = 1.567337250741e-06 time: 7.210000000001e+00 total movement = 2.124105861942e-04 vel = 2.186522581635e-01 Finished tc id 179 ------------------- Activate nexttc id 181 tc state : vr = 8.676642, vf = 0.000000, maxvel = 8.676642, current_vel = 0.234270, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.234270, acc = 15.618018,T = 0.010412, P = 0.001757 tc id = 180, canon_type = 2, mot type = 1 time: 7.211000 primary movement = 2.264612673836e-04 time: 7.211000000001e+00 total movement = 2.264612673836e-04 vel = 2.342702766038e-01 ------------------- tc state : vr = 8.676642, vf = 0.000000, maxvel = 8.676642, current_vel = 0.249888, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.249888, acc = 15.618018,T = 0.010412, P = 0.001999 tc id = 180, canon_type = 2, mot type = 1 time: 7.212000 primary movement = 2.420792858238e-04 time: 7.212000000001e+00 total movement = 2.420792858238e-04 vel = 2.498882950440e-01 ------------------- tc state : vr = 8.676642, vf = 0.000000, maxvel = 8.676642, current_vel = 0.265506, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.265506, acc = 15.618018,T = 0.010412, P = 0.002257 tc id = 180, canon_type = 2, mot type = 1 time: 7.213000 primary movement = 2.576973042641e-04 time: 7.213000000001e+00 total movement = 2.576973042641e-04 vel = 2.655063134843e-01 ------------------- tc state : vr = 8.676642, vf = 0.000000, maxvel = 8.676642, current_vel = 0.281124, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.281124, acc = 15.618018,T = 0.010412, P = 0.002530 tc id = 180, canon_type = 2, mot type = 1 time: 7.214000 primary movement = 2.733153227044e-04 time: 7.214000000001e+00 total movement = 2.733153227044e-04 vel = 2.811243319245e-01 ------------------- tc state : vr = 8.676642, vf = 0.000000, maxvel = 8.676642, current_vel = 0.296742, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.296742, acc = 15.618018,T = 0.010412, P = 0.002819 tc id = 180, canon_type = 2, mot type = 1 time: 7.215000 primary movement = 2.889333411446e-04 time: 7.215000000001e+00 total movement = 2.889333411446e-04 vel = 2.967423503648e-01 ------------------- tc state : vr = 8.676642, vf = 0.000000, maxvel = 8.676642, current_vel = 0.312360, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.312360, acc = 15.618018,T = 0.010412, P = 0.003124 tc id = 180, canon_type = 2, mot type = 1 time: 7.216000 primary movement = 3.045513595849e-04 time: 7.216000000001e+00 total movement = 3.045513595849e-04 vel = 3.123603688050e-01 ------------------- tc state : vr = 8.676642, vf = 0.000000, maxvel = 8.676642, current_vel = 0.327978, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.327978, acc = 15.618018,T = 0.010412, P = 0.003444 tc id = 180, canon_type = 2, mot type = 1 time: 7.217000 primary movement = 3.201693780251e-04 time: 7.217000000001e+00 total movement = 3.201693780251e-04 vel = 3.279783872453e-01 ------------------- tc state : vr = 8.676642, vf = 0.000000, maxvel = 8.676642, current_vel = 0.343596, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.343596, acc = 15.618018,T = 0.010412, P = 0.003780 tc id = 180, canon_type = 2, mot type = 1 time: 7.218000 primary movement = 3.357873964654e-04 time: 7.218000000001e+00 total movement = 3.357873964654e-04 vel = 3.435964056855e-01 ------------------- tc state : vr = 8.676642, vf = 0.000000, maxvel = 8.676642, current_vel = 0.359214, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.359214, acc = 15.618018,T = 0.010412, P = 0.004131 tc id = 180, canon_type = 2, mot type = 1 time: 7.219000 primary movement = 3.514054149056e-04 time: 7.219000000001e+00 total movement = 3.514054149056e-04 vel = 3.592144241258e-01 ------------------- tc state : vr = 8.676642, vf = 0.000000, maxvel = 8.676642, current_vel = 0.374832, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.374832, acc = 15.618018,T = 0.010412, P = 0.004498 tc id = 180, canon_type = 2, mot type = 1 time: 7.220000 primary movement = 3.670234333459e-04 time: 7.220000000001e+00 total movement = 3.670234333459e-04 vel = 3.748324425660e-01 ------------------- tc state : vr = 8.676642, vf = 0.000000, maxvel = 8.676642, current_vel = 0.390450, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.390450, acc = 15.618018,T = 0.010412, P = 0.004881 tc id = 180, canon_type = 2, mot type = 1 time: 7.221000 primary movement = 3.826414517862e-04 time: 7.221000000001e+00 total movement = 3.826414517862e-04 vel = 3.904504610063e-01 ------------------- tc state : vr = 8.676642, vf = 0.000000, maxvel = 8.676642, current_vel = 0.400531, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.400531, acc = 10.080285,T = 0.010412, P = 0.005276 tc id = 180, canon_type = 2, mot type = 1 time: 7.222000 primary movement = 3.954906034613e-04 time: 7.222000000001e+00 total movement = 3.954906034613e-04 vel = 4.005307459165e-01 ------------------- tc state : vr = 8.676642, vf = 0.000000, maxvel = 8.676642, current_vel = 0.384913, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.384913, acc = -15.618018,T = 0.010412, P = 0.005669 on final decel tc id = 180, canon_type = 2, mot type = 1 time: 7.223000 primary movement = 3.927217366963e-04 time: 7.223000000001e+00 total movement = 3.927217366963e-04 vel = 3.849127274762e-01 ------------------- tc state : vr = 8.676642, vf = 0.000000, maxvel = 8.676642, current_vel = 0.369295, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.369295, acc = -15.618018,T = 0.010412, P = 0.006046 on final decel tc id = 180, canon_type = 2, mot type = 1 time: 7.224000 primary movement = 3.771037182561e-04 time: 7.224000000001e+00 total movement = 3.771037182561e-04 vel = 3.692947090360e-01 ------------------- tc state : vr = 8.676642, vf = 0.000000, maxvel = 8.676642, current_vel = 0.353677, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.353677, acc = -15.618018,T = 0.010412, P = 0.006407 on final decel tc id = 180, canon_type = 2, mot type = 1 time: 7.225000 primary movement = 3.614856998158e-04 time: 7.225000000001e+00 total movement = 3.614856998158e-04 vel = 3.536766905957e-01 ------------------- tc state : vr = 8.676642, vf = 0.000000, maxvel = 8.676642, current_vel = 0.338059, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.338059, acc = -15.618018,T = 0.010412, P = 0.006753 on final decel tc id = 180, canon_type = 2, mot type = 1 time: 7.226000 primary movement = 3.458676813756e-04 time: 7.226000000001e+00 total movement = 3.458676813756e-04 vel = 3.380586721555e-01 ------------------- tc state : vr = 8.676642, vf = 0.000000, maxvel = 8.676642, current_vel = 0.322441, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.322441, acc = -15.618018,T = 0.010412, P = 0.007084 on final decel tc id = 180, canon_type = 2, mot type = 1 time: 7.227000 primary movement = 3.302496629353e-04 time: 7.227000000001e+00 total movement = 3.302496629353e-04 vel = 3.224406537152e-01 ------------------- tc state : vr = 8.676642, vf = 0.000000, maxvel = 8.676642, current_vel = 0.306823, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.306823, acc = -15.618018,T = 0.010412, P = 0.007398 on final decel tc id = 180, canon_type = 2, mot type = 1 time: 7.228000 primary movement = 3.146316444951e-04 time: 7.228000000001e+00 total movement = 3.146316444951e-04 vel = 3.068226352750e-01 ------------------- tc state : vr = 8.676642, vf = 0.000000, maxvel = 8.676642, current_vel = 0.291205, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.291205, acc = -15.618018,T = 0.010412, P = 0.007697 on final decel tc id = 180, canon_type = 2, mot type = 1 time: 7.229000 primary movement = 2.990136260548e-04 time: 7.229000000001e+00 total movement = 2.990136260548e-04 vel = 2.912046168347e-01 ------------------- tc state : vr = 8.676642, vf = 0.000000, maxvel = 8.676642, current_vel = 0.275587, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.275587, acc = -15.618018,T = 0.010412, P = 0.007981 on final decel tc id = 180, canon_type = 2, mot type = 1 tc state : vr = 0.015618, vf = 0.000000, maxvel = 0.335500, current_vel = 0.007500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.007500, acc = 7.500000,T = 0.010560, P = 0.000004 tc id = 180, canon_type = 2, mot type = 1 secondary movement = 0.000004 time: 7.230000 primary movement = 2.833956076146e-04 time: 7.230000000001e+00 total movement = 2.871456340121e-04 vel = 2.830865983944e-01 ------------------- tc state : vr = 8.676642, vf = 0.000000, maxvel = 8.676642, current_vel = 0.259969, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.259969, acc = -15.618018,T = 0.010412, P = 0.008248 on final decel tc id = 180, canon_type = 2, mot type = 1 tc state : vr = 0.031236, vf = 0.000000, maxvel = 0.335500, current_vel = 0.015000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.015000, acc = 7.500000,T = 0.010560, P = 0.000015 tc id = 180, canon_type = 2, mot type = 1 secondary movement = 0.000011 time: 7.231000 primary movement = 2.677775891743e-04 time: 7.231000000001e+00 total movement = 2.790277021748e-04 vel = 2.749685799542e-01 ------------------- tc state : vr = 8.676642, vf = 0.000000, maxvel = 8.676642, current_vel = 0.244351, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.244351, acc = -15.618018,T = 0.010412, P = 0.008501 on final decel tc id = 180, canon_type = 2, mot type = 1 tc state : vr = 0.046854, vf = 0.000000, maxvel = 0.335500, current_vel = 0.022500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.022500, acc = 7.500000,T = 0.010560, P = 0.000034 tc id = 180, canon_type = 2, mot type = 1 secondary movement = 0.000019 time: 7.232000 primary movement = 2.521595707341e-04 time: 7.232000000001e+00 total movement = 2.709098717622e-04 vel = 2.668505615139e-01 ------------------- tc state : vr = 8.676642, vf = 0.000000, maxvel = 8.676642, current_vel = 0.228733, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.228733, acc = -15.618018,T = 0.010412, P = 0.008737 on final decel tc id = 180, canon_type = 2, mot type = 1 tc state : vr = 0.062472, vf = 0.000000, maxvel = 0.335500, current_vel = 0.030000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.030000, acc = 7.500000,T = 0.010560, P = 0.000060 tc id = 180, canon_type = 2, mot type = 1 secondary movement = 0.000026 time: 7.233000 primary movement = 2.365415522938e-04 time: 7.233000000001e+00 total movement = 2.627922103902e-04 vel = 2.587325430737e-01 ------------------- tc state : vr = 8.676642, vf = 0.000000, maxvel = 8.676642, current_vel = 0.213115, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.213115, acc = -15.618018,T = 0.010412, P = 0.008958 on final decel tc id = 180, canon_type = 2, mot type = 1 tc state : vr = 0.078090, vf = 0.000000, maxvel = 0.335500, current_vel = 0.037500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.037500, acc = 7.500000,T = 0.010560, P = 0.000094 tc id = 180, canon_type = 2, mot type = 1 secondary movement = 0.000034 time: 7.234000 primary movement = 2.209235338536e-04 time: 7.234000000001e+00 total movement = 2.546747856751e-04 vel = 2.506145246334e-01 ------------------- tc state : vr = 8.676642, vf = 0.000000, maxvel = 8.676642, current_vel = 0.197497, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.197497, acc = -15.618018,T = 0.010412, P = 0.009163 on final decel tc id = 180, canon_type = 2, mot type = 1 tc state : vr = 0.093708, vf = 0.000000, maxvel = 0.335500, current_vel = 0.045000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.045000, acc = 7.500000,T = 0.010560, P = 0.000135 tc id = 180, canon_type = 2, mot type = 1 secondary movement = 0.000041 time: 7.235000 primary movement = 2.053055154133e-04 time: 7.235000000001e+00 total movement = 2.465576652329e-04 vel = 2.424965061932e-01 ------------------- tc state : vr = 8.676642, vf = 0.000000, maxvel = 8.676642, current_vel = 0.181878, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.181878, acc = -15.618018,T = 0.010412, P = 0.009353 on final decel tc id = 180, canon_type = 2, mot type = 1 tc state : vr = 0.109326, vf = 0.000000, maxvel = 0.335500, current_vel = 0.052500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.052500, acc = 7.500000,T = 0.010560, P = 0.000184 tc id = 180, canon_type = 2, mot type = 1 secondary movement = 0.000049 time: 7.236000 primary movement = 1.896874969731e-04 time: 7.236000000001e+00 total movement = 2.384409166794e-04 vel = 2.343784877529e-01 ------------------- tc state : vr = 8.676642, vf = 0.000000, maxvel = 8.676642, current_vel = 0.166260, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.166260, acc = -15.618018,T = 0.010412, P = 0.009527 on final decel tc id = 180, canon_type = 2, mot type = 1 tc state : vr = 0.124944, vf = 0.000000, maxvel = 0.335500, current_vel = 0.060000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.060000, acc = 7.500000,T = 0.010560, P = 0.000240 tc id = 180, canon_type = 2, mot type = 1 secondary movement = 0.000056 time: 7.237000 primary movement = 1.740694785328e-04 time: 7.237000000001e+00 total movement = 2.303246076301e-04 vel = 2.262604693127e-01 ------------------- tc state : vr = 8.676642, vf = 0.000000, maxvel = 8.676642, current_vel = 0.150642, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.150642, acc = -15.618018,T = 0.010412, P = 0.009686 on final decel tc id = 180, canon_type = 2, mot type = 1 tc state : vr = 0.140562, vf = 0.000000, maxvel = 0.335500, current_vel = 0.067500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.067500, acc = 7.500000,T = 0.010560, P = 0.000304 tc id = 180, canon_type = 2, mot type = 1 secondary movement = 0.000064 time: 7.238000 primary movement = 1.584514600926e-04 time: 7.238000000001e+00 total movement = 2.222088057004e-04 vel = 2.181424508724e-01 ------------------- tc state : vr = 8.676642, vf = 0.000000, maxvel = 8.676642, current_vel = 0.135024, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.135024, acc = -15.618018,T = 0.010412, P = 0.009828 on final decel tc id = 180, canon_type = 2, mot type = 1 tc state : vr = 0.156180, vf = 0.000000, maxvel = 0.335500, current_vel = 0.075000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.075000, acc = 7.500000,T = 0.010560, P = 0.000375 tc id = 180, canon_type = 2, mot type = 1 secondary movement = 0.000071 time: 7.239000 primary movement = 1.428334416523e-04 time: 7.239000000001e+00 total movement = 2.140935785050e-04 vel = 2.100244324322e-01 ------------------- tc state : vr = 8.676642, vf = 0.000000, maxvel = 8.676642, current_vel = 0.119406, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.119406, acc = -15.618018,T = 0.010412, P = 0.009956 on final decel tc id = 180, canon_type = 2, mot type = 1 tc state : vr = 0.171798, vf = 0.000000, maxvel = 0.335500, current_vel = 0.082500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.082500, acc = 7.500000,T = 0.010560, P = 0.000454 tc id = 180, canon_type = 2, mot type = 1 secondary movement = 0.000079 time: 7.240000 primary movement = 1.272154232121e-04 time: 7.240000000001e+00 total movement = 2.059789936589e-04 vel = 2.019064139919e-01 ------------------- tc state : vr = 8.676642, vf = 0.000000, maxvel = 8.676642, current_vel = 0.103788, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.103788, acc = -15.618018,T = 0.010412, P = 0.010067 on final decel tc id = 180, canon_type = 2, mot type = 1 tc state : vr = 0.187416, vf = 0.000000, maxvel = 0.335500, current_vel = 0.090000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.090000, acc = 7.500000,T = 0.010560, P = 0.000540 tc id = 180, canon_type = 2, mot type = 1 secondary movement = 0.000086 time: 7.241000 primary movement = 1.115974047718e-04 time: 7.241000000001e+00 total movement = 1.978651187760e-04 vel = 1.937883955517e-01 ------------------- tc state : vr = 8.676642, vf = 0.000000, maxvel = 8.676642, current_vel = 0.088170, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.088170, acc = -15.618018,T = 0.010412, P = 0.010163 on final decel tc id = 180, canon_type = 2, mot type = 1 tc state : vr = 0.203034, vf = 0.000000, maxvel = 0.335500, current_vel = 0.097500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.097500, acc = 7.500000,T = 0.010560, P = 0.000634 tc id = 181, canon_type = 3, mot type = 2 secondary movement = 0.000094 time: 7.242000 primary movement = 9.597938633154e-05 time: 7.242000000001e+00 total movement = 1.897520214702e-04 vel = 1.856703771114e-01 ------------------- tc state : vr = 8.676642, vf = 0.000000, maxvel = 8.676642, current_vel = 0.072552, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.072552, acc = -15.618018,T = 0.010412, P = 0.010243 on final decel tc id = 180, canon_type = 2, mot type = 1 tc state : vr = 0.218652, vf = 0.000000, maxvel = 0.335500, current_vel = 0.105000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.105000, acc = 7.500000,T = 0.010560, P = 0.000735 tc id = 181, canon_type = 3, mot type = 2 secondary movement = 0.000101 time: 7.243000 primary movement = 8.036136789136e-05 time: 7.243000000001e+00 total movement = 1.816397693547e-04 vel = 1.775523586712e-01 ------------------- tc state : vr = 8.676642, vf = 0.000000, maxvel = 8.676642, current_vel = 0.056934, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.056934, acc = -15.618018,T = 0.010412, P = 0.010308 on final decel tc id = 180, canon_type = 2, mot type = 1 tc state : vr = 0.234270, vf = 0.000000, maxvel = 0.335500, current_vel = 0.112500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.112500, acc = 7.500000,T = 0.010560, P = 0.000844 tc id = 181, canon_type = 3, mot type = 2 secondary movement = 0.000109 time: 7.244000 primary movement = 6.474334945106e-05 time: 7.244000000001e+00 total movement = 1.735284300422e-04 vel = 1.694343402309e-01 ------------------- tc state : vr = 8.676642, vf = 0.000000, maxvel = 8.676642, current_vel = 0.041316, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.041316, acc = -15.618018,T = 0.010412, P = 0.010357 on final decel tc id = 180, canon_type = 2, mot type = 1 tc state : vr = 0.249888, vf = 0.000000, maxvel = 0.335500, current_vel = 0.120000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.120000, acc = 7.500000,T = 0.010560, P = 0.000960 tc id = 181, canon_type = 3, mot type = 2 secondary movement = 0.000116 time: 7.245000 primary movement = 4.912533101083e-05 time: 7.245000000001e+00 total movement = 1.654180711449e-04 vel = 1.613163217907e-01 ------------------- tc state : vr = 8.676642, vf = 0.000000, maxvel = 8.676642, current_vel = 0.025698, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.025698, acc = -15.618018,T = 0.010412, P = 0.010391 on final decel tc id = 180, canon_type = 2, mot type = 1 tc state : vr = 0.265506, vf = 0.000000, maxvel = 0.335500, current_vel = 0.127500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.127500, acc = 7.500000,T = 0.010560, P = 0.001084 tc id = 181, canon_type = 3, mot type = 2 secondary movement = 0.000124 time: 7.246000 primary movement = 3.350731257058e-05 time: 7.246000000001e+00 total movement = 1.573087602743e-04 vel = 1.531983033504e-01 ------------------- tc state : vr = 8.676642, vf = 0.000000, maxvel = 8.676642, current_vel = 0.010080, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.010080, acc = -15.618018,T = 0.010412, P = 0.010409 on final decel tc id = 180, canon_type = 2, mot type = 1 tc state : vr = 0.281124, vf = 0.000000, maxvel = 0.335500, current_vel = 0.135000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.135000, acc = 7.500000,T = 0.010560, P = 0.001215 tc id = 181, canon_type = 3, mot type = 2 secondary movement = 0.000131 time: 7.247000 primary movement = 1.788929413029e-05 time: 7.247000000001e+00 total movement = 1.492005650411e-04 vel = 1.450802849102e-01 ------------------- Found newvel = -0.005538, assuming segment is done segment 180 at target in runcycle tc state : vr = 8.676642, vf = 0.000000, maxvel = 8.676642, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.010412, P = 0.010412 tc id = 180, canon_type = 2, mot type = 1 tc state : vr = 0.291205, vf = 0.000000, maxvel = 0.335500, current_vel = 0.142500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.142500, acc = 7.500000,T = 0.010560, P = 0.001354 tc id = 181, canon_type = 3, mot type = 2 secondary movement = 0.000139 time: 7.248000 primary movement = 3.253042127580e-06 time: 7.248000000001e+00 total movement = 1.420753194932e-04 vel = 1.425000000000e-01 Finished tc id 180 ------------------- Activate nexttc id 182 tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.150000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.150000, acc = 7.500000,T = 0.010560, P = 0.001500 tc id = 181, canon_type = 3, mot type = 2 time: 7.249000 primary movement = 1.463345346776e-04 time: 7.249000000001e+00 total movement = 1.463345346776e-04 vel = 1.500000000000e-01 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.157500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.157500, acc = 7.500000,T = 0.010560, P = 0.001654 tc id = 181, canon_type = 3, mot type = 2 time: 7.250000 primary movement = 1.538481104552e-04 time: 7.250000000001e+00 total movement = 1.538481104552e-04 vel = 1.575000000000e-01 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.165000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.165000, acc = 7.500000,T = 0.010560, P = 0.001815 tc id = 181, canon_type = 3, mot type = 2 time: 7.251000 primary movement = 1.613630723063e-04 time: 7.251000000001e+00 total movement = 1.613630723063e-04 vel = 1.650000000000e-01 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.172500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.172500, acc = 7.500000,T = 0.010560, P = 0.001984 tc id = 181, canon_type = 3, mot type = 2 time: 7.252000 primary movement = 1.688794878377e-04 time: 7.252000000001e+00 total movement = 1.688794878377e-04 vel = 1.725000000000e-01 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.180000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.180000, acc = 7.500000,T = 0.010560, P = 0.002160 tc id = 181, canon_type = 3, mot type = 2 time: 7.253000 primary movement = 1.763974246556e-04 time: 7.253000000001e+00 total movement = 1.763974246556e-04 vel = 1.800000000000e-01 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.187500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.187500, acc = 7.500000,T = 0.010560, P = 0.002344 tc id = 181, canon_type = 3, mot type = 2 time: 7.254000 primary movement = 1.839169503647e-04 time: 7.254000000001e+00 total movement = 1.839169503647e-04 vel = 1.875000000000e-01 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.195000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.195000, acc = 7.500000,T = 0.010560, P = 0.002535 tc id = 181, canon_type = 3, mot type = 2 time: 7.255000 primary movement = 1.914381325692e-04 time: 7.255000000001e+00 total movement = 1.914381325692e-04 vel = 1.950000000000e-01 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.202500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.202500, acc = 7.500000,T = 0.010560, P = 0.002734 tc id = 181, canon_type = 3, mot type = 2 time: 7.256000 primary movement = 1.989610388721e-04 time: 7.256000000001e+00 total movement = 1.989610388721e-04 vel = 2.025000000000e-01 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.210000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.210000, acc = 7.500000,T = 0.010560, P = 0.002940 tc id = 181, canon_type = 3, mot type = 2 time: 7.257000 primary movement = 2.064857368751e-04 time: 7.257000000001e+00 total movement = 2.064857368751e-04 vel = 2.100000000000e-01 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.217500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.217500, acc = 7.500000,T = 0.010560, P = 0.003154 tc id = 181, canon_type = 3, mot type = 2 time: 7.258000 primary movement = 2.140122941791e-04 time: 7.258000000001e+00 total movement = 2.140122941791e-04 vel = 2.175000000000e-01 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.225000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.225000, acc = 7.500000,T = 0.010560, P = 0.003375 tc id = 181, canon_type = 3, mot type = 2 time: 7.259000 primary movement = 2.215407783835e-04 time: 7.259000000001e+00 total movement = 2.215407783835e-04 vel = 2.250000000000e-01 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.232500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.232500, acc = 7.500000,T = 0.010560, P = 0.003604 tc id = 181, canon_type = 3, mot type = 2 time: 7.260000 primary movement = 2.290712570868e-04 time: 7.260000000001e+00 total movement = 2.290712570868e-04 vel = 2.325000000000e-01 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.240000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.240000, acc = 7.500000,T = 0.010560, P = 0.003840 tc id = 181, canon_type = 3, mot type = 2 time: 7.261000 primary movement = 2.366037978859e-04 time: 7.261000000001e+00 total movement = 2.366037978859e-04 vel = 2.400000000000e-01 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.247500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.247500, acc = 7.500000,T = 0.010560, P = 0.004084 tc id = 181, canon_type = 3, mot type = 2 time: 7.262000 primary movement = 2.441384683767e-04 time: 7.262000000001e+00 total movement = 2.441384683767e-04 vel = 2.475000000000e-01 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.255000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.255000, acc = 7.500000,T = 0.010560, P = 0.004335 tc id = 181, canon_type = 3, mot type = 2 time: 7.263000 primary movement = 2.516753361535e-04 time: 7.263000000001e+00 total movement = 2.516753361535e-04 vel = 2.550000000000e-01 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.262500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.262500, acc = 7.500000,T = 0.010560, P = 0.004594 tc id = 181, canon_type = 3, mot type = 2 time: 7.264000 primary movement = 2.592144688095e-04 time: 7.264000000001e+00 total movement = 2.592144688095e-04 vel = 2.625000000000e-01 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.270000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.270000, acc = 7.500000,T = 0.010560, P = 0.004860 tc id = 181, canon_type = 3, mot type = 2 time: 7.265000 primary movement = 2.667559339361e-04 time: 7.265000000001e+00 total movement = 2.667559339361e-04 vel = 2.700000000000e-01 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.277500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.277500, acc = 7.500000,T = 0.010560, P = 0.005134 tc id = 181, canon_type = 3, mot type = 2 time: 7.266000 primary movement = 2.742997991235e-04 time: 7.266000000001e+00 total movement = 2.742997991235e-04 vel = 2.775000000000e-01 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.277911, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.277911, acc = 0.410840,T = 0.010560, P = 0.005411 tc id = 181, canon_type = 3, mot type = 2 time: 7.267000 primary movement = 2.782941437979e-04 time: 7.267000000001e+00 total movement = 2.782941437979e-04 vel = 2.779108403034e-01 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.270411, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.270411, acc = -7.500000,T = 0.010560, P = 0.005686 on final decel tc id = 181, canon_type = 3, mot type = 2 time: 7.268000 primary movement = 2.747732885147e-04 time: 7.268000000001e+00 total movement = 2.747732885147e-04 vel = 2.704108403034e-01 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.262911, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.262911, acc = -7.500000,T = 0.010560, P = 0.005952 on final decel tc id = 181, canon_type = 3, mot type = 2 time: 7.269000 primary movement = 2.672866279046e-04 time: 7.269000000001e+00 total movement = 2.672866279046e-04 vel = 2.629108403034e-01 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.255411, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.255411, acc = -7.500000,T = 0.010560, P = 0.006211 on final decel tc id = 181, canon_type = 3, mot type = 2 time: 7.270000 primary movement = 2.597974634251e-04 time: 7.270000000001e+00 total movement = 2.597974634251e-04 vel = 2.554108403034e-01 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.247911, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.247911, acc = -7.500000,T = 0.010560, P = 0.006463 on final decel tc id = 181, canon_type = 3, mot type = 2 time: 7.271000 primary movement = 2.523058654816e-04 time: 7.271000000001e+00 total movement = 2.523058654816e-04 vel = 2.479108403034e-01 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.240411, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.240411, acc = -7.500000,T = 0.010560, P = 0.006707 on final decel tc id = 181, canon_type = 3, mot type = 2 time: 7.272000 primary movement = 2.448119044810e-04 time: 7.272000000001e+00 total movement = 2.448119044810e-04 vel = 2.404108403034e-01 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.232911, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.232911, acc = -7.500000,T = 0.010560, P = 0.006944 on final decel tc id = 181, canon_type = 3, mot type = 2 time: 7.273000 primary movement = 2.373156508315e-04 time: 7.273000000001e+00 total movement = 2.373156508315e-04 vel = 2.329108403034e-01 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.225411, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.225411, acc = -7.500000,T = 0.010560, P = 0.007173 on final decel tc id = 181, canon_type = 3, mot type = 2 time: 7.274000 primary movement = 2.298171749428e-04 time: 7.274000000001e+00 total movement = 2.298171749428e-04 vel = 2.254108403034e-01 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.217911, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.217911, acc = -7.500000,T = 0.010560, P = 0.007395 on final decel tc id = 181, canon_type = 3, mot type = 2 time: 7.275000 primary movement = 2.223165472262e-04 time: 7.275000000001e+00 total movement = 2.223165472262e-04 vel = 2.179108403034e-01 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.210411, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.210411, acc = -7.500000,T = 0.010560, P = 0.007609 on final decel tc id = 181, canon_type = 3, mot type = 2 time: 7.276000 primary movement = 2.148138380939e-04 time: 7.276000000001e+00 total movement = 2.148138380939e-04 vel = 2.104108403034e-01 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.202911, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.202911, acc = -7.500000,T = 0.010560, P = 0.007816 on final decel tc id = 181, canon_type = 3, mot type = 2 time: 7.277000 primary movement = 2.073091179597e-04 time: 7.277000000001e+00 total movement = 2.073091179597e-04 vel = 2.029108403034e-01 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.195411, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.195411, acc = -7.500000,T = 0.010560, P = 0.008015 on final decel tc id = 181, canon_type = 3, mot type = 2 time: 7.278000 primary movement = 1.998024572385e-04 time: 7.278000000001e+00 total movement = 1.998024572385e-04 vel = 1.954108403034e-01 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.187911, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.187911, acc = -7.500000,T = 0.010560, P = 0.008206 on final decel tc id = 181, canon_type = 3, mot type = 2 time: 7.279000 primary movement = 1.922939263464e-04 time: 7.279000000001e+00 total movement = 1.922939263464e-04 vel = 1.879108403034e-01 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.180411, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.180411, acc = -7.500000,T = 0.010560, P = 0.008391 on final decel tc id = 181, canon_type = 3, mot type = 2 time: 7.280000 primary movement = 1.847835957007e-04 time: 7.280000000001e+00 total movement = 1.847835957007e-04 vel = 1.804108403034e-01 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.172911, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.172911, acc = -7.500000,T = 0.010560, P = 0.008567 on final decel tc id = 181, canon_type = 3, mot type = 2 time: 7.281000 primary movement = 1.772715357199e-04 time: 7.281000000001e+00 total movement = 1.772715357199e-04 vel = 1.729108403034e-01 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.165411, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.165411, acc = -7.500000,T = 0.010560, P = 0.008736 on final decel tc id = 181, canon_type = 3, mot type = 2 time: 7.282000 primary movement = 1.697578168232e-04 time: 7.282000000001e+00 total movement = 1.697578168232e-04 vel = 1.654108403034e-01 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.157911, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.157911, acc = -7.500000,T = 0.010560, P = 0.008898 on final decel tc id = 181, canon_type = 3, mot type = 2 time: 7.283000 primary movement = 1.622425094313e-04 time: 7.283000000001e+00 total movement = 1.622425094313e-04 vel = 1.579108403034e-01 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.150411, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.150411, acc = -7.500000,T = 0.010560, P = 0.009052 on final decel tc id = 181, canon_type = 3, mot type = 2 time: 7.284000 primary movement = 1.547256839656e-04 time: 7.284000000001e+00 total movement = 1.547256839656e-04 vel = 1.504108403034e-01 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.142911, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.142911, acc = -7.500000,T = 0.010560, P = 0.009199 on final decel tc id = 181, canon_type = 3, mot type = 2 time: 7.285000 primary movement = 1.472074108485e-04 time: 7.285000000001e+00 total movement = 1.472074108485e-04 vel = 1.429108403034e-01 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.135411, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.135411, acc = -7.500000,T = 0.010560, P = 0.009338 on final decel tc id = 181, canon_type = 3, mot type = 2 time: 7.286000 primary movement = 1.396877605032e-04 time: 7.286000000001e+00 total movement = 1.396877605032e-04 vel = 1.354108403034e-01 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.127911, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.127911, acc = -7.500000,T = 0.010560, P = 0.009470 on final decel tc id = 181, canon_type = 3, mot type = 2 time: 7.287000 primary movement = 1.321668033539e-04 time: 7.287000000001e+00 total movement = 1.321668033539e-04 vel = 1.279108403034e-01 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.120411, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.120411, acc = -7.500000,T = 0.010560, P = 0.009594 on final decel tc id = 181, canon_type = 3, mot type = 2 time: 7.288000 primary movement = 1.246446098255e-04 time: 7.288000000001e+00 total movement = 1.246446098255e-04 vel = 1.204108403034e-01 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.112911, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.112911, acc = -7.500000,T = 0.010560, P = 0.009710 on final decel tc id = 181, canon_type = 3, mot type = 2 time: 7.289000 primary movement = 1.171212503436e-04 time: 7.289000000001e+00 total movement = 1.171212503436e-04 vel = 1.129108403034e-01 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.105411, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.105411, acc = -7.500000,T = 0.010560, P = 0.009820 on final decel tc id = 181, canon_type = 3, mot type = 2 time: 7.290000 primary movement = 1.095967953348e-04 time: 7.290000000001e+00 total movement = 1.095967953348e-04 vel = 1.054108403034e-01 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.097911, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.097911, acc = -7.500000,T = 0.010560, P = 0.009921 on final decel tc id = 181, canon_type = 3, mot type = 2 time: 7.291000 primary movement = 1.020713152261e-04 time: 7.291000000001e+00 total movement = 1.020713152261e-04 vel = 9.791084030345e-02 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.090411, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.090411, acc = -7.500000,T = 0.010560, P = 0.010015 on final decel tc id = 181, canon_type = 3, mot type = 2 time: 7.292000 primary movement = 9.454488044507e-05 time: 7.292000000001e+00 total movement = 9.454488044507e-05 vel = 9.041084030345e-02 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.082911, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.082911, acc = -7.500000,T = 0.010560, P = 0.010102 on final decel tc id = 181, canon_type = 3, mot type = 2 time: 7.293000 primary movement = 8.701756142028e-05 time: 7.293000000001e+00 total movement = 8.701756142028e-05 vel = 8.291084030345e-02 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.075411, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.075411, acc = -7.500000,T = 0.010560, P = 0.010181 on final decel tc id = 181, canon_type = 3, mot type = 2 time: 7.294000 primary movement = 7.948942858042e-05 time: 7.294000000001e+00 total movement = 7.948942858042e-05 vel = 7.541084030345e-02 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.067911, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.067911, acc = -7.500000,T = 0.010560, P = 0.010253 on final decel tc id = 181, canon_type = 3, mot type = 2 tc state : vr = 0.007500, vf = 0.007500, maxvel = 8.333300, current_vel = 0.007500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.007500, acc = 7.500000,T = 0.001348, P = 0.000004 initial results: dx= 0.001345,dt = 0.012891, a_f = 15.020915, v_f = 0.201131 recalculating with a_f = 15.020915, a = 15.000000 revised dt = 0.012899 dt = 0.012899, not at end yet tc id = 181, canon_type = 3, mot type = 2 secondary movement = 0.000004 time: 7.295000 primary movement = 7.196055235490e-05 time: 7.295000000001e+00 total movement = 7.571055235493e-05 vel = 7.541084030345e-02 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.060411, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.060411, acc = -7.500000,T = 0.010560, P = 0.010317 on final decel tc id = 181, canon_type = 3, mot type = 2 tc state : vr = 0.015000, vf = 0.015000, maxvel = 8.333300, current_vel = 0.015000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.015000, acc = 7.500000,T = 0.001348, P = 0.000015 initial results: dx= 0.001333,dt = 0.012339, a_f = 15.084367, v_f = 0.201131 recalculating with a_f = 15.084367, a = 15.000000 revised dt = 0.012371 dt = 0.012371, not at end yet tc id = 181, canon_type = 3, mot type = 2 secondary movement = 0.000011 time: 7.296000 primary movement = 6.443100317343e-05 time: 7.296000000001e+00 total movement = 7.568100317339e-05 vel = 7.541084030345e-02 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.052911, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.052911, acc = -7.500000,T = 0.010560, P = 0.010374 on final decel tc id = 181, canon_type = 3, mot type = 2 tc state : vr = 0.022500, vf = 0.022500, maxvel = 8.333300, current_vel = 0.022500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.022500, acc = 7.500000,T = 0.001348, P = 0.000034 initial results: dx= 0.001315,dt = 0.011758, a_f = 15.192534, v_f = 0.201131 recalculating with a_f = 15.192534, a = 15.000000 revised dt = 0.011825 dt = 0.011825, not at end yet tc id = 181, canon_type = 3, mot type = 2 secondary movement = 0.000019 time: 7.297000 primary movement = 5.690085146633e-05 time: 7.297000000001e+00 total movement = 7.565085146634e-05 vel = 7.541084030345e-02 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.045411, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.045411, acc = -7.500000,T = 0.010560, P = 0.010423 on final decel tc id = 181, canon_type = 3, mot type = 2 tc state : vr = 0.030000, vf = 0.030000, maxvel = 8.333300, current_vel = 0.030000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.030000, acc = 7.500000,T = 0.001348, P = 0.000060 initial results: dx= 0.001288,dt = 0.011149, a_f = 15.349256, v_f = 0.201131 recalculating with a_f = 15.349256, a = 15.000000 revised dt = 0.011259 dt = 0.011259, not at end yet tc id = 181, canon_type = 3, mot type = 2 secondary movement = 0.000026 time: 7.298000 primary movement = 4.937016766414e-05 time: 7.298000000001e+00 total movement = 7.562016766415e-05 vel = 7.541084030345e-02 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.037911, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.037911, acc = -7.500000,T = 0.010560, P = 0.010465 on final decel tc id = 181, canon_type = 3, mot type = 2 tc state : vr = 0.037500, vf = 0.037500, maxvel = 8.333300, current_vel = 0.037500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.037500, acc = 7.500000,T = 0.001348, P = 0.000094 initial results: dx= 0.001255,dt = 0.010516, a_f = 15.560391, v_f = 0.201131 recalculating with a_f = 15.560391, a = 15.000000 revised dt = 0.010674 dt = 0.010674, not at end yet tc id = 181, canon_type = 3, mot type = 2 secondary movement = 0.000034 time: 7.299000 primary movement = 4.183902219788e-05 time: 7.299000000001e+00 total movement = 7.558902219788e-05 vel = 7.541084030345e-02 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.030411, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.030411, acc = -7.500000,T = 0.010560, P = 0.010499 on final decel tc id = 181, canon_type = 3, mot type = 2 tc state : vr = 0.045000, vf = 0.045000, maxvel = 8.333300, current_vel = 0.045000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.045000, acc = 7.500000,T = 0.001348, P = 0.000135 initial results: dx= 0.001213,dt = 0.009860, a_f = 15.834395, v_f = 0.201131 recalculating with a_f = 15.834395, a = 15.000000 revised dt = 0.010069 dt = 0.010069, not at end yet tc id = 182, canon_type = 2, mot type = 1 secondary movement = 0.000041 time: 7.300000 primary movement = 3.430748549857e-05 time: 7.300000000001e+00 total movement = 7.555748549856e-05 vel = 7.541084030345e-02 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.022911, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.022911, acc = -7.500000,T = 0.010560, P = 0.010525 on final decel tc id = 181, canon_type = 3, mot type = 2 tc state : vr = 0.052500, vf = 0.052500, maxvel = 8.333300, current_vel = 0.052500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.052500, acc = 7.500000,T = 0.001348, P = 0.000184 initial results: dx= 0.001165,dt = 0.009184, a_f = 16.183240, v_f = 0.201131 recalculating with a_f = 16.183240, a = 15.000000 revised dt = 0.009444 dt = 0.009444, not at end yet tc id = 182, canon_type = 2, mot type = 1 secondary movement = 0.000049 time: 7.301000 primary movement = 2.677562799785e-05 time: 7.301000000001e+00 total movement = 7.552562799784e-05 vel = 7.541084030345e-02 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.015411, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.015411, acc = -7.500000,T = 0.010560, P = 0.010545 on final decel tc id = 181, canon_type = 3, mot type = 2 tc state : vr = 0.060000, vf = 0.060000, maxvel = 8.333300, current_vel = 0.060000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.060000, acc = 7.500000,T = 0.001348, P = 0.000240 initial results: dx= 0.001108,dt = 0.008490, a_f = 16.623883, v_f = 0.201131 recalculating with a_f = 16.623883, a = 15.000000 revised dt = 0.008798 dt = 0.008798, not at end yet tc id = 182, canon_type = 2, mot type = 1 secondary movement = 0.000056 time: 7.302000 primary movement = 1.924352012720e-05 time: 7.302000000001e+00 total movement = 7.549352012724e-05 vel = 7.541084030345e-02 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.007911, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.007911, acc = -7.500000,T = 0.010560, P = 0.010556 on final decel tc id = 181, canon_type = 3, mot type = 2 tc state : vr = 0.067500, vf = 0.067500, maxvel = 8.333300, current_vel = 0.067500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.067500, acc = 7.500000,T = 0.001348, P = 0.000304 initial results: dx= 0.001045,dt = 0.007778, a_f = 17.180641, v_f = 0.201131 recalculating with a_f = 17.180641, a = 15.000000 revised dt = 0.008131 dt = 0.008131, not at end yet tc id = 182, canon_type = 2, mot type = 1 secondary movement = 0.000064 time: 7.303000 primary movement = 1.171123231857e-05 time: 7.303000000001e+00 total movement = 7.546123231854e-05 vel = 7.541084030345e-02 ------------------- tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.000411, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000411, acc = -7.500000,T = 0.010560, P = 0.010560 on final decel tc id = 181, canon_type = 3, mot type = 2 tc state : vr = 0.075000, vf = 0.075000, maxvel = 8.333300, current_vel = 0.075000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.075000, acc = 7.500000,T = 0.001348, P = 0.000375 initial results: dx= 0.000973,dt = 0.007051, a_f = 17.889195, v_f = 0.201131 recalculating with a_f = 17.889195, a = 15.000000 revised dt = 0.007442 dt = 0.007442, not at end yet tc id = 182, canon_type = 2, mot type = 1 secondary movement = 0.000071 time: 7.304000 primary movement = 4.178835003753e-06 time: 7.304000000001e+00 total movement = 7.542883500378e-05 vel = 7.541084030345e-02 ------------------- Found newvel = -0.000411, assuming segment is done segment 181 at target in runcycle tc state : vr = 0.335500, vf = 0.000000, maxvel = 0.335500, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.010560, P = 0.010560 tc id = 181, canon_type = 3, mot type = 2 tc state : vr = 0.075411, vf = 0.075411, maxvel = 8.333300, current_vel = 0.075411, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.075411, acc = 0.410840,T = 0.001348, P = 0.000450 initial results: dx= 0.000898,dt = 0.006496, a_f = 19.352561, v_f = 0.201131 recalculating with a_f = 19.352561, a = 15.000000 revised dt = 0.007016 dt = 0.007016, not at end yet tc id = 182, canon_type = 2, mot type = 1 secondary movement = 0.000075 time: 7.305000 primary movement = 1.130132522541e-08 time: 7.305000000001e+00 total movement = 7.521672147694e-05 vel = 7.541084030345e-02 Finished tc id 181 ------------------- tc state : vr = 0.642121, vf = 0.201131, maxvel = 8.333300, current_vel = 0.090411, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.090411, acc = 15.000000,T = 0.001348, P = 0.000533 initial results: dx= 0.000815,dt = 0.005593, a_f = 19.795169, v_f = 0.201131 recalculating with a_f = 19.795169, a = 15.000000 revised dt = 0.006016 dt = 0.006016, not at end yet tc id = 182, canon_type = 2, mot type = 1 time: 7.306000 primary movement = 8.291084030343e-05 time: 7.306000000001e+00 total movement = 8.291084030343e-05 vel = 9.041084030345e-02 ------------------- tc state : vr = 0.642121, vf = 0.201131, maxvel = 8.333300, current_vel = 0.105411, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.105411, acc = 15.000000,T = 0.001348, P = 0.000631 initial results: dx= 0.000717,dt = 0.004681, a_f = 20.449589, v_f = 0.201131 recalculating with a_f = 20.449589, a = 15.000000 revised dt = 0.005016 dt = 0.005016, not at end yet tc id = 182, canon_type = 2, mot type = 1 time: 7.307000 primary movement = 9.791084030347e-05 time: 7.307000000001e+00 total movement = 9.791084030347e-05 vel = 1.054108403034e-01 ------------------- tc state : vr = 0.642121, vf = 0.201131, maxvel = 8.333300, current_vel = 0.120411, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.120411, acc = 15.000000,T = 0.001348, P = 0.000744 initial results: dx= 0.000605,dt = 0.003760, a_f = 21.467457, v_f = 0.201131 recalculating with a_f = 21.467457, a = 15.000000 revised dt = 0.004016 dt = 0.004016, not at end yet tc id = 182, canon_type = 2, mot type = 1 time: 7.308000 primary movement = 1.129108403035e-04 time: 7.308000000001e+00 total movement = 1.129108403035e-04 vel = 1.204108403034e-01 ------------------- tc state : vr = 0.642121, vf = 0.201131, maxvel = 8.333300, current_vel = 0.135411, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.135411, acc = 15.000000,T = 0.001348, P = 0.000872 initial results: dx= 0.000477,dt = 0.002832, a_f = 23.203185, v_f = 0.201131 recalculating with a_f = 23.203185, a = 15.000000 revised dt = 0.003016 dt = 0.003016, not at end yet tc id = 182, canon_type = 2, mot type = 1 time: 7.309000 primary movement = 1.279108403034e-04 time: 7.309000000001e+00 total movement = 1.279108403034e-04 vel = 1.354108403034e-01 ------------------- tc state : vr = 0.642121, vf = 0.201131, maxvel = 8.333300, current_vel = 0.150411, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.150411, acc = 15.000000,T = 0.001348, P = 0.001015 initial results: dx= 0.000334,dt = 0.001898, a_f = 26.716348, v_f = 0.201131 recalculating with a_f = 26.716348, a = 15.000000 revised dt = 0.002016 dt = 0.002016, not at end yet tc id = 182, canon_type = 2, mot type = 1 time: 7.310000 primary movement = 1.429108403034e-04 time: 7.310000000001e+00 total movement = 1.429108403034e-04 vel = 1.504108403034e-01 ------------------- tc state : vr = 0.642121, vf = 0.201131, maxvel = 8.333300, current_vel = 0.165411, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.165411, acc = 15.000000,T = 0.001348, P = 0.001173 initial results: dx= 0.000176,dt = 0.000959, a_f = 37.241418, v_f = 0.201131 recalculating with a_f = 37.241418, a = 15.000000 revised dt = 0.001016 dt = 0.001016, not at end yet tc id = 182, canon_type = 2, mot type = 1 time: 7.311000 primary movement = 1.579108403035e-04 time: 7.311000000001e+00 total movement = 1.579108403035e-04 vel = 1.654108403034e-01 ------------------- tc state : vr = 0.642121, vf = 0.201131, maxvel = 8.333300, current_vel = 0.180411, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.180411, acc = 15.000000,T = 0.001348, P = 0.001346 initial results: dx= 0.000003,dt = 0.000015, a_f = 1375.794719, v_f = 0.201131 recalculating with a_f = 1375.794719, a = 15.000000 revised dt = 0.000016 actual v_f = 0.180650, a = 15.000000 split time is 1.59147e-05 tc id = 182, canon_type = 2, mot type = 1 time: 7.312000 primary movement = 1.729108403034e-04 time: 7.312000000001e+00 total movement = 1.729108403034e-04 vel = 1.804108403034e-01 ------------------- tc id 182 done Finishing split-cycle on id 183 tc state : vr = 0.445073, vf = 0.445073, maxvel = 0.642121, current_vel = 0.195411, fs = 1.000000, tc = 0.000984, term = 3 tc result: v = 0.195411, acc = 15.000000,T = 0.005255, P = 0.000185 initial results: dx= 0.005070,dt = 0.015830, a_f = 15.771214, v_f = 0.445073 recalculating with a_f = 15.771214, a = 15.000000 revised dt = 0.016053 dt = 0.016053, not at end yet secondary movement = 0.000185 tc id = 183, canon_type = 3, mot type = 2 time: 7.313000 primary movement = 2.873088666588e-06 time: 7.313000000001e+00 total movement = 1.879097921981e-04 vel = 1.954108403034e-01 Finished tc id 182 ------------------- Activate tc id = 183 target_vel = 0.445073 final_vel = 0.445073 length = 0.005255 tc state : vr = 0.445073, vf = 0.445073, maxvel = 0.642121, current_vel = 0.210411, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.210411, acc = 15.000000,T = 0.005255, P = 0.000388 initial results: dx= 0.004867,dt = 0.014849, a_f = 15.803369, v_f = 0.445073 recalculating with a_f = 15.803369, a = 15.000000 revised dt = 0.015053 dt = 0.015053, not at end yet tc id = 183, canon_type = 3, mot type = 2 time: 7.314000 primary movement = 2.029094582032e-04 time: 7.314000000001e+00 total movement = 2.029094582032e-04 vel = 2.104108403034e-01 ------------------- tc state : vr = 0.445073, vf = 0.445073, maxvel = 0.642121, current_vel = 0.225411, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.225411, acc = 15.000000,T = 0.005255, P = 0.000606 initial results: dx= 0.004649,dt = 0.013867, a_f = 15.841028, v_f = 0.445073 recalculating with a_f = 15.841028, a = 15.000000 revised dt = 0.014053 dt = 0.014053, not at end yet tc id = 183, canon_type = 3, mot type = 2 time: 7.315000 primary movement = 2.179091284754e-04 time: 7.315000000001e+00 total movement = 2.179091284754e-04 vel = 2.254108403034e-01 ------------------- tc state : vr = 0.445073, vf = 0.445073, maxvel = 0.642121, current_vel = 0.240411, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.240411, acc = 15.000000,T = 0.005255, P = 0.000839 initial results: dx= 0.004416,dt = 0.012884, a_f = 15.885388, v_f = 0.445073 recalculating with a_f = 15.885388, a = 15.000000 revised dt = 0.013053 dt = 0.013053, not at end yet tc id = 183, canon_type = 3, mot type = 2 time: 7.316000 primary movement = 2.329087500805e-04 time: 7.316000000001e+00 total movement = 2.329087500805e-04 vel = 2.404108403034e-01 ------------------- tc state : vr = 0.445073, vf = 0.445073, maxvel = 0.642121, current_vel = 0.255411, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.255411, acc = 15.000000,T = 0.005255, P = 0.001087 initial results: dx= 0.004168,dt = 0.011900, a_f = 15.938052, v_f = 0.445073 recalculating with a_f = 15.938052, a = 15.000000 revised dt = 0.012053 dt = 0.012053, not at end yet tc id = 183, canon_type = 3, mot type = 2 time: 7.317000 primary movement = 2.479083196689e-04 time: 7.317000000001e+00 total movement = 2.479083196689e-04 vel = 2.554108403034e-01 ------------------- tc state : vr = 0.445073, vf = 0.445073, maxvel = 0.642121, current_vel = 0.270411, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.270411, acc = 15.000000,T = 0.005255, P = 0.001350 initial results: dx= 0.003905,dt = 0.010916, a_f = 16.001208, v_f = 0.445073 recalculating with a_f = 16.001208, a = 15.000000 revised dt = 0.011053 dt = 0.011053, not at end yet tc id = 183, canon_type = 3, mot type = 2 time: 7.318000 primary movement = 2.629078338904e-04 time: 7.318000000001e+00 total movement = 2.629078338904e-04 vel = 2.704108403034e-01 ------------------- tc state : vr = 0.445073, vf = 0.445073, maxvel = 0.642121, current_vel = 0.285411, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.285411, acc = 15.000000,T = 0.005255, P = 0.001628 initial results: dx= 0.003627,dt = 0.009931, a_f = 16.077923, v_f = 0.445073 recalculating with a_f = 16.077923, a = 15.000000 revised dt = 0.010053 dt = 0.010053, not at end yet tc id = 183, canon_type = 3, mot type = 2 time: 7.319000 primary movement = 2.779072893951e-04 time: 7.319000000001e+00 total movement = 2.779072893951e-04 vel = 2.854108403034e-01 ------------------- tc state : vr = 0.445073, vf = 0.445073, maxvel = 0.642121, current_vel = 0.300411, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.300411, acc = 15.000000,T = 0.005255, P = 0.001920 initial results: dx= 0.003334,dt = 0.008945, a_f = 16.172620, v_f = 0.445073 recalculating with a_f = 16.172620, a = 15.000000 revised dt = 0.009053 dt = 0.009053, not at end yet tc id = 183, canon_type = 3, mot type = 2 time: 7.320000 primary movement = 2.929066828332e-04 time: 7.320000000001e+00 total movement = 2.929066828332e-04 vel = 3.004108403034e-01 ------------------- tc state : vr = 0.445073, vf = 0.445073, maxvel = 0.642121, current_vel = 0.315411, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.315411, acc = 15.000000,T = 0.005255, P = 0.002228 initial results: dx= 0.003026,dt = 0.007959, a_f = 16.291931, v_f = 0.445073 recalculating with a_f = 16.291931, a = 15.000000 revised dt = 0.008053 dt = 0.008053, not at end yet tc id = 183, canon_type = 3, mot type = 2 time: 7.321000 primary movement = 3.079060108547e-04 time: 7.321000000001e+00 total movement = 3.079060108547e-04 vel = 3.154108403034e-01 ------------------- tc state : vr = 0.445073, vf = 0.445073, maxvel = 0.642121, current_vel = 0.330411, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.330411, acc = 15.000000,T = 0.005255, P = 0.002551 initial results: dx= 0.002703,dt = 0.006972, a_f = 16.446252, v_f = 0.445073 recalculating with a_f = 16.446252, a = 15.000000 revised dt = 0.007053 dt = 0.007053, not at end yet tc id = 183, canon_type = 3, mot type = 2 time: 7.322000 primary movement = 3.229052701099e-04 time: 7.322000000001e+00 total movement = 3.229052701099e-04 vel = 3.304108403034e-01 ------------------- tc state : vr = 0.445073, vf = 0.445073, maxvel = 0.642121, current_vel = 0.345411, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.345411, acc = 15.000000,T = 0.005255, P = 0.002889 initial results: dx= 0.002365,dt = 0.005985, a_f = 16.652856, v_f = 0.445073 recalculating with a_f = 16.652856, a = 15.000000 revised dt = 0.006053 dt = 0.006053, not at end yet tc id = 183, canon_type = 3, mot type = 2 time: 7.323000 primary movement = 3.379044572487e-04 time: 7.323000000001e+00 total movement = 3.379044572487e-04 vel = 3.454108403034e-01 ------------------- tc state : vr = 0.445073, vf = 0.445073, maxvel = 0.642121, current_vel = 0.360411, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.360411, acc = 15.000000,T = 0.005255, P = 0.003242 initial results: dx= 0.002012,dt = 0.004997, a_f = 16.942700, v_f = 0.445073 recalculating with a_f = 16.942700, a = 15.000000 revised dt = 0.005053 dt = 0.005053, not at end yet tc id = 183, canon_type = 3, mot type = 2 time: 7.324000 primary movement = 3.529035689212e-04 time: 7.324000000001e+00 total movement = 3.529035689212e-04 vel = 3.604108403034e-01 ------------------- tc state : vr = 0.445073, vf = 0.445073, maxvel = 0.642121, current_vel = 0.375411, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.375411, acc = 15.000000,T = 0.005255, P = 0.003610 initial results: dx= 0.001645,dt = 0.004009, a_f = 17.377302, v_f = 0.445073 recalculating with a_f = 17.377302, a = 15.000000 revised dt = 0.004053 dt = 0.004053, not at end yet tc id = 183, canon_type = 3, mot type = 2 time: 7.325000 primary movement = 3.679026017778e-04 time: 7.325000000001e+00 total movement = 3.679026017778e-04 vel = 3.754108403034e-01 ------------------- tc state : vr = 0.445073, vf = 0.445073, maxvel = 0.642121, current_vel = 0.390411, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.390411, acc = 15.000000,T = 0.005255, P = 0.003993 initial results: dx= 0.001262,dt = 0.003020, a_f = 18.098797, v_f = 0.445073 recalculating with a_f = 18.098797, a = 15.000000 revised dt = 0.003053 dt = 0.003053, not at end yet tc id = 183, canon_type = 3, mot type = 2 time: 7.326000 primary movement = 3.829015524685e-04 time: 7.326000000001e+00 total movement = 3.829015524685e-04 vel = 3.904108403034e-01 ------------------- tc state : vr = 0.445073, vf = 0.445073, maxvel = 0.642121, current_vel = 0.405411, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.405411, acc = 15.000000,T = 0.005255, P = 0.004391 initial results: dx= 0.000864,dt = 0.002031, a_f = 19.526317, v_f = 0.445073 recalculating with a_f = 19.526317, a = 15.000000 revised dt = 0.002053 dt = 0.002053, not at end yet tc id = 183, canon_type = 3, mot type = 2 time: 7.327000 primary movement = 3.979004176437e-04 time: 7.327000000001e+00 total movement = 3.979004176437e-04 vel = 4.054108403034e-01 ------------------- tc state : vr = 0.445073, vf = 0.445073, maxvel = 0.642121, current_vel = 0.420411, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.420411, acc = 15.000000,T = 0.005255, P = 0.004804 initial results: dx= 0.000451,dt = 0.001042, a_f = 23.671684, v_f = 0.445073 recalculating with a_f = 23.671684, a = 15.000000 revised dt = 0.001053 dt = 0.001053, not at end yet tc id = 183, canon_type = 3, mot type = 2 time: 7.328000 primary movement = 4.128991939533e-04 time: 7.328000000001e+00 total movement = 4.128991939533e-04 vel = 4.204108403034e-01 ------------------- tc state : vr = 0.445073, vf = 0.445073, maxvel = 0.642121, current_vel = 0.435411, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.435411, acc = 15.000000,T = 0.005255, P = 0.005232 initial results: dx= 0.000023,dt = 0.000052, a_f = 185.390011, v_f = 0.445073 recalculating with a_f = 185.390011, a = 15.000000 revised dt = 0.000053 actual v_f = 0.436201, a = 15.000000 split time is 5.26508e-05 tc id = 183, canon_type = 3, mot type = 2 time: 7.329000 primary movement = 4.278978780478e-04 time: 7.329000000001e+00 total movement = 4.278978780478e-04 vel = 4.354108403034e-01 ------------------- tc id 183 done Finishing split-cycle on id 183 tc state : vr = 4.442520, vf = 0.631475, maxvel = 8.811904, current_vel = 0.466253, fs = 1.000000, tc = 0.000947, term = 3 tc result: v = 0.466253, acc = 31.722983,T = 0.009329, P = 0.000427 initial results: dx= 0.008902,dt = 0.016219, a_f = 10.187123, v_f = 0.631475 dt = 0.016219, not at end yet secondary movement = 0.000427 tc id = 183, canon_type = 2, mot type = 1 time: 7.330000 primary movement = 2.294549736450e-05 time: 7.330000000001e+00 total movement = 4.504150311046e-04 vel = 4.662533457434e-01 Finished tc id 183 ------------------- Activate tc id = 183 target_vel = 4.442520 final_vel = 0.631475 length = 0.009329 tc state : vr = 4.442520, vf = 0.631475, maxvel = 8.811904, current_vel = 0.497976, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.497976, acc = 31.722983,T = 0.009329, P = 0.000910 initial results: dx= 0.008420,dt = 0.014909, a_f = 8.953973, v_f = 0.631475 dt = 0.014909, not at end yet tc id = 183, canon_type = 2, mot type = 1 time: 7.331000 primary movement = 4.821148372894e-04 time: 7.331000000001e+00 total movement = 4.821148372894e-04 vel = 4.979763288353e-01 ------------------- tc state : vr = 4.442520, vf = 0.631475, maxvel = 8.811904, current_vel = 0.529699, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.529699, acc = 31.722983,T = 0.009329, P = 0.001423 initial results: dx= 0.007906,dt = 0.013617, a_f = 7.474114, v_f = 0.631475 dt = 0.013617, not at end yet tc id = 183, canon_type = 2, mot type = 1 time: 7.332000 primary movement = 5.138378203813e-04 time: 7.332000000001e+00 total movement = 5.138378203813e-04 vel = 5.296993119273e-01 ------------------- tc state : vr = 4.442520, vf = 0.631475, maxvel = 8.811904, current_vel = 0.561422, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.561422, acc = 31.722983,T = 0.009329, P = 0.001969 initial results: dx= 0.007360,dt = 0.012340, a_f = 5.676739, v_f = 0.631475 dt = 0.012340, not at end yet tc id = 183, canon_type = 2, mot type = 1 time: 7.333000 primary movement = 5.455608034732e-04 time: 7.333000000001e+00 total movement = 5.455608034732e-04 vel = 5.614222950192e-01 ------------------- tc state : vr = 4.442520, vf = 0.631475, maxvel = 8.811904, current_vel = 0.593145, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.593145, acc = 31.722983,T = 0.009329, P = 0.002546 initial results: dx= 0.006783,dt = 0.011078, a_f = 3.460018, v_f = 0.631475 dt = 0.011078, not at end yet tc id = 183, canon_type = 2, mot type = 1 time: 7.334000 primary movement = 5.772837865651e-04 time: 7.334000000001e+00 total movement = 5.772837865651e-04 vel = 5.931452781111e-01 ------------------- tc state : vr = 4.442520, vf = 0.631475, maxvel = 8.811904, current_vel = 0.624868, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.624868, acc = 31.722983,T = 0.009329, P = 0.003155 initial results: dx= 0.006174,dt = 0.009829, a_f = 0.672151, v_f = 0.631475 dt = 0.009829, not at end yet tc id = 183, canon_type = 2, mot type = 1 time: 7.335000 primary movement = 6.090067696570e-04 time: 7.335000000001e+00 total movement = 6.090067696570e-04 vel = 6.248682612030e-01 ------------------- tc state : vr = 4.442520, vf = 0.631475, maxvel = 8.811904, current_vel = 0.656591, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.656591, acc = 31.722983,T = 0.009329, P = 0.003796 initial results: dx= 0.005533,dt = 0.008592, a_f = -2.923395, v_f = 0.631475 dt = 0.008592, not at end yet tc id = 183, canon_type = 2, mot type = 1 time: 7.336000 primary movement = 6.407297527490e-04 time: 7.336000000001e+00 total movement = 6.407297527490e-04 vel = 6.565912442949e-01 ------------------- tc state : vr = 4.442520, vf = 0.631475, maxvel = 8.811904, current_vel = 0.688314, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.688314, acc = 31.722983,T = 0.009329, P = 0.004468 initial results: dx= 0.004861,dt = 0.007366, a_f = -7.716409, v_f = 0.631475 dt = 0.007366, not at end yet tc id = 183, canon_type = 2, mot type = 1 time: 7.337000 primary movement = 6.724527358409e-04 time: 7.337000000001e+00 total movement = 6.724527358409e-04 vel = 6.883142273868e-01 ------------------- tc state : vr = 4.442520, vf = 0.631475, maxvel = 8.811904, current_vel = 0.720037, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.720037, acc = 31.722983,T = 0.009329, P = 0.005173 initial results: dx= 0.004157,dt = 0.006151, a_f = -14.397799, v_f = 0.631475 dt = 0.006151, not at end yet tc id = 183, canon_type = 2, mot type = 1 time: 7.338000 primary movement = 7.041757189328e-04 time: 7.338000000001e+00 total movement = 7.041757189328e-04 vel = 7.200372104788e-01 ------------------- tc state : vr = 4.442520, vf = 0.631475, maxvel = 8.811904, current_vel = 0.751760, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.751760, acc = 31.722983,T = 0.009329, P = 0.005909 initial results: dx= 0.003421,dt = 0.004946, a_f = -24.319633, v_f = 0.631475 dt = 0.004946, not at end yet tc id = 183, canon_type = 2, mot type = 1 time: 7.339000 primary movement = 7.358987020248e-04 time: 7.339000000001e+00 total movement = 7.358987020248e-04 vel = 7.517601935707e-01 ------------------- tc state : vr = 4.442520, vf = 0.631475, maxvel = 8.811904, current_vel = 0.753682, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.753682, acc = 1.921737,T = 0.009329, P = 0.006661 initial results: dx= 0.002668,dt = 0.003852, a_f = -31.722983, v_f = 0.631475 recalculating with a_f = -31.722983, a = -31.722983 revised dt = 0.003852 dt = 0.003852, not at end yet tc id = 183, canon_type = 2, mot type = 1 time: 7.340000 primary movement = 7.527210621420e-04 time: 7.340000000001e+00 total movement = 7.527210621420e-04 vel = 7.536819307135e-01 ------------------- tc state : vr = 4.442520, vf = 0.631475, maxvel = 8.811904, current_vel = 0.721959, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.721959, acc = -31.722983,T = 0.009329, P = 0.007399 on final decel initial results: dx= 0.001930,dt = 0.002852, a_f = -31.722983, v_f = 0.631475 dt = 0.002852, not at end yet tc id = 183, canon_type = 2, mot type = 1 time: 7.341000 primary movement = 7.378204391676e-04 time: 7.341000000001e+00 total movement = 7.378204391676e-04 vel = 7.219589476216e-01 ------------------- tc state : vr = 4.442520, vf = 0.631475, maxvel = 8.811904, current_vel = 0.690236, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.690236, acc = -31.722983,T = 0.009329, P = 0.008105 on final decel initial results: dx= 0.001224,dt = 0.001852, a_f = -31.722983, v_f = 0.631475 dt = 0.001852, not at end yet tc id = 183, canon_type = 2, mot type = 1 time: 7.342000 primary movement = 7.060974560756e-04 time: 7.342000000001e+00 total movement = 7.060974560756e-04 vel = 6.902359645297e-01 ------------------- tc state : vr = 4.442520, vf = 0.631475, maxvel = 8.811904, current_vel = 0.658513, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.658513, acc = -31.722983,T = 0.009329, P = 0.008780 on final decel initial results: dx= 0.000550,dt = 0.000852, a_f = -31.722983, v_f = 0.631475 actual v_f = 0.631475, a = -31.722983 split time is 0.00085233 tc id = 183, canon_type = 2, mot type = 1 time: 7.343000 primary movement = 6.743744729837e-04 time: 7.343000000001e+00 total movement = 6.743744729837e-04 vel = 6.585129814377e-01 ------------------- tc id 183 done Finishing split-cycle on id 184 tc state : vr = 0.631475, vf = 0.631475, maxvel = 0.631475, current_vel = 0.631475, fs = 1.000000, tc = 0.000148, term = 3 tc result: v = 0.631475, acc = 0.000000,T = 0.009555, P = 0.000093 initial results: dx= 0.009462,dt = 0.014984, a_f = 0.000000, v_f = 0.631475 dt = 0.014984, not at end yet secondary movement = 0.000093 tc id = 184, canon_type = 3, mot type = 2 time: 7.344000 primary movement = 5.497474356820e-04 time: 7.344000000001e+00 total movement = 6.429972296452e-04 vel = 6.314745359142e-01 Finished tc id 183 ------------------- Activate tc id = 184 target_vel = 0.631475 final_vel = 0.631475 length = 0.009555 tc state : vr = 0.631475, vf = 0.631475, maxvel = 0.631475, current_vel = 0.631475, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.631475, acc = 0.000000,T = 0.009555, P = 0.000725 initial results: dx= 0.008830,dt = 0.013984, a_f = 0.000000, v_f = 0.631475 dt = 0.013984, not at end yet tc id = 184, canon_type = 3, mot type = 2 time: 7.345000 primary movement = 6.314299982436e-04 time: 7.345000000001e+00 total movement = 6.314299982436e-04 vel = 6.314745359142e-01 ------------------- tc state : vr = 0.631475, vf = 0.631475, maxvel = 0.631475, current_vel = 0.631475, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.631475, acc = 0.000000,T = 0.009555, P = 0.001356 initial results: dx= 0.008199,dt = 0.012984, a_f = 0.000000, v_f = 0.631475 dt = 0.012984, not at end yet tc id = 184, canon_type = 3, mot type = 2 time: 7.346000 primary movement = 6.314299982436e-04 time: 7.346000000001e+00 total movement = 6.314299982436e-04 vel = 6.314745359142e-01 ------------------- tc state : vr = 0.631475, vf = 0.631475, maxvel = 0.631475, current_vel = 0.631475, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.631475, acc = 0.000000,T = 0.009555, P = 0.001988 initial results: dx= 0.007567,dt = 0.011984, a_f = 0.000000, v_f = 0.631475 dt = 0.011984, not at end yet tc id = 184, canon_type = 3, mot type = 2 time: 7.347000 primary movement = 6.314299982436e-04 time: 7.347000000001e+00 total movement = 6.314299982436e-04 vel = 6.314745359142e-01 ------------------- tc state : vr = 0.631475, vf = 0.631475, maxvel = 0.631475, current_vel = 0.631475, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.631475, acc = 0.000000,T = 0.009555, P = 0.002619 initial results: dx= 0.006936,dt = 0.010984, a_f = 0.000000, v_f = 0.631475 dt = 0.010984, not at end yet tc id = 184, canon_type = 3, mot type = 2 time: 7.348000 primary movement = 6.314299982436e-04 time: 7.348000000001e+00 total movement = 6.314299982436e-04 vel = 6.314745359142e-01 ------------------- tc state : vr = 0.631475, vf = 0.631475, maxvel = 0.631475, current_vel = 0.631475, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.631475, acc = 0.000000,T = 0.009555, P = 0.003251 initial results: dx= 0.006304,dt = 0.009984, a_f = 0.000000, v_f = 0.631475 dt = 0.009984, not at end yet tc id = 184, canon_type = 3, mot type = 2 time: 7.349000 primary movement = 6.314299982436e-04 time: 7.349000000001e+00 total movement = 6.314299982436e-04 vel = 6.314745359142e-01 ------------------- tc state : vr = 0.631475, vf = 0.631475, maxvel = 0.631475, current_vel = 0.631475, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.631475, acc = 0.000000,T = 0.009555, P = 0.003882 initial results: dx= 0.005673,dt = 0.008984, a_f = 0.000000, v_f = 0.631475 dt = 0.008984, not at end yet tc id = 184, canon_type = 3, mot type = 2 time: 7.350000 primary movement = 6.314299982436e-04 time: 7.350000000001e+00 total movement = 6.314299982436e-04 vel = 6.314745359142e-01 ------------------- tc state : vr = 0.631475, vf = 0.631475, maxvel = 0.631475, current_vel = 0.631475, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.631475, acc = 0.000000,T = 0.009555, P = 0.004514 initial results: dx= 0.005042,dt = 0.007984, a_f = 0.000000, v_f = 0.631475 dt = 0.007984, not at end yet tc id = 184, canon_type = 3, mot type = 2 time: 7.351000 primary movement = 6.314299982436e-04 time: 7.351000000001e+00 total movement = 6.314299982436e-04 vel = 6.314745359142e-01 ------------------- tc state : vr = 0.631475, vf = 0.631475, maxvel = 0.631475, current_vel = 0.631475, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.631475, acc = 0.000000,T = 0.009555, P = 0.005145 initial results: dx= 0.004410,dt = 0.006984, a_f = 0.000000, v_f = 0.631475 dt = 0.006984, not at end yet tc id = 184, canon_type = 3, mot type = 2 time: 7.352000 primary movement = 6.314299982436e-04 time: 7.352000000001e+00 total movement = 6.314299982436e-04 vel = 6.314745359142e-01 ------------------- tc state : vr = 0.631475, vf = 0.631475, maxvel = 0.631475, current_vel = 0.631475, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.631475, acc = 0.000000,T = 0.009555, P = 0.005777 initial results: dx= 0.003779,dt = 0.005984, a_f = 0.000000, v_f = 0.631475 dt = 0.005984, not at end yet tc id = 184, canon_type = 3, mot type = 2 time: 7.353000 primary movement = 6.314299982436e-04 time: 7.353000000001e+00 total movement = 6.314299982436e-04 vel = 6.314745359142e-01 ------------------- tc state : vr = 0.631475, vf = 0.631475, maxvel = 0.631475, current_vel = 0.631475, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.631475, acc = 0.000000,T = 0.009555, P = 0.006408 initial results: dx= 0.003147,dt = 0.004984, a_f = 0.000000, v_f = 0.631475 dt = 0.004984, not at end yet tc id = 184, canon_type = 3, mot type = 2 time: 7.354000 primary movement = 6.314299982436e-04 time: 7.354000000001e+00 total movement = 6.314299982436e-04 vel = 6.314745359142e-01 ------------------- tc state : vr = 0.631475, vf = 0.631475, maxvel = 0.631475, current_vel = 0.631475, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.631475, acc = 0.000000,T = 0.009555, P = 0.007039 initial results: dx= 0.002516,dt = 0.003984, a_f = 0.000000, v_f = 0.631475 dt = 0.003984, not at end yet tc id = 184, canon_type = 3, mot type = 2 time: 7.355000 primary movement = 6.314299982436e-04 time: 7.355000000001e+00 total movement = 6.314299982436e-04 vel = 6.314745359142e-01 ------------------- tc state : vr = 0.631475, vf = 0.631475, maxvel = 0.631475, current_vel = 0.631475, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.631475, acc = 0.000000,T = 0.009555, P = 0.007671 initial results: dx= 0.001884,dt = 0.002984, a_f = 0.000000, v_f = 0.631475 dt = 0.002984, not at end yet tc id = 184, canon_type = 3, mot type = 2 time: 7.356000 primary movement = 6.314299982436e-04 time: 7.356000000001e+00 total movement = 6.314299982436e-04 vel = 6.314745359142e-01 ------------------- tc state : vr = 0.631475, vf = 0.631475, maxvel = 0.631475, current_vel = 0.631475, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.631475, acc = 0.000000,T = 0.009555, P = 0.008302 initial results: dx= 0.001253,dt = 0.001984, a_f = 0.000000, v_f = 0.631475 dt = 0.001984, not at end yet tc id = 184, canon_type = 3, mot type = 2 time: 7.357000 primary movement = 6.314299982436e-04 time: 7.357000000001e+00 total movement = 6.314299982436e-04 vel = 6.314745359142e-01 ------------------- tc state : vr = 0.631475, vf = 0.631475, maxvel = 0.631475, current_vel = 0.631475, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.631475, acc = 0.000000,T = 0.009555, P = 0.008934 initial results: dx= 0.000621,dt = 0.000984, a_f = 0.000000, v_f = 0.631475 actual v_f = 0.631475, a = 0.000000 split time is 0.000983768 tc id = 184, canon_type = 3, mot type = 2 time: 7.358000 primary movement = 6.314299982436e-04 time: 7.358000000001e+00 total movement = 6.314299982436e-04 vel = 6.314745359142e-01 ------------------- tc id 184 done Finishing split-cycle on id 184 tc state : vr = 2.202423, vf = 0.388104, maxvel = 8.700221, current_vel = 0.631983, fs = 1.000000, tc = 0.000016, term = 3 tc result: v = 0.631983, acc = 31.320920,T = 0.004625, P = 0.000010 initial results: dx= 0.004615,dt = 0.009048, a_f = -26.954106, v_f = 0.388104 dt = 0.009048, not at end yet secondary movement = 0.000010 tc id = 184, canon_type = 2, mot type = 1 time: 7.359000 primary movement = 6.211818061330e-04 time: 7.359000000001e+00 total movement = 6.314362584249e-04 vel = 6.319829485502e-01 Finished tc id 184 ------------------- Activate tc id = 184 target_vel = 2.202423 final_vel = 0.388104 length = 0.004625 tc state : vr = 2.202423, vf = 0.388104, maxvel = 8.700221, current_vel = 0.632535, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.632535, acc = 0.552277,T = 0.004625, P = 0.000643 initial results: dx= 0.003983,dt = 0.007804, a_f = -31.320920, v_f = 0.388104 dt = 0.007804, not at end yet tc id = 184, canon_type = 2, mot type = 1 time: 7.360000 primary movement = 6.322590869131e-04 time: 7.360000000001e+00 total movement = 6.322590869131e-04 vel = 6.325352252762e-01 ------------------- tc state : vr = 2.202423, vf = 0.388104, maxvel = 8.700221, current_vel = 0.601214, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.601214, acc = -31.320920,T = 0.004625, P = 0.001259 on final decel initial results: dx= 0.003366,dt = 0.006804, a_f = -31.320920, v_f = 0.388104 dt = 0.006804, not at end yet tc id = 184, canon_type = 2, mot type = 1 time: 7.361000 primary movement = 6.168747655129e-04 time: 7.361000000001e+00 total movement = 6.168747655129e-04 vel = 6.012143057495e-01 ------------------- tc state : vr = 2.202423, vf = 0.388104, maxvel = 8.700221, current_vel = 0.569893, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.569893, acc = -31.320920,T = 0.004625, P = 0.001845 on final decel initial results: dx= 0.002780,dt = 0.005804, a_f = -31.320920, v_f = 0.388104 recalculating with a_f = -31.320920, a = -31.320920 revised dt = 0.005804 dt = 0.005804, not at end yet tc id = 184, canon_type = 2, mot type = 1 time: 7.362000 primary movement = 5.855538459861e-04 time: 7.362000000001e+00 total movement = 5.855538459861e-04 vel = 5.698933862228e-01 ------------------- tc state : vr = 2.202423, vf = 0.388104, maxvel = 8.700221, current_vel = 0.538572, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.538572, acc = -31.320920,T = 0.004625, P = 0.002399 on final decel initial results: dx= 0.002226,dt = 0.004804, a_f = -31.320920, v_f = 0.388104 recalculating with a_f = -31.320920, a = -31.320920 revised dt = 0.004804 dt = 0.004804, not at end yet tc id = 184, canon_type = 2, mot type = 1 time: 7.363000 primary movement = 5.542329264594e-04 time: 7.363000000001e+00 total movement = 5.542329264594e-04 vel = 5.385724666960e-01 ------------------- tc state : vr = 2.202423, vf = 0.388104, maxvel = 8.700221, current_vel = 0.507252, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.507252, acc = -31.320920,T = 0.004625, P = 0.002922 on final decel initial results: dx= 0.001703,dt = 0.003804, a_f = -31.320920, v_f = 0.388104 dt = 0.003804, not at end yet tc id = 184, canon_type = 2, mot type = 1 time: 7.364000 primary movement = 5.229120069327e-04 time: 7.364000000001e+00 total movement = 5.229120069327e-04 vel = 5.072515471693e-01 ------------------- tc state : vr = 2.202423, vf = 0.388104, maxvel = 8.700221, current_vel = 0.475931, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.475931, acc = -31.320920,T = 0.004625, P = 0.003414 on final decel initial results: dx= 0.001211,dt = 0.002804, a_f = -31.320920, v_f = 0.388104 recalculating with a_f = -31.320920, a = -31.320920 revised dt = 0.002804 dt = 0.002804, not at end yet tc id = 184, canon_type = 2, mot type = 1 time: 7.365000 primary movement = 4.915910874059e-04 time: 7.365000000001e+00 total movement = 4.915910874059e-04 vel = 4.759306276426e-01 ------------------- tc state : vr = 2.202423, vf = 0.388104, maxvel = 8.700221, current_vel = 0.444610, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.444610, acc = -31.320920,T = 0.004625, P = 0.003874 on final decel initial results: dx= 0.000751,dt = 0.001804, a_f = -31.320920, v_f = 0.388104 recalculating with a_f = -31.320920, a = -31.320920 revised dt = 0.001804 dt = 0.001804, not at end yet tc id = 184, canon_type = 2, mot type = 1 time: 7.366000 primary movement = 4.602701678792e-04 time: 7.366000000001e+00 total movement = 4.602701678792e-04 vel = 4.446097081158e-01 ------------------- tc state : vr = 2.202423, vf = 0.388104, maxvel = 8.700221, current_vel = 0.413289, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.413289, acc = -31.320920,T = 0.004625, P = 0.004303 on final decel initial results: dx= 0.000322,dt = 0.000804, a_f = -31.320920, v_f = 0.388104 recalculating with a_f = -31.320920, a = -31.320920 revised dt = 0.000804 actual v_f = 0.388104, a = -31.320920 split time is 0.000804076 tc id = 184, canon_type = 2, mot type = 1 time: 7.367000 primary movement = 4.289492483525e-04 time: 7.367000000001e+00 total movement = 4.289492483525e-04 vel = 4.132887885891e-01 ------------------- tc id 184 done Finishing split-cycle on id 185 tc state : vr = 0.388104, vf = 0.388104, maxvel = 0.388104, current_vel = 0.388104, fs = 1.000000, tc = 0.000196, term = 3 tc result: v = 0.388104, acc = -0.000000,T = 0.005482, P = 0.000076 initial results: dx= 0.005406,dt = 0.013929, a_f = 0.000000, v_f = 0.388104 dt = 0.013929, not at end yet secondary movement = 0.000076 tc id = 185, canon_type = 3, mot type = 2 time: 7.368000 primary movement = 3.221904377318e-04 time: 7.368000000001e+00 total movement = 3.982289307159e-04 vel = 3.881043947554e-01 Finished tc id 184 ------------------- Activate tc id = 185 target_vel = 0.388104 final_vel = 0.388104 length = 0.005482 tc state : vr = 0.388104, vf = 0.388104, maxvel = 0.388104, current_vel = 0.388104, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.388104, acc = 0.000000,T = 0.005482, P = 0.000464 initial results: dx= 0.005018,dt = 0.012929, a_f = 0.000000, v_f = 0.388104 dt = 0.012929, not at end yet tc id = 185, canon_type = 3, mot type = 2 time: 7.369000 primary movement = 3.880319311994e-04 time: 7.369000000001e+00 total movement = 3.880319311994e-04 vel = 3.881043947554e-01 ------------------- tc state : vr = 0.388104, vf = 0.388104, maxvel = 0.388104, current_vel = 0.388104, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.388104, acc = 0.000000,T = 0.005482, P = 0.000852 initial results: dx= 0.004630,dt = 0.011929, a_f = 0.000000, v_f = 0.388104 dt = 0.011929, not at end yet tc id = 185, canon_type = 3, mot type = 2 time: 7.370000 primary movement = 3.880319311994e-04 time: 7.370000000001e+00 total movement = 3.880319311994e-04 vel = 3.881043947554e-01 ------------------- tc state : vr = 0.388104, vf = 0.388104, maxvel = 0.388104, current_vel = 0.388104, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.388104, acc = 0.000000,T = 0.005482, P = 0.001240 initial results: dx= 0.004241,dt = 0.010929, a_f = 0.000000, v_f = 0.388104 dt = 0.010929, not at end yet tc id = 185, canon_type = 3, mot type = 2 time: 7.371000 primary movement = 3.880319311993e-04 time: 7.371000000001e+00 total movement = 3.880319311993e-04 vel = 3.881043947554e-01 ------------------- tc state : vr = 0.388104, vf = 0.388104, maxvel = 0.388104, current_vel = 0.388104, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.388104, acc = 0.000000,T = 0.005482, P = 0.001628 initial results: dx= 0.003853,dt = 0.009929, a_f = 0.000000, v_f = 0.388104 dt = 0.009929, not at end yet tc id = 185, canon_type = 3, mot type = 2 time: 7.372000 primary movement = 3.880319311994e-04 time: 7.372000000001e+00 total movement = 3.880319311994e-04 vel = 3.881043947554e-01 ------------------- tc state : vr = 0.388104, vf = 0.388104, maxvel = 0.388104, current_vel = 0.388104, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.388104, acc = 0.000000,T = 0.005482, P = 0.002017 initial results: dx= 0.003465,dt = 0.008929, a_f = 0.000000, v_f = 0.388104 dt = 0.008929, not at end yet tc id = 185, canon_type = 3, mot type = 2 time: 7.373000 primary movement = 3.880319311993e-04 time: 7.373000000001e+00 total movement = 3.880319311993e-04 vel = 3.881043947554e-01 ------------------- tc state : vr = 0.388104, vf = 0.388104, maxvel = 0.388104, current_vel = 0.388104, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.388104, acc = 0.000000,T = 0.005482, P = 0.002405 initial results: dx= 0.003077,dt = 0.007929, a_f = 0.000000, v_f = 0.388104 dt = 0.007929, not at end yet tc id = 185, canon_type = 3, mot type = 2 time: 7.374000 primary movement = 3.880319311993e-04 time: 7.374000000001e+00 total movement = 3.880319311993e-04 vel = 3.881043947554e-01 ------------------- tc state : vr = 0.388104, vf = 0.388104, maxvel = 0.388104, current_vel = 0.388104, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.388104, acc = 0.000000,T = 0.005482, P = 0.002793 initial results: dx= 0.002689,dt = 0.006929, a_f = 0.000000, v_f = 0.388104 dt = 0.006929, not at end yet tc id = 185, canon_type = 3, mot type = 2 time: 7.375000 primary movement = 3.880319311994e-04 time: 7.375000000001e+00 total movement = 3.880319311994e-04 vel = 3.881043947554e-01 ------------------- tc state : vr = 0.388104, vf = 0.388104, maxvel = 0.388104, current_vel = 0.388104, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.388104, acc = 0.000000,T = 0.005482, P = 0.003181 initial results: dx= 0.002301,dt = 0.005929, a_f = 0.000000, v_f = 0.388104 dt = 0.005929, not at end yet tc id = 185, canon_type = 3, mot type = 2 time: 7.376000 primary movement = 3.880319311994e-04 time: 7.376000000001e+00 total movement = 3.880319311994e-04 vel = 3.881043947554e-01 ------------------- tc state : vr = 0.388104, vf = 0.388104, maxvel = 0.388104, current_vel = 0.388104, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.388104, acc = 0.000000,T = 0.005482, P = 0.003569 initial results: dx= 0.001913,dt = 0.004929, a_f = 0.000000, v_f = 0.388104 dt = 0.004929, not at end yet tc id = 185, canon_type = 3, mot type = 2 time: 7.377000 primary movement = 3.880319311993e-04 time: 7.377000000001e+00 total movement = 3.880319311993e-04 vel = 3.881043947554e-01 ------------------- tc state : vr = 0.388104, vf = 0.388104, maxvel = 0.388104, current_vel = 0.388104, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.388104, acc = 0.000000,T = 0.005482, P = 0.003957 initial results: dx= 0.001525,dt = 0.003929, a_f = 0.000000, v_f = 0.388104 dt = 0.003929, not at end yet tc id = 185, canon_type = 3, mot type = 2 time: 7.378000 primary movement = 3.880319311993e-04 time: 7.378000000001e+00 total movement = 3.880319311993e-04 vel = 3.881043947554e-01 ------------------- tc state : vr = 0.388104, vf = 0.388104, maxvel = 0.388104, current_vel = 0.388104, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.388104, acc = 0.000000,T = 0.005482, P = 0.004345 initial results: dx= 0.001137,dt = 0.002929, a_f = 0.000000, v_f = 0.388104 dt = 0.002929, not at end yet tc id = 185, canon_type = 3, mot type = 2 time: 7.379000 primary movement = 3.880319311994e-04 time: 7.379000000001e+00 total movement = 3.880319311994e-04 vel = 3.881043947554e-01 ------------------- tc state : vr = 0.388104, vf = 0.388104, maxvel = 0.388104, current_vel = 0.388104, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.388104, acc = 0.000000,T = 0.005482, P = 0.004733 initial results: dx= 0.000749,dt = 0.001929, a_f = 0.000000, v_f = 0.388104 dt = 0.001929, not at end yet tc id = 185, canon_type = 3, mot type = 2 time: 7.380000 primary movement = 3.880319311994e-04 time: 7.380000000001e+00 total movement = 3.880319311994e-04 vel = 3.881043947554e-01 ------------------- tc state : vr = 0.388104, vf = 0.388104, maxvel = 0.388104, current_vel = 0.388104, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.388104, acc = 0.000000,T = 0.005482, P = 0.005121 initial results: dx= 0.000360,dt = 0.000929, a_f = 0.000000, v_f = 0.388104 actual v_f = 0.388104, a = 0.000000 split time is 0.000928682 tc id = 185, canon_type = 3, mot type = 2 time: 7.381000 primary movement = 3.880319311994e-04 time: 7.381000000001e+00 total movement = 3.880319311994e-04 vel = 3.881043947554e-01 ------------------- tc id 185 done Finishing split-cycle on id 185 tc state : vr = 0.479702, vf = 0.479702, maxvel = 10.500546, current_vel = 0.390800, fs = 1.000000, tc = 0.000071, term = 3 tc result: v = 0.390800, acc = 37.802116,T = 0.001051, P = 0.000028 initial results: dx= 0.001024,dt = 0.002352, a_f = 37.802116, v_f = 0.479702 recalculating with a_f = 37.802116, a = 37.802116 revised dt = 0.002352 dt = 0.002352, not at end yet secondary movement = 0.000028 tc id = 185, canon_type = 2, mot type = 1 time: 7.382000 primary movement = 3.603676664202e-04 time: 7.382000000001e+00 total movement = 3.881424897984e-04 vel = 3.908003524026e-01 Finished tc id 185 ------------------- Activate tc id = 185 target_vel = 0.479702 final_vel = 0.479702 length = 0.001051 tc state : vr = 0.479702, vf = 0.479702, maxvel = 10.500546, current_vel = 0.428602, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.428602, acc = 37.802116,T = 0.001051, P = 0.000437 initial results: dx= 0.000614,dt = 0.001352, a_f = 37.802116, v_f = 0.479702 recalculating with a_f = 37.802116, a = 37.802116 revised dt = 0.001352 dt = 0.001352, not at end yet tc id = 185, canon_type = 2, mot type = 1 time: 7.383000 primary movement = 4.097014105740e-04 time: 7.383000000001e+00 total movement = 4.097014105740e-04 vel = 4.286024687454e-01 ------------------- tc state : vr = 0.479702, vf = 0.479702, maxvel = 10.500546, current_vel = 0.466405, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.466405, acc = 37.802116,T = 0.001051, P = 0.000885 initial results: dx= 0.000166,dt = 0.000352, a_f = 37.802116, v_f = 0.479702 recalculating with a_f = 37.802116, a = 37.802116 revised dt = 0.000352 actual v_f = 0.479702, a = 37.802116 split time is 0.000351762 tc id = 185, canon_type = 2, mot type = 1 time: 7.384000 primary movement = 4.475035269169e-04 time: 7.384000000001e+00 total movement = 4.475035269169e-04 vel = 4.664045850883e-01 ------------------- tc id 185 done Finishing split-cycle on id 186 tc state : vr = 0.500658, vf = 0.500658, maxvel = 0.500658, current_vel = 0.489426, fs = 1.000000, tc = 0.000648, term = 3 tc result: v = 0.489426, acc = 15.000000,T = 0.006792, P = 0.000314 initial results: dx= 0.006478,dt = 0.013087, a_f = 0.858334, v_f = 0.500658 dt = 0.013087, not at end yet secondary movement = 0.000314 tc id = 186, canon_type = 3, mot type = 2 time: 7.385000 primary movement = 1.664022831459e-04 time: 7.385000000001e+00 total movement = 4.805009066048e-04 vel = 4.894255089656e-01 Finished tc id 185 ------------------- Activate tc id = 186 target_vel = 0.500658 final_vel = 0.500658 length = 0.006792 tc state : vr = 0.500658, vf = 0.500658, maxvel = 0.500658, current_vel = 0.500658, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.500658, acc = 11.232607,T = 0.006792, P = 0.000809 initial results: dx= 0.005983,dt = 0.011951, a_f = 0.000000, v_f = 0.500658 dt = 0.011951, not at end yet tc id = 186, canon_type = 3, mot type = 2 time: 7.386000 primary movement = 4.949875077038e-04 time: 7.386000000001e+00 total movement = 4.949875077038e-04 vel = 5.006581161976e-01 ------------------- tc state : vr = 0.500658, vf = 0.500658, maxvel = 0.500658, current_vel = 0.500658, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.500658, acc = 0.000000,T = 0.006792, P = 0.001310 initial results: dx= 0.005483,dt = 0.010951, a_f = 0.000000, v_f = 0.500658 dt = 0.010951, not at end yet tc id = 186, canon_type = 3, mot type = 2 time: 7.387000 primary movement = 5.006019420292e-04 time: 7.387000000001e+00 total movement = 5.006019420292e-04 vel = 5.006581161976e-01 ------------------- tc state : vr = 0.500658, vf = 0.500658, maxvel = 0.500658, current_vel = 0.500658, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.500658, acc = 0.000000,T = 0.006792, P = 0.001810 initial results: dx= 0.004982,dt = 0.009951, a_f = 0.000000, v_f = 0.500658 dt = 0.009951, not at end yet tc id = 186, canon_type = 3, mot type = 2 time: 7.388000 primary movement = 5.006019420293e-04 time: 7.388000000001e+00 total movement = 5.006019420293e-04 vel = 5.006581161976e-01 ------------------- tc state : vr = 0.500658, vf = 0.500658, maxvel = 0.500658, current_vel = 0.500658, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.500658, acc = 0.000000,T = 0.006792, P = 0.002311 initial results: dx= 0.004481,dt = 0.008951, a_f = 0.000000, v_f = 0.500658 dt = 0.008951, not at end yet tc id = 186, canon_type = 3, mot type = 2 time: 7.389000 primary movement = 5.006019420292e-04 time: 7.389000000001e+00 total movement = 5.006019420292e-04 vel = 5.006581161976e-01 ------------------- tc state : vr = 0.500658, vf = 0.500658, maxvel = 0.500658, current_vel = 0.500658, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.500658, acc = 0.000000,T = 0.006792, P = 0.002812 initial results: dx= 0.003981,dt = 0.007951, a_f = 0.000000, v_f = 0.500658 dt = 0.007951, not at end yet tc id = 186, canon_type = 3, mot type = 2 time: 7.390000 primary movement = 5.006019420293e-04 time: 7.390000000001e+00 total movement = 5.006019420293e-04 vel = 5.006581161976e-01 ------------------- tc state : vr = 0.500658, vf = 0.500658, maxvel = 0.500658, current_vel = 0.500658, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.500658, acc = 0.000000,T = 0.006792, P = 0.003312 initial results: dx= 0.003480,dt = 0.006951, a_f = 0.000000, v_f = 0.500658 dt = 0.006951, not at end yet tc id = 186, canon_type = 3, mot type = 2 time: 7.391000 primary movement = 5.006019420293e-04 time: 7.391000000001e+00 total movement = 5.006019420293e-04 vel = 5.006581161976e-01 ------------------- tc state : vr = 0.500658, vf = 0.500658, maxvel = 0.500658, current_vel = 0.500658, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.500658, acc = 0.000000,T = 0.006792, P = 0.003813 initial results: dx= 0.002979,dt = 0.005951, a_f = 0.000000, v_f = 0.500658 dt = 0.005951, not at end yet tc id = 186, canon_type = 3, mot type = 2 time: 7.392000 primary movement = 5.006019420292e-04 time: 7.392000000001e+00 total movement = 5.006019420292e-04 vel = 5.006581161976e-01 ------------------- tc state : vr = 0.500658, vf = 0.500658, maxvel = 0.500658, current_vel = 0.500658, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.500658, acc = 0.000000,T = 0.006792, P = 0.004314 initial results: dx= 0.002479,dt = 0.004951, a_f = 0.000000, v_f = 0.500658 dt = 0.004951, not at end yet tc id = 186, canon_type = 3, mot type = 2 time: 7.393000 primary movement = 5.006019420293e-04 time: 7.393000000001e+00 total movement = 5.006019420293e-04 vel = 5.006581161976e-01 ------------------- tc state : vr = 0.500658, vf = 0.500658, maxvel = 0.500658, current_vel = 0.500658, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.500658, acc = 0.000000,T = 0.006792, P = 0.004814 initial results: dx= 0.001978,dt = 0.003951, a_f = 0.000000, v_f = 0.500658 dt = 0.003951, not at end yet tc id = 186, canon_type = 3, mot type = 2 time: 7.394000 primary movement = 5.006019420292e-04 time: 7.394000000001e+00 total movement = 5.006019420292e-04 vel = 5.006581161976e-01 ------------------- tc state : vr = 0.500658, vf = 0.500658, maxvel = 0.500658, current_vel = 0.500658, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.500658, acc = 0.000000,T = 0.006792, P = 0.005315 initial results: dx= 0.001477,dt = 0.002951, a_f = 0.000000, v_f = 0.500658 dt = 0.002951, not at end yet tc id = 186, canon_type = 3, mot type = 2 time: 7.395000 primary movement = 5.006019420293e-04 time: 7.395000000001e+00 total movement = 5.006019420293e-04 vel = 5.006581161976e-01 ------------------- tc state : vr = 0.500658, vf = 0.500658, maxvel = 0.500658, current_vel = 0.500658, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.500658, acc = 0.000000,T = 0.006792, P = 0.005816 initial results: dx= 0.000977,dt = 0.001951, a_f = 0.000000, v_f = 0.500658 dt = 0.001951, not at end yet tc id = 186, canon_type = 3, mot type = 2 time: 7.396000 primary movement = 5.006019420292e-04 time: 7.396000000001e+00 total movement = 5.006019420292e-04 vel = 5.006581161976e-01 ------------------- tc state : vr = 0.500658, vf = 0.500658, maxvel = 0.500658, current_vel = 0.500658, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.500658, acc = 0.000000,T = 0.006792, P = 0.006316 initial results: dx= 0.000476,dt = 0.000951, a_f = 0.000000, v_f = 0.500658 actual v_f = 0.500658, a = 0.000000 split time is 0.00095093 tc id = 186, canon_type = 3, mot type = 2 time: 7.397000 primary movement = 5.006019420292e-04 time: 7.397000000001e+00 total movement = 5.006019420292e-04 vel = 5.006581161976e-01 ------------------- tc id 186 done Finishing split-cycle on id 186 tc state : vr = 3.765590, vf = 0.182540, maxvel = 8.343710, current_vel = 0.502132, fs = 1.000000, tc = 0.000049, term = 3 tc result: v = 0.502132, acc = 30.037477,T = 0.007908, P = 0.000025 initial results: dx= 0.007883,dt = 0.023027, a_f = -13.878735, v_f = 0.182540 dt = 0.023027, not at end yet secondary movement = 0.000025 tc id = 186, canon_type = 2, mot type = 1 time: 7.398000 primary movement = 4.760426806831e-04 time: 7.398000000001e+00 total movement = 5.006459746961e-04 vel = 5.021320454328e-01 Finished tc id 186 ------------------- Activate tc id = 186 target_vel = 3.765590 final_vel = 0.182540 length = 0.007908 tc state : vr = 3.765590, vf = 0.182540, maxvel = 8.343710, current_vel = 0.532170, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.532170, acc = 30.037477,T = 0.007908, P = 0.000542 initial results: dx= 0.007366,dt = 0.020613, a_f = -16.962003, v_f = 0.182540 dt = 0.020613, not at end yet tc id = 186, canon_type = 2, mot type = 1 time: 7.399000 primary movement = 5.171507837286e-04 time: 7.399000000001e+00 total movement = 5.171507837286e-04 vel = 5.321695220245e-01 ------------------- tc state : vr = 3.765590, vf = 0.182540, maxvel = 8.343710, current_vel = 0.562207, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.562207, acc = 30.037477,T = 0.007908, P = 0.001089 initial results: dx= 0.006819,dt = 0.018312, a_f = -20.733572, v_f = 0.182540 dt = 0.018312, not at end yet tc id = 186, canon_type = 2, mot type = 1 time: 7.400000 primary movement = 5.471882603204e-04 time: 7.400000000001e+00 total movement = 5.471882603204e-04 vel = 5.622069986163e-01 ------------------- tc state : vr = 3.765590, vf = 0.182540, maxvel = 8.343710, current_vel = 0.592244, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.592244, acc = 30.037477,T = 0.007908, P = 0.001666 initial results: dx= 0.006242,dt = 0.016112, a_f = -25.428921, v_f = 0.182540 dt = 0.016112, not at end yet tc id = 186, canon_type = 2, mot type = 1 time: 7.401000 primary movement = 5.772257369121e-04 time: 7.401000000001e+00 total movement = 5.772257369121e-04 vel = 5.922444752080e-01 ------------------- tc state : vr = 3.765590, vf = 0.182540, maxvel = 8.343710, current_vel = 0.610056, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.610056, acc = 17.811824,T = 0.007908, P = 0.002267 initial results: dx= 0.005640,dt = 0.014233, a_f = -30.037477, v_f = 0.182540 dt = 0.014233, not at end yet tc id = 186, canon_type = 2, mot type = 1 time: 7.402000 primary movement = 6.011503870966e-04 time: 7.402000000001e+00 total movement = 6.011503870966e-04 vel = 6.100562989852e-01 ------------------- tc state : vr = 3.765590, vf = 0.182540, maxvel = 8.343710, current_vel = 0.580019, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.580019, acc = -30.037477,T = 0.007908, P = 0.002862 on final decel initial results: dx= 0.005045,dt = 0.013233, a_f = -30.037477, v_f = 0.182540 dt = 0.013233, not at end yet tc id = 186, canon_type = 2, mot type = 1 time: 7.403000 primary movement = 5.950375606893e-04 time: 7.403000000001e+00 total movement = 5.950375606893e-04 vel = 5.800188223934e-01 ------------------- tc state : vr = 3.765590, vf = 0.182540, maxvel = 8.343710, current_vel = 0.549981, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.549981, acc = -30.037477,T = 0.007908, P = 0.003427 on final decel initial results: dx= 0.004480,dt = 0.012233, a_f = -30.037477, v_f = 0.182540 recalculating with a_f = -30.037477, a = -30.037477 revised dt = 0.012233 dt = 0.012233, not at end yet tc id = 186, canon_type = 2, mot type = 1 time: 7.404000 primary movement = 5.650000840975e-04 time: 7.404000000001e+00 total movement = 5.650000840975e-04 vel = 5.499813458017e-01 ------------------- tc state : vr = 3.765590, vf = 0.182540, maxvel = 8.343710, current_vel = 0.519944, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.519944, acc = -30.037477,T = 0.007908, P = 0.003962 on final decel initial results: dx= 0.003945,dt = 0.011233, a_f = -30.037477, v_f = 0.182540 recalculating with a_f = -30.037477, a = -30.037477 revised dt = 0.011233 dt = 0.011233, not at end yet tc id = 186, canon_type = 2, mot type = 1 time: 7.405000 primary movement = 5.349626075058e-04 time: 7.405000000001e+00 total movement = 5.349626075058e-04 vel = 5.199438692099e-01 ------------------- tc state : vr = 3.765590, vf = 0.182540, maxvel = 8.343710, current_vel = 0.489906, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.489906, acc = -30.037477,T = 0.007908, P = 0.004467 on final decel initial results: dx= 0.003440,dt = 0.010233, a_f = -30.037477, v_f = 0.182540 recalculating with a_f = -30.037477, a = -30.037477 revised dt = 0.010233 dt = 0.010233, not at end yet tc id = 186, canon_type = 2, mot type = 1 time: 7.406000 primary movement = 5.049251309141e-04 time: 7.406000000001e+00 total movement = 5.049251309141e-04 vel = 4.899063926182e-01 ------------------- tc state : vr = 3.765590, vf = 0.182540, maxvel = 8.343710, current_vel = 0.459869, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.459869, acc = -30.037477,T = 0.007908, P = 0.004942 on final decel initial results: dx= 0.002966,dt = 0.009233, a_f = -30.037477, v_f = 0.182540 recalculating with a_f = -30.037477, a = -30.037477 revised dt = 0.009233 dt = 0.009233, not at end yet tc id = 186, canon_type = 2, mot type = 1 time: 7.407000 primary movement = 4.748876543223e-04 time: 7.407000000001e+00 total movement = 4.748876543223e-04 vel = 4.598689160264e-01 ------------------- tc state : vr = 3.765590, vf = 0.182540, maxvel = 8.343710, current_vel = 0.429831, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.429831, acc = -30.037477,T = 0.007908, P = 0.005387 on final decel initial results: dx= 0.002521,dt = 0.008233, a_f = -30.037477, v_f = 0.182540 recalculating with a_f = -30.037477, a = -30.037477 revised dt = 0.008233 dt = 0.008233, not at end yet tc id = 186, canon_type = 2, mot type = 1 time: 7.408000 primary movement = 4.448501777306e-04 time: 7.408000000001e+00 total movement = 4.448501777306e-04 vel = 4.298314394347e-01 ------------------- tc state : vr = 3.765590, vf = 0.182540, maxvel = 8.343710, current_vel = 0.399794, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.399794, acc = -30.037477,T = 0.007908, P = 0.005802 on final decel initial results: dx= 0.002106,dt = 0.007233, a_f = -30.037477, v_f = 0.182540 recalculating with a_f = -30.037477, a = -30.037477 revised dt = 0.007233 dt = 0.007233, not at end yet tc id = 186, canon_type = 2, mot type = 1 time: 7.409000 primary movement = 4.148127011388e-04 time: 7.409000000001e+00 total movement = 4.148127011388e-04 vel = 3.997939628429e-01 ------------------- tc state : vr = 3.765590, vf = 0.182540, maxvel = 8.343710, current_vel = 0.369756, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.369756, acc = -30.037477,T = 0.007908, P = 0.006187 on final decel initial results: dx= 0.001721,dt = 0.006233, a_f = -30.037477, v_f = 0.182540 recalculating with a_f = -30.037477, a = -30.037477 revised dt = 0.006233 dt = 0.006233, not at end yet tc id = 186, canon_type = 2, mot type = 1 time: 7.410000 primary movement = 3.847752245470e-04 time: 7.410000000001e+00 total movement = 3.847752245470e-04 vel = 3.697564862512e-01 ------------------- tc state : vr = 3.765590, vf = 0.182540, maxvel = 8.343710, current_vel = 0.339719, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.339719, acc = -30.037477,T = 0.007908, P = 0.006541 on final decel initial results: dx= 0.001366,dt = 0.005233, a_f = -30.037477, v_f = 0.182540 recalculating with a_f = -30.037477, a = -30.037477 revised dt = 0.005233 dt = 0.005233, not at end yet tc id = 186, canon_type = 2, mot type = 1 time: 7.411000 primary movement = 3.547377479553e-04 time: 7.411000000001e+00 total movement = 3.547377479553e-04 vel = 3.397190096594e-01 ------------------- tc state : vr = 3.765590, vf = 0.182540, maxvel = 8.343710, current_vel = 0.309682, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.309682, acc = -30.037477,T = 0.007908, P = 0.006866 on final decel initial results: dx= 0.001042,dt = 0.004233, a_f = -30.037477, v_f = 0.182540 recalculating with a_f = -30.037477, a = -30.037477 revised dt = 0.004233 dt = 0.004233, not at end yet tc id = 186, canon_type = 2, mot type = 1 time: 7.412000 primary movement = 3.247002713635e-04 time: 7.412000000001e+00 total movement = 3.247002713635e-04 vel = 3.096815330677e-01 ------------------- tc state : vr = 3.765590, vf = 0.182540, maxvel = 8.343710, current_vel = 0.279644, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.279644, acc = -30.037477,T = 0.007908, P = 0.007161 on final decel initial results: dx= 0.000747,dt = 0.003233, a_f = -30.037477, v_f = 0.182540 recalculating with a_f = -30.037477, a = -30.037477 revised dt = 0.003233 dt = 0.003233, not at end yet tc id = 186, canon_type = 2, mot type = 1 time: 7.413000 primary movement = 2.946627947718e-04 time: 7.413000000001e+00 total movement = 2.946627947718e-04 vel = 2.796440564759e-01 ------------------- tc state : vr = 3.765590, vf = 0.182540, maxvel = 8.343710, current_vel = 0.249607, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.249607, acc = -30.037477,T = 0.007908, P = 0.007425 on final decel initial results: dx= 0.000482,dt = 0.002233, a_f = -30.037477, v_f = 0.182540 recalculating with a_f = -30.037477, a = -30.037477 revised dt = 0.002233 dt = 0.002233, not at end yet tc id = 186, canon_type = 2, mot type = 1 time: 7.414000 primary movement = 2.646253181800e-04 time: 7.414000000001e+00 total movement = 2.646253181800e-04 vel = 2.496065798842e-01 ------------------- tc state : vr = 3.765590, vf = 0.182540, maxvel = 8.343710, current_vel = 0.219569, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.219569, acc = -30.037477,T = 0.007908, P = 0.007660 on final decel initial results: dx= 0.000248,dt = 0.001233, a_f = -30.037477, v_f = 0.182540 recalculating with a_f = -30.037477, a = -30.037477 revised dt = 0.001233 dt = 0.001233, not at end yet tc id = 186, canon_type = 2, mot type = 1 time: 7.415000 primary movement = 2.345878415883e-04 time: 7.415000000001e+00 total movement = 2.345878415883e-04 vel = 2.195691032924e-01 ------------------- tc state : vr = 3.765590, vf = 0.182540, maxvel = 8.343710, current_vel = 0.189532, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.189532, acc = -30.037477,T = 0.007908, P = 0.007864 on final decel initial results: dx= 0.000043,dt = 0.000233, a_f = -30.037477, v_f = 0.182540 recalculating with a_f = -30.037477, a = -30.037477 revised dt = 0.000233 actual v_f = 0.182540, a = -30.037477 split time is 0.000232779 tc id = 186, canon_type = 2, mot type = 1 time: 7.416000 primary movement = 2.045503649965e-04 time: 7.416000000001e+00 total movement = 2.045503649965e-04 vel = 1.895316267007e-01 ------------------- tc id 186 done Finishing split-cycle on id 187 tc state : vr = 0.264110, vf = 0.000000, maxvel = 0.264110, current_vel = 0.171031, fs = 1.000000, tc = 0.000767, term = 3 tc result: v = 0.171031, acc = -15.000000,T = 0.001111, P = 0.000136 on final decel initial results: dx= 0.000975,dt = 0.011402, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.011402 dt = 0.011402, not at end yet secondary movement = 0.000136 tc id = 187, canon_type = 3, mot type = 2 time: 7.417000 primary movement = 4.330524473410e-05 time: 7.417000000001e+00 total movement = 1.789242020206e-04 vel = 1.710312122942e-01 Finished tc id 186 ------------------- Activate tc id = 187 target_vel = 0.264110 final_vel = 0.000000 length = 0.001111 tc state : vr = 0.264110, vf = 0.000000, maxvel = 0.264110, current_vel = 0.156031, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.156031, acc = -15.000000,T = 0.001111, P = 0.000299 on final decel initial results: dx= 0.000812,dt = 0.010402, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.010402 dt = 0.010402, not at end yet tc id = 187, canon_type = 3, mot type = 2 time: 7.418000 primary movement = 1.635059348094e-04 time: 7.418000000001e+00 total movement = 1.635059348094e-04 vel = 1.560312122942e-01 ------------------- tc state : vr = 0.264110, vf = 0.000000, maxvel = 0.264110, current_vel = 0.141031, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.141031, acc = -15.000000,T = 0.001111, P = 0.000448 on final decel initial results: dx= 0.000663,dt = 0.009402, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.009402 dt = 0.009402, not at end yet tc id = 187, canon_type = 3, mot type = 2 time: 7.419000 primary movement = 1.485122719184e-04 time: 7.419000000001e+00 total movement = 1.485122719184e-04 vel = 1.410312122942e-01 ------------------- tc state : vr = 0.264110, vf = 0.000000, maxvel = 0.264110, current_vel = 0.126031, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.126031, acc = -15.000000,T = 0.001111, P = 0.000581 on final decel initial results: dx= 0.000529,dt = 0.008402, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.008402 dt = 0.008402, not at end yet tc id = 187, canon_type = 3, mot type = 2 time: 7.420000 primary movement = 1.335174501223e-04 time: 7.420000000001e+00 total movement = 1.335174501223e-04 vel = 1.260312122942e-01 ------------------- tc state : vr = 0.264110, vf = 0.000000, maxvel = 0.264110, current_vel = 0.111031, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.111031, acc = -15.000000,T = 0.001111, P = 0.000700 on final decel initial results: dx= 0.000411,dt = 0.007402, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.007402 dt = 0.007402, not at end yet tc id = 187, canon_type = 3, mot type = 2 time: 7.421000 primary movement = 1.185215864323e-04 time: 7.421000000001e+00 total movement = 1.185215864323e-04 vel = 1.110312122942e-01 ------------------- tc state : vr = 0.264110, vf = 0.000000, maxvel = 0.264110, current_vel = 0.096031, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.096031, acc = -15.000000,T = 0.001111, P = 0.000803 on final decel initial results: dx= 0.000307,dt = 0.006402, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.006402 dt = 0.006402, not at end yet tc id = 187, canon_type = 3, mot type = 2 time: 7.422000 primary movement = 1.035247978673e-04 time: 7.422000000001e+00 total movement = 1.035247978673e-04 vel = 9.603121229418e-02 ------------------- tc state : vr = 0.264110, vf = 0.000000, maxvel = 0.264110, current_vel = 0.081031, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.081031, acc = -15.000000,T = 0.001111, P = 0.000892 on final decel initial results: dx= 0.000219,dt = 0.005402, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.005402 dt = 0.005402, not at end yet tc id = 187, canon_type = 3, mot type = 2 time: 7.423000 primary movement = 8.852720145398e-05 time: 7.423000000001e+00 total movement = 8.852720145398e-05 vel = 8.103121229418e-02 ------------------- tc state : vr = 0.264110, vf = 0.000000, maxvel = 0.264110, current_vel = 0.066031, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.066031, acc = -15.000000,T = 0.001111, P = 0.000965 on final decel initial results: dx= 0.000145,dt = 0.004402, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.004402 dt = 0.004402, not at end yet tc id = 187, canon_type = 3, mot type = 2 time: 7.424000 primary movement = 7.352891422478e-05 time: 7.424000000001e+00 total movement = 7.352891422478e-05 vel = 6.603121229418e-02 ------------------- tc state : vr = 0.264110, vf = 0.000000, maxvel = 0.264110, current_vel = 0.051031, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.051031, acc = -15.000000,T = 0.001111, P = 0.001024 on final decel initial results: dx= 0.000087,dt = 0.003402, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.003402 dt = 0.003402, not at end yet tc id = 187, canon_type = 3, mot type = 2 time: 7.425000 primary movement = 5.853005321793e-05 time: 7.425000000001e+00 total movement = 5.853005321793e-05 vel = 5.103121229418e-02 ------------------- tc state : vr = 0.264110, vf = 0.000000, maxvel = 0.264110, current_vel = 0.036031, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.036031, acc = -15.000000,T = 0.001111, P = 0.001067 on final decel initial results: dx= 0.000043,dt = 0.002402, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.002402 dt = 0.002402, not at end yet tc id = 187, canon_type = 3, mot type = 2 time: 7.426000 primary movement = 4.353073547590e-05 time: 7.426000000001e+00 total movement = 4.353073547590e-05 vel = 3.603121229418e-02 ------------------- tc state : vr = 0.264110, vf = 0.000000, maxvel = 0.264110, current_vel = 0.021031, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.021031, acc = -15.000000,T = 0.001111, P = 0.001096 on final decel initial results: dx= 0.000015,dt = 0.001402, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.001402 dt = 0.001402, not at end yet tc id = 187, canon_type = 3, mot type = 2 time: 7.427000 primary movement = 2.853107804487e-05 time: 7.427000000001e+00 total movement = 2.853107804487e-05 vel = 2.103121229418e-02 ------------------- tc state : vr = 0.264110, vf = 0.000000, maxvel = 0.264110, current_vel = 0.006031, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.006031, acc = -15.000000,T = 0.001111, P = 0.001109 on final decel initial results: dx= 0.000001,dt = 0.000402, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.000402 actual v_f = 0.000000, a = -15.000000 split time is 0.00040208 tc id = 187, canon_type = 3, mot type = 2 time: 7.428000 primary movement = 1.353119797355e-05 time: 7.428000000001e+00 total movement = 1.353119797355e-05 vel = 6.031212294176e-03 ------------------- tc id 187 done Finishing split-cycle on id 187 tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.010027, fs = 1.000000, tc = 0.000598, term = 2 tc result: v = 0.010027, acc = 16.770510,T = 0.001673, P = 0.000003 secondary movement = 0.000003 tc id = 187, canon_type = 2, mot type = 1 time: 7.429000 primary movement = 1.212517380930e-06 time: 7.429000000001e+00 total movement = 4.210323886356e-06 vel = 1.002743670854e-02 Finished tc id 187 ------------------- Activate tc id = 187 target_vel = 9.316913 final_vel = 0.000000 length = 0.001673 Activate nexttc id 188 tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.026798, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.026798, acc = 16.770510,T = 0.001673, P = 0.000021 tc id = 187, canon_type = 2, mot type = 1 time: 7.430000 primary movement = 1.841269162422e-05 time: 7.430000000001e+00 total movement = 1.841269162422e-05 vel = 2.679794653979e-02 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.043568, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.043568, acc = 16.770510,T = 0.001673, P = 0.000057 tc id = 187, canon_type = 2, mot type = 1 time: 7.431000 primary movement = 3.518320145539e-05 time: 7.431000000001e+00 total movement = 3.518320145539e-05 vel = 4.356845637104e-02 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.060339, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.060339, acc = 16.770510,T = 0.001673, P = 0.000109 tc id = 187, canon_type = 2, mot type = 1 time: 7.432000 primary movement = 5.195371128669e-05 time: 7.432000000001e+00 total movement = 5.195371128669e-05 vel = 6.033896620229e-02 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.077109, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.077109, acc = 16.770510,T = 0.001673, P = 0.000177 tc id = 187, canon_type = 2, mot type = 1 time: 7.433000 primary movement = 6.872422111786e-05 time: 7.433000000001e+00 total movement = 6.872422111786e-05 vel = 7.710947603354e-02 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.093880, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.093880, acc = 16.770510,T = 0.001673, P = 0.000263 tc id = 187, canon_type = 2, mot type = 1 time: 7.434000 primary movement = 8.549473094922e-05 time: 7.434000000001e+00 total movement = 8.549473094922e-05 vel = 9.387998586479e-02 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.110650, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.110650, acc = 16.770510,T = 0.001673, P = 0.000365 tc id = 187, canon_type = 2, mot type = 1 time: 7.435000 primary movement = 1.022652407804e-04 time: 7.435000000001e+00 total movement = 1.022652407804e-04 vel = 1.106504956960e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.127421, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.127421, acc = 16.770510,T = 0.001673, P = 0.000484 tc id = 187, canon_type = 2, mot type = 1 time: 7.436000 primary movement = 1.190357506116e-04 time: 7.436000000001e+00 total movement = 1.190357506116e-04 vel = 1.274210055273e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.144192, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.144192, acc = 16.770510,T = 0.001673, P = 0.000620 tc id = 187, canon_type = 2, mot type = 1 time: 7.437000 primary movement = 1.358062604429e-04 time: 7.437000000001e+00 total movement = 1.358062604429e-04 vel = 1.441915153585e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.160962, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.160962, acc = 16.770510,T = 0.001673, P = 0.000772 tc id = 187, canon_type = 2, mot type = 1 time: 7.438000 primary movement = 1.525767702742e-04 time: 7.438000000001e+00 total movement = 1.525767702742e-04 vel = 1.609620251898e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.157642, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.157642, acc = -3.320099,T = 0.001673, P = 0.000932 on final decel tc id = 187, canon_type = 2, mot type = 1 tc state : vr = 0.003320, vf = 0.003320, maxvel = 9.000761, current_vel = 0.003320, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.003320, acc = 3.320099,T = 0.003743, P = 0.000002 initial results: dx= 0.003742,dt = 0.022648, a_f = 14.295891, v_f = 0.327094 dt = 0.022648, not at end yet tc id = 187, canon_type = 2, mot type = 1 secondary movement = 0.000002 time: 7.439000 primary movement = 1.593019758951e-04 time: 7.439000000001e+00 total movement = 1.609620251898e-04 vel = 1.609620251898e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.140871, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.140871, acc = -16.770510,T = 0.001673, P = 0.001081 on final decel tc id = 187, canon_type = 2, mot type = 1 tc state : vr = 0.020091, vf = 0.020091, maxvel = 9.000761, current_vel = 0.019521, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.019521, acc = 16.201370,T = 0.003743, P = 0.000013 initial results: dx= 0.003730,dt = 0.021524, a_f = 14.290057, v_f = 0.327094 dt = 0.021524, not at end yet tc id = 187, canon_type = 2, mot type = 1 secondary movement = 0.000011 time: 7.440000 primary movement = 1.492566716847e-04 time: 7.440000000001e+00 total movement = 1.606774551450e-04 vel = 1.603928851002e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.124101, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.124101, acc = -16.770510,T = 0.001673, P = 0.001213 on final decel tc id = 187, canon_type = 2, mot type = 1 tc state : vr = 0.036861, vf = 0.036861, maxvel = 9.000761, current_vel = 0.035723, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.035723, acc = 16.201370,T = 0.003743, P = 0.000041 initial results: dx= 0.003703,dt = 0.020410, a_f = 14.275798, v_f = 0.327094 dt = 0.020410, not at end yet tc id = 187, canon_type = 2, mot type = 1 secondary movement = 0.000028 time: 7.441000 primary movement = 1.324861618534e-04 time: 7.441000000001e+00 total movement = 1.601083150555e-04 vel = 1.598237450107e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.107330, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.107330, acc = -16.770510,T = 0.001673, P = 0.001329 on final decel tc id = 187, canon_type = 2, mot type = 1 tc state : vr = 0.053632, vf = 0.053632, maxvel = 9.000761, current_vel = 0.051924, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.051924, acc = 16.201370,T = 0.003743, P = 0.000085 initial results: dx= 0.003659,dt = 0.019306, a_f = 14.252734, v_f = 0.327094 dt = 0.019306, not at end yet tc id = 187, canon_type = 2, mot type = 1 secondary movement = 0.000044 time: 7.442000 primary movement = 1.157156520222e-04 time: 7.442000000001e+00 total movement = 1.595391749659e-04 vel = 1.592546049212e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.090560, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.090560, acc = -16.770510,T = 0.001673, P = 0.001428 on final decel tc id = 187, canon_type = 2, mot type = 1 tc state : vr = 0.070402, vf = 0.070402, maxvel = 9.000761, current_vel = 0.068126, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.068126, acc = 16.201370,T = 0.003743, P = 0.000145 initial results: dx= 0.003599,dt = 0.018211, a_f = 14.220232, v_f = 0.327094 dt = 0.018211, not at end yet tc id = 187, canon_type = 2, mot type = 1 secondary movement = 0.000060 time: 7.443000 primary movement = 9.894514219097e-05 time: 7.443000000001e+00 total movement = 1.589700348764e-04 vel = 1.586854648316e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.073789, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.073789, acc = -16.770510,T = 0.001673, P = 0.001510 on final decel tc id = 187, canon_type = 2, mot type = 1 tc state : vr = 0.087173, vf = 0.087173, maxvel = 9.000761, current_vel = 0.084327, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.084327, acc = 16.201370,T = 0.003743, P = 0.000221 initial results: dx= 0.003522,dt = 0.017124, a_f = 14.177360, v_f = 0.327094 dt = 0.017124, not at end yet tc id = 188, canon_type = 2, mot type = 1 secondary movement = 0.000076 time: 7.444000 primary movement = 8.217463235967e-05 time: 7.444000000001e+00 total movement = 1.584008947868e-04 vel = 1.581163247421e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.057019, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.057019, acc = -16.770510,T = 0.001673, P = 0.001576 on final decel tc id = 187, canon_type = 2, mot type = 1 tc state : vr = 0.103943, vf = 0.103943, maxvel = 9.000761, current_vel = 0.100528, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.100528, acc = 16.201370,T = 0.003743, P = 0.000313 initial results: dx= 0.003430,dt = 0.016043, a_f = 14.122821, v_f = 0.327094 dt = 0.016043, not at end yet tc id = 188, canon_type = 2, mot type = 1 secondary movement = 0.000092 time: 7.445000 primary movement = 6.540412252844e-05 time: 7.445000000001e+00 total movement = 1.578317546974e-04 vel = 1.575471846526e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.040248, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.040248, acc = -16.770510,T = 0.001673, P = 0.001624 on final decel tc id = 187, canon_type = 2, mot type = 1 tc state : vr = 0.120714, vf = 0.120714, maxvel = 9.000761, current_vel = 0.116730, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.116730, acc = 16.201370,T = 0.003743, P = 0.000422 initial results: dx= 0.003321,dt = 0.014967, a_f = 14.054841, v_f = 0.327094 dt = 0.014967, not at end yet tc id = 188, canon_type = 2, mot type = 1 secondary movement = 0.000109 time: 7.446000 primary movement = 4.863361269720e-05 time: 7.446000000001e+00 total movement = 1.572626146078e-04 vel = 1.569780445630e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.023478, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.023478, acc = -16.770510,T = 0.001673, P = 0.001656 on final decel tc id = 187, canon_type = 2, mot type = 1 tc state : vr = 0.137484, vf = 0.137484, maxvel = 9.000761, current_vel = 0.132931, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.132931, acc = 16.201370,T = 0.003743, P = 0.000547 initial results: dx= 0.003197,dt = 0.013898, a_f = 13.971017, v_f = 0.327094 dt = 0.013898, not at end yet tc id = 188, canon_type = 2, mot type = 1 secondary movement = 0.000125 time: 7.447000 primary movement = 3.186310286597e-05 time: 7.447000000001e+00 total movement = 1.566934745183e-04 vel = 1.564089044735e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.006707, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.006707, acc = -16.770510,T = 0.001673, P = 0.001671 on final decel tc id = 187, canon_type = 2, mot type = 1 tc state : vr = 0.154255, vf = 0.154255, maxvel = 9.000761, current_vel = 0.149132, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.149132, acc = 16.201370,T = 0.003743, P = 0.000688 initial results: dx= 0.003056,dt = 0.012832, a_f = 13.868074, v_f = 0.327094 dt = 0.012832, not at end yet tc id = 188, canon_type = 2, mot type = 1 secondary movement = 0.000141 time: 7.448000 primary movement = 1.509259303473e-05 time: 7.448000000001e+00 total movement = 1.561243344288e-04 vel = 1.558397643840e-01 ------------------- Found newvel = -0.006707, assuming segment is done segment 187 at target in runcycle tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.001673, P = 0.001673 tc id = 187, canon_type = 2, mot type = 1 tc state : vr = 0.160962, vf = 0.160962, maxvel = 9.000761, current_vel = 0.160962, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.160962, acc = 11.829599,T = 0.003743, P = 0.000843 initial results: dx= 0.002901,dt = 0.011886, a_f = 13.977041, v_f = 0.327094 dt = 0.011886, not at end yet tc id = 188, canon_type = 2, mot type = 1 secondary movement = 0.000155 time: 7.449000 primary movement = 1.341294483451e-06 time: 7.449000000001e+00 total movement = 1.563885202108e-04 vel = 1.609620251898e-01 Finished tc id 187 ------------------- tc state : vr = 1.782513, vf = 0.327094, maxvel = 9.000761, current_vel = 0.177163, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.177163, acc = 16.201370,T = 0.003743, P = 0.001012 initial results: dx= 0.002731,dt = 0.010834, a_f = 13.839367, v_f = 0.327094 dt = 0.010834, not at end yet tc id = 188, canon_type = 2, mot type = 1 time: 7.450000 primary movement = 1.690627100606e-04 time: 7.450000000001e+00 total movement = 1.690627100606e-04 vel = 1.771633949315e-01 ------------------- tc state : vr = 1.782513, vf = 0.327094, maxvel = 9.000761, current_vel = 0.193365, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.193365, acc = 16.201370,T = 0.003743, P = 0.001197 initial results: dx= 0.002546,dt = 0.009784, a_f = 13.667506, v_f = 0.327094 dt = 0.009784, not at end yet tc id = 188, canon_type = 2, mot type = 1 time: 7.451000 primary movement = 1.852640798023e-04 time: 7.451000000001e+00 total movement = 1.852640798023e-04 vel = 1.933647646732e-01 ------------------- tc state : vr = 1.782513, vf = 0.327094, maxvel = 9.000761, current_vel = 0.209566, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.209566, acc = 16.201370,T = 0.003743, P = 0.001399 initial results: dx= 0.002345,dt = 0.008738, a_f = 13.449791, v_f = 0.327094 dt = 0.008738, not at end yet tc id = 188, canon_type = 2, mot type = 1 time: 7.452000 primary movement = 2.014654495441e-04 time: 7.452000000001e+00 total movement = 2.014654495441e-04 vel = 2.095661344149e-01 ------------------- tc state : vr = 1.782513, vf = 0.327094, maxvel = 9.000761, current_vel = 0.225768, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.225768, acc = 16.201370,T = 0.003743, P = 0.001616 initial results: dx= 0.002127,dt = 0.007695, a_f = 13.168217, v_f = 0.327094 dt = 0.007695, not at end yet tc id = 188, canon_type = 2, mot type = 1 time: 7.453000 primary movement = 2.176668192858e-04 time: 7.453000000001e+00 total movement = 2.176668192858e-04 vel = 2.257675041566e-01 ------------------- tc state : vr = 1.782513, vf = 0.327094, maxvel = 9.000761, current_vel = 0.241969, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.241969, acc = 16.201370,T = 0.003743, P = 0.001850 initial results: dx= 0.001893,dt = 0.006654, a_f = 12.793531, v_f = 0.327094 dt = 0.006654, not at end yet tc id = 188, canon_type = 2, mot type = 1 time: 7.454000 primary movement = 2.338681890275e-04 time: 7.454000000001e+00 total movement = 2.338681890275e-04 vel = 2.419688738983e-01 ------------------- tc state : vr = 1.782513, vf = 0.327094, maxvel = 9.000761, current_vel = 0.258170, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.258170, acc = 16.201370,T = 0.003743, P = 0.002100 initial results: dx= 0.001643,dt = 0.005615, a_f = 12.274891, v_f = 0.327094 dt = 0.005615, not at end yet tc id = 188, canon_type = 2, mot type = 1 time: 7.455000 primary movement = 2.500695587692e-04 time: 7.455000000001e+00 total movement = 2.500695587692e-04 vel = 2.581702436401e-01 ------------------- tc state : vr = 1.782513, vf = 0.327094, maxvel = 9.000761, current_vel = 0.274372, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.274372, acc = 16.201370,T = 0.003743, P = 0.002366 initial results: dx= 0.001377,dt = 0.004578, a_f = 11.515552, v_f = 0.327094 dt = 0.004578, not at end yet tc id = 188, canon_type = 2, mot type = 1 time: 7.456000 primary movement = 2.662709285109e-04 time: 7.456000000001e+00 total movement = 2.662709285109e-04 vel = 2.743716133818e-01 ------------------- tc state : vr = 1.782513, vf = 0.327094, maxvel = 9.000761, current_vel = 0.290573, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.290573, acc = 16.201370,T = 0.003743, P = 0.002649 initial results: dx= 0.001094,dt = 0.003544, a_f = 10.306103, v_f = 0.327094 dt = 0.003544, not at end yet tc id = 188, canon_type = 2, mot type = 1 time: 7.457000 primary movement = 2.824722982526e-04 time: 7.457000000001e+00 total movement = 2.824722982526e-04 vel = 2.905729831235e-01 ------------------- tc state : vr = 1.782513, vf = 0.327094, maxvel = 9.000761, current_vel = 0.306774, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.306774, acc = 16.201370,T = 0.003743, P = 0.002948 initial results: dx= 0.000796,dt = 0.002511, a_f = 8.093312, v_f = 0.327094 dt = 0.002511, not at end yet tc id = 188, canon_type = 2, mot type = 1 time: 7.458000 primary movement = 2.986736679944e-04 time: 7.458000000001e+00 total movement = 2.986736679944e-04 vel = 3.067743528652e-01 ------------------- tc state : vr = 1.782513, vf = 0.327094, maxvel = 9.000761, current_vel = 0.322976, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.322976, acc = 16.201370,T = 0.003743, P = 0.003262 initial results: dx= 0.000481,dt = 0.001479, a_f = 2.783852, v_f = 0.327094 dt = 0.001479, not at end yet tc id = 188, canon_type = 2, mot type = 1 time: 7.459000 primary movement = 3.148750377360e-04 time: 7.459000000001e+00 total movement = 3.148750377360e-04 vel = 3.229757226069e-01 ------------------- tc state : vr = 1.782513, vf = 0.327094, maxvel = 9.000761, current_vel = 0.334542, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.334542, acc = 11.566515,T = 0.003743, P = 0.003591 initial results: dx= 0.000152,dt = 0.000460, a_f = -16.201370, v_f = 0.327094 actual v_f = 0.327094, a = -16.201370 split time is 0.000459726 tc id = 188, canon_type = 2, mot type = 1 time: 7.460000 primary movement = 3.287589802653e-04 time: 7.460000000001e+00 total movement = 3.287589802653e-04 vel = 3.345422379237e-01 ------------------- tc id 188 done Finishing split-cycle on id 189 tc state : vr = 0.327094, vf = 0.327094, maxvel = 0.327094, current_vel = 0.327094, fs = 1.000000, tc = 0.000540, term = 3 tc result: v = 0.327094, acc = 0.000000,T = 0.002963, P = 0.000177 initial results: dx= 0.002787,dt = 0.008520, a_f = 0.000000, v_f = 0.327094 dt = 0.008520, not at end yet secondary movement = 0.000177 tc id = 189, canon_type = 3, mot type = 2 time: 7.461000 primary movement = 1.520856223054e-04 time: 7.461000000001e+00 total movement = 3.287925528587e-04 vel = 3.270940509338e-01 Finished tc id 188 ------------------- Activate tc id = 189 target_vel = 0.327094 final_vel = 0.327094 length = 0.002963 tc state : vr = 0.327094, vf = 0.327094, maxvel = 0.327094, current_vel = 0.327094, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.327094, acc = 0.000000,T = 0.002963, P = 0.000504 initial results: dx= 0.002460,dt = 0.007520, a_f = 0.000000, v_f = 0.327094 dt = 0.007520, not at end yet tc id = 189, canon_type = 3, mot type = 2 time: 7.462000 primary movement = 3.270080732707e-04 time: 7.462000000001e+00 total movement = 3.270080732707e-04 vel = 3.270940509338e-01 ------------------- tc state : vr = 0.327094, vf = 0.327094, maxvel = 0.327094, current_vel = 0.327094, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.327094, acc = 0.000000,T = 0.002963, P = 0.000831 initial results: dx= 0.002133,dt = 0.006520, a_f = 0.000000, v_f = 0.327094 dt = 0.006520, not at end yet tc id = 189, canon_type = 3, mot type = 2 time: 7.463000 primary movement = 3.270080732708e-04 time: 7.463000000001e+00 total movement = 3.270080732708e-04 vel = 3.270940509338e-01 ------------------- tc state : vr = 0.327094, vf = 0.327094, maxvel = 0.327094, current_vel = 0.327094, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.327094, acc = 0.000000,T = 0.002963, P = 0.001158 initial results: dx= 0.001805,dt = 0.005520, a_f = 0.000000, v_f = 0.327094 dt = 0.005520, not at end yet tc id = 189, canon_type = 3, mot type = 2 time: 7.464000 primary movement = 3.270080732707e-04 time: 7.464000000001e+00 total movement = 3.270080732707e-04 vel = 3.270940509338e-01 ------------------- tc state : vr = 0.327094, vf = 0.327094, maxvel = 0.327094, current_vel = 0.327094, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.327094, acc = 0.000000,T = 0.002963, P = 0.001485 initial results: dx= 0.001478,dt = 0.004520, a_f = 0.000000, v_f = 0.327094 dt = 0.004520, not at end yet tc id = 189, canon_type = 3, mot type = 2 time: 7.465000 primary movement = 3.270080732707e-04 time: 7.465000000001e+00 total movement = 3.270080732707e-04 vel = 3.270940509338e-01 ------------------- tc state : vr = 0.327094, vf = 0.327094, maxvel = 0.327094, current_vel = 0.327094, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.327094, acc = 0.000000,T = 0.002963, P = 0.001812 initial results: dx= 0.001151,dt = 0.003520, a_f = 0.000000, v_f = 0.327094 dt = 0.003520, not at end yet tc id = 189, canon_type = 3, mot type = 2 time: 7.466000 primary movement = 3.270080732708e-04 time: 7.466000000001e+00 total movement = 3.270080732708e-04 vel = 3.270940509338e-01 ------------------- tc state : vr = 0.327094, vf = 0.327094, maxvel = 0.327094, current_vel = 0.327094, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.327094, acc = 0.000000,T = 0.002963, P = 0.002139 initial results: dx= 0.000824,dt = 0.002520, a_f = 0.000000, v_f = 0.327094 dt = 0.002520, not at end yet tc id = 189, canon_type = 3, mot type = 2 time: 7.467000 primary movement = 3.270080732707e-04 time: 7.467000000001e+00 total movement = 3.270080732707e-04 vel = 3.270940509338e-01 ------------------- tc state : vr = 0.327094, vf = 0.327094, maxvel = 0.327094, current_vel = 0.327094, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.327094, acc = 0.000000,T = 0.002963, P = 0.002466 initial results: dx= 0.000497,dt = 0.001520, a_f = 0.000000, v_f = 0.327094 dt = 0.001520, not at end yet tc id = 189, canon_type = 3, mot type = 2 time: 7.468000 primary movement = 3.270080732707e-04 time: 7.468000000001e+00 total movement = 3.270080732707e-04 vel = 3.270940509338e-01 ------------------- tc state : vr = 0.327094, vf = 0.327094, maxvel = 0.327094, current_vel = 0.327094, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.327094, acc = 0.000000,T = 0.002963, P = 0.002793 initial results: dx= 0.000170,dt = 0.000520, a_f = 0.000000, v_f = 0.327094 actual v_f = 0.327094, a = 0.000000 split time is 0.0005197 tc id = 189, canon_type = 3, mot type = 2 time: 7.469000 primary movement = 3.270080732707e-04 time: 7.469000000001e+00 total movement = 3.270080732707e-04 vel = 3.270940509338e-01 ------------------- tc id 189 done Finishing split-cycle on id 189 tc state : vr = 0.367355, vf = 0.367355, maxvel = 9.316913, current_vel = 0.343204, fs = 1.000000, tc = 0.000480, term = 3 tc result: v = 0.343204, acc = 33.541020,T = 0.000771, P = 0.000161 initial results: dx= 0.000610,dt = 0.001718, a_f = 14.055562, v_f = 0.367355 dt = 0.001718, not at end yet secondary movement = 0.000161 tc id = 189, canon_type = 2, mot type = 1 time: 7.470000 primary movement = 1.699786098380e-04 time: 7.470000000001e+00 total movement = 3.309507438074e-04 vel = 3.432038128830e-01 Finished tc id 189 ------------------- Activate tc id = 189 target_vel = 0.367355 final_vel = 0.367355 length = 0.000771 tc state : vr = 0.367355, vf = 0.367355, maxvel = 9.316913, current_vel = 0.367355, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.367355, acc = 24.151562,T = 0.000771, P = 0.000516 initial results: dx= 0.000255,dt = 0.000695, a_f = 0.000000, v_f = 0.367355 actual v_f = 0.367355, a = 0.000000 split time is 0.00069468 tc id = 189, canon_type = 2, mot type = 1 time: 7.471000 primary movement = 3.552795939201e-04 time: 7.471000000001e+00 total movement = 3.552795939201e-04 vel = 3.673553749572e-01 ------------------- tc id 189 done Finishing split-cycle on id 190 tc state : vr = 0.367355, vf = 0.367355, maxvel = 0.367355, current_vel = 0.367355, fs = 1.000000, tc = 0.000305, term = 3 tc result: v = 0.367355, acc = 0.000000,T = 0.004080, P = 0.000112 initial results: dx= 0.003967,dt = 0.010800, a_f = 0.000000, v_f = 0.367355 dt = 0.010800, not at end yet secondary movement = 0.000112 tc id = 190, canon_type = 3, mot type = 2 time: 7.472000 primary movement = 2.551945595206e-04 time: 7.472000000001e+00 total movement = 3.673531959037e-04 vel = 3.673553749572e-01 Finished tc id 189 ------------------- Activate tc id = 190 target_vel = 0.367355 final_vel = 0.367355 length = 0.004080 tc state : vr = 0.367355, vf = 0.367355, maxvel = 0.367355, current_vel = 0.367355, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.367355, acc = 0.000000,T = 0.004080, P = 0.000480 initial results: dx= 0.003600,dt = 0.009800, a_f = 0.000000, v_f = 0.367355 dt = 0.009800, not at end yet tc id = 190, canon_type = 3, mot type = 2 time: 7.473000 primary movement = 3.672788190021e-04 time: 7.473000000001e+00 total movement = 3.672788190021e-04 vel = 3.673553749572e-01 ------------------- tc state : vr = 0.367355, vf = 0.367355, maxvel = 0.367355, current_vel = 0.367355, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.367355, acc = 0.000000,T = 0.004080, P = 0.000847 initial results: dx= 0.003233,dt = 0.008800, a_f = 0.000000, v_f = 0.367355 dt = 0.008800, not at end yet tc id = 190, canon_type = 3, mot type = 2 time: 7.474000 primary movement = 3.672788190021e-04 time: 7.474000000001e+00 total movement = 3.672788190021e-04 vel = 3.673553749572e-01 ------------------- tc state : vr = 0.367355, vf = 0.367355, maxvel = 0.367355, current_vel = 0.367355, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.367355, acc = 0.000000,T = 0.004080, P = 0.001214 initial results: dx= 0.002865,dt = 0.007800, a_f = 0.000000, v_f = 0.367355 dt = 0.007800, not at end yet tc id = 190, canon_type = 3, mot type = 2 time: 7.475000 primary movement = 3.672788190021e-04 time: 7.475000000001e+00 total movement = 3.672788190021e-04 vel = 3.673553749572e-01 ------------------- tc state : vr = 0.367355, vf = 0.367355, maxvel = 0.367355, current_vel = 0.367355, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.367355, acc = 0.000000,T = 0.004080, P = 0.001582 initial results: dx= 0.002498,dt = 0.006800, a_f = 0.000000, v_f = 0.367355 dt = 0.006800, not at end yet tc id = 190, canon_type = 3, mot type = 2 time: 7.476000 primary movement = 3.672788190021e-04 time: 7.476000000001e+00 total movement = 3.672788190021e-04 vel = 3.673553749572e-01 ------------------- tc state : vr = 0.367355, vf = 0.367355, maxvel = 0.367355, current_vel = 0.367355, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.367355, acc = 0.000000,T = 0.004080, P = 0.001949 initial results: dx= 0.002131,dt = 0.005800, a_f = 0.000000, v_f = 0.367355 dt = 0.005800, not at end yet tc id = 190, canon_type = 3, mot type = 2 time: 7.477000 primary movement = 3.672788190021e-04 time: 7.477000000001e+00 total movement = 3.672788190021e-04 vel = 3.673553749572e-01 ------------------- tc state : vr = 0.367355, vf = 0.367355, maxvel = 0.367355, current_vel = 0.367355, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.367355, acc = 0.000000,T = 0.004080, P = 0.002316 initial results: dx= 0.001763,dt = 0.004800, a_f = 0.000000, v_f = 0.367355 dt = 0.004800, not at end yet tc id = 190, canon_type = 3, mot type = 2 time: 7.478000 primary movement = 3.672788190021e-04 time: 7.478000000001e+00 total movement = 3.672788190021e-04 vel = 3.673553749572e-01 ------------------- tc state : vr = 0.367355, vf = 0.367355, maxvel = 0.367355, current_vel = 0.367355, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.367355, acc = 0.000000,T = 0.004080, P = 0.002684 initial results: dx= 0.001396,dt = 0.003800, a_f = 0.000000, v_f = 0.367355 dt = 0.003800, not at end yet tc id = 190, canon_type = 3, mot type = 2 time: 7.479000 primary movement = 3.672788190021e-04 time: 7.479000000001e+00 total movement = 3.672788190021e-04 vel = 3.673553749572e-01 ------------------- tc state : vr = 0.367355, vf = 0.367355, maxvel = 0.367355, current_vel = 0.367355, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.367355, acc = 0.000000,T = 0.004080, P = 0.003051 initial results: dx= 0.001029,dt = 0.002800, a_f = 0.000000, v_f = 0.367355 dt = 0.002800, not at end yet tc id = 190, canon_type = 3, mot type = 2 time: 7.480000 primary movement = 3.672788190021e-04 time: 7.480000000001e+00 total movement = 3.672788190021e-04 vel = 3.673553749572e-01 ------------------- tc state : vr = 0.367355, vf = 0.367355, maxvel = 0.367355, current_vel = 0.367355, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.367355, acc = 0.000000,T = 0.004080, P = 0.003418 initial results: dx= 0.000661,dt = 0.001800, a_f = 0.000000, v_f = 0.367355 dt = 0.001800, not at end yet tc id = 190, canon_type = 3, mot type = 2 time: 7.481000 primary movement = 3.672788190021e-04 time: 7.481000000001e+00 total movement = 3.672788190021e-04 vel = 3.673553749572e-01 ------------------- tc state : vr = 0.367355, vf = 0.367355, maxvel = 0.367355, current_vel = 0.367355, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.367355, acc = 0.000000,T = 0.004080, P = 0.003786 initial results: dx= 0.000294,dt = 0.000800, a_f = 0.000000, v_f = 0.367355 actual v_f = 0.367355, a = 0.000000 split time is 0.000799829 tc id = 190, canon_type = 3, mot type = 2 time: 7.482000 primary movement = 3.672788190021e-04 time: 7.482000000001e+00 total movement = 3.672788190021e-04 vel = 3.673553749572e-01 ------------------- tc id 190 done Finishing split-cycle on id 190 tc state : vr = 0.367355, vf = 0.287918, maxvel = 8.784069, current_vel = 0.367355, fs = 1.000000, tc = 0.000200, term = 3 tc result: v = 0.367355, acc = 0.000000,T = 0.001311, P = 0.000074 initial results: dx= 0.001237,dt = 0.003776, a_f = -21.036948, v_f = 0.287918 dt = 0.003776, not at end yet secondary movement = 0.000074 tc id = 190, canon_type = 2, mot type = 1 time: 7.483000 primary movement = 2.937824713273e-04 time: 7.483000000001e+00 total movement = 3.673162024906e-04 vel = 3.673553749572e-01 Finished tc id 190 ------------------- Activate tc id = 190 target_vel = 0.367355 final_vel = 0.287918 length = 0.001311 tc state : vr = 0.367355, vf = 0.287918, maxvel = 8.784069, current_vel = 0.367355, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.367355, acc = 0.000000,T = 0.001311, P = 0.000441 initial results: dx= 0.000870,dt = 0.002655, a_f = -29.921522, v_f = 0.287918 dt = 0.002655, not at end yet tc id = 190, canon_type = 2, mot type = 1 time: 7.484000 primary movement = 3.673553749572e-04 time: 7.484000000001e+00 total movement = 3.673553749572e-04 vel = 3.673553749572e-01 ------------------- tc state : vr = 0.367355, vf = 0.287918, maxvel = 8.784069, current_vel = 0.339917, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.339917, acc = -27.438262,T = 0.001311, P = 0.000795 on final decel initial results: dx= 0.000516,dt = 0.001644, a_f = -31.622777, v_f = 0.287918 dt = 0.001644, not at end yet tc id = 190, canon_type = 2, mot type = 1 time: 7.485000 primary movement = 3.536362439006e-04 time: 7.485000000001e+00 total movement = 3.536362439006e-04 vel = 3.399171128441e-01 ------------------- tc state : vr = 0.367355, vf = 0.287918, maxvel = 8.784069, current_vel = 0.308294, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.308294, acc = -31.622777,T = 0.001311, P = 0.001119 on final decel initial results: dx= 0.000192,dt = 0.000644, a_f = -31.622777, v_f = 0.287918 actual v_f = 0.287918, a = -31.622777 split time is 0.000644348 tc id = 190, canon_type = 2, mot type = 1 time: 7.486000 primary movement = 3.241057245432e-04 time: 7.486000000001e+00 total movement = 3.241057245432e-04 vel = 3.082943362424e-01 ------------------- tc id 190 done Finishing split-cycle on id 191 tc state : vr = 0.287918, vf = 0.000000, maxvel = 0.624150, current_vel = 0.287918, fs = 1.000000, tc = 0.000356, term = 3 tc result: v = 0.287918, acc = 0.000000,T = 0.005657, P = 0.000102 initial results: dx= 0.005554,dt = 0.038582, a_f = -7.462559, v_f = 0.000000 dt = 0.038582, not at end yet secondary movement = 0.000102 tc id = 191, canon_type = 3, mot type = 2 time: 7.487000 primary movement = 1.920843078067e-04 time: 7.487000000001e+00 total movement = 2.944827010112e-04 vel = 2.879182513323e-01 Finished tc id 190 ------------------- Activate tc id = 191 target_vel = 0.287918 final_vel = 0.000000 length = 0.005657 tc state : vr = 0.287918, vf = 0.000000, maxvel = 0.624150, current_vel = 0.287918, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.287918, acc = 0.000000,T = 0.005657, P = 0.000390 initial results: dx= 0.005266,dt = 0.036582, a_f = -7.870553, v_f = 0.000000 dt = 0.036582, not at end yet tc id = 191, canon_type = 3, mot type = 2 time: 7.488000 primary movement = 2.879138280800e-04 time: 7.488000000001e+00 total movement = 2.879138280800e-04 vel = 2.879182513323e-01 ------------------- tc state : vr = 0.287918, vf = 0.000000, maxvel = 0.624150, current_vel = 0.287918, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.287918, acc = 0.000000,T = 0.005657, P = 0.000678 initial results: dx= 0.004978,dt = 0.034582, a_f = -8.325739, v_f = 0.000000 dt = 0.034582, not at end yet tc id = 191, canon_type = 3, mot type = 2 time: 7.489000 primary movement = 2.879138280800e-04 time: 7.489000000001e+00 total movement = 2.879138280800e-04 vel = 2.879182513323e-01 ------------------- tc state : vr = 0.287918, vf = 0.000000, maxvel = 0.624150, current_vel = 0.287918, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.287918, acc = 0.000000,T = 0.005657, P = 0.000966 initial results: dx= 0.004690,dt = 0.032582, a_f = -8.836807, v_f = 0.000000 dt = 0.032582, not at end yet tc id = 191, canon_type = 3, mot type = 2 time: 7.490000 primary movement = 2.879138280799e-04 time: 7.490000000001e+00 total movement = 2.879138280799e-04 vel = 2.879182513323e-01 ------------------- tc state : vr = 0.287918, vf = 0.000000, maxvel = 0.624150, current_vel = 0.287918, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.287918, acc = 0.000000,T = 0.005657, P = 0.001254 initial results: dx= 0.004403,dt = 0.030582, a_f = -9.414722, v_f = 0.000000 dt = 0.030582, not at end yet tc id = 191, canon_type = 3, mot type = 2 time: 7.491000 primary movement = 2.879138280800e-04 time: 7.491000000001e+00 total movement = 2.879138280800e-04 vel = 2.879182513323e-01 ------------------- tc state : vr = 0.287918, vf = 0.000000, maxvel = 0.624150, current_vel = 0.287918, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.287918, acc = 0.000000,T = 0.005657, P = 0.001542 initial results: dx= 0.004115,dt = 0.028582, a_f = -10.073516, v_f = 0.000000 dt = 0.028582, not at end yet tc id = 191, canon_type = 3, mot type = 2 time: 7.492000 primary movement = 2.879138280799e-04 time: 7.492000000001e+00 total movement = 2.879138280799e-04 vel = 2.879182513323e-01 ------------------- tc state : vr = 0.287918, vf = 0.000000, maxvel = 0.624150, current_vel = 0.287918, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.287918, acc = 0.000000,T = 0.005657, P = 0.001830 initial results: dx= 0.003827,dt = 0.026582, a_f = -10.831444, v_f = 0.000000 dt = 0.026582, not at end yet tc id = 191, canon_type = 3, mot type = 2 time: 7.493000 primary movement = 2.879138280800e-04 time: 7.493000000001e+00 total movement = 2.879138280800e-04 vel = 2.879182513323e-01 ------------------- tc state : vr = 0.287918, vf = 0.000000, maxvel = 0.624150, current_vel = 0.287918, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.287918, acc = 0.000000,T = 0.005657, P = 0.002118 initial results: dx= 0.003539,dt = 0.024582, a_f = -11.712705, v_f = 0.000000 dt = 0.024582, not at end yet tc id = 191, canon_type = 3, mot type = 2 time: 7.494000 primary movement = 2.879138280800e-04 time: 7.494000000001e+00 total movement = 2.879138280800e-04 vel = 2.879182513323e-01 ------------------- tc state : vr = 0.287918, vf = 0.000000, maxvel = 0.624150, current_vel = 0.287918, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.287918, acc = 0.000000,T = 0.005657, P = 0.002406 initial results: dx= 0.003251,dt = 0.022582, a_f = -12.750067, v_f = 0.000000 dt = 0.022582, not at end yet tc id = 191, canon_type = 3, mot type = 2 time: 7.495000 primary movement = 2.879138280800e-04 time: 7.495000000001e+00 total movement = 2.879138280800e-04 vel = 2.879182513323e-01 ------------------- tc state : vr = 0.287918, vf = 0.000000, maxvel = 0.624150, current_vel = 0.287918, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.287918, acc = 0.000000,T = 0.005657, P = 0.002694 initial results: dx= 0.002963,dt = 0.020582, a_f = -13.989038, v_f = 0.000000 dt = 0.020582, not at end yet tc id = 191, canon_type = 3, mot type = 2 time: 7.496000 primary movement = 2.879138280800e-04 time: 7.496000000001e+00 total movement = 2.879138280800e-04 vel = 2.879182513323e-01 ------------------- tc state : vr = 0.287918, vf = 0.000000, maxvel = 0.624150, current_vel = 0.283404, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.283404, acc = -4.514135,T = 0.005657, P = 0.002979 on final decel initial results: dx= 0.002677,dt = 0.018894, a_f = -15.000000, v_f = 0.000000 dt = 0.018894, not at end yet tc id = 191, canon_type = 3, mot type = 2 time: 7.497000 primary movement = 2.856568639548e-04 time: 7.497000000001e+00 total movement = 2.856568639548e-04 vel = 2.834041166590e-01 ------------------- tc state : vr = 0.287918, vf = 0.000000, maxvel = 0.624150, current_vel = 0.268404, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.268404, acc = -15.000000,T = 0.005657, P = 0.003255 on final decel initial results: dx= 0.002401,dt = 0.017894, a_f = -15.000000, v_f = 0.000000 dt = 0.017894, not at end yet tc id = 191, canon_type = 3, mot type = 2 time: 7.498000 primary movement = 2.759002243364e-04 time: 7.498000000001e+00 total movement = 2.759002243364e-04 vel = 2.684041166590e-01 ------------------- tc state : vr = 0.287918, vf = 0.000000, maxvel = 0.624150, current_vel = 0.253404, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.253404, acc = -15.000000,T = 0.005657, P = 0.003516 on final decel initial results: dx= 0.002140,dt = 0.016894, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.016894 dt = 0.016894, not at end yet tc id = 191, canon_type = 3, mot type = 2 time: 7.499000 primary movement = 2.609008252847e-04 time: 7.499000000001e+00 total movement = 2.609008252847e-04 vel = 2.534041166590e-01 ------------------- tc state : vr = 0.287918, vf = 0.000000, maxvel = 0.624150, current_vel = 0.238404, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.238404, acc = -15.000000,T = 0.005657, P = 0.003762 on final decel initial results: dx= 0.001895,dt = 0.015894, a_f = -15.000000, v_f = 0.000000 dt = 0.015894, not at end yet tc id = 191, canon_type = 3, mot type = 2 time: 7.500000 primary movement = 2.459013609582e-04 time: 7.500000000001e+00 total movement = 2.459013609582e-04 vel = 2.384041166590e-01 ------------------- tc state : vr = 0.287918, vf = 0.000000, maxvel = 0.624150, current_vel = 0.223404, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.223404, acc = -15.000000,T = 0.005657, P = 0.003993 on final decel initial results: dx= 0.001664,dt = 0.014894, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.014894 dt = 0.014894, not at end yet tc id = 191, canon_type = 3, mot type = 2 time: 7.501000 primary movement = 2.309018351097e-04 time: 7.501000000001e+00 total movement = 2.309018351097e-04 vel = 2.234041166590e-01 ------------------- tc state : vr = 0.287918, vf = 0.000000, maxvel = 0.624150, current_vel = 0.208404, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.208404, acc = -15.000000,T = 0.005657, P = 0.004209 on final decel initial results: dx= 0.001448,dt = 0.013894, a_f = -15.000000, v_f = 0.000000 dt = 0.013894, not at end yet tc id = 191, canon_type = 3, mot type = 2 time: 7.502000 primary movement = 2.159022514918e-04 time: 7.502000000001e+00 total movement = 2.159022514918e-04 vel = 2.084041166590e-01 ------------------- tc state : vr = 0.287918, vf = 0.000000, maxvel = 0.624150, current_vel = 0.193404, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.193404, acc = -15.000000,T = 0.005657, P = 0.004410 on final decel initial results: dx= 0.001247,dt = 0.012894, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.012894 dt = 0.012894, not at end yet tc id = 191, canon_type = 3, mot type = 2 time: 7.503000 primary movement = 2.009026138574e-04 time: 7.503000000001e+00 total movement = 2.009026138574e-04 vel = 1.934041166590e-01 ------------------- tc state : vr = 0.287918, vf = 0.000000, maxvel = 0.624150, current_vel = 0.178404, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.178404, acc = -15.000000,T = 0.005657, P = 0.004596 on final decel initial results: dx= 0.001061,dt = 0.011894, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.011894 dt = 0.011894, not at end yet tc id = 191, canon_type = 3, mot type = 2 time: 7.504000 primary movement = 1.859029259591e-04 time: 7.504000000001e+00 total movement = 1.859029259591e-04 vel = 1.784041166590e-01 ------------------- tc state : vr = 0.287918, vf = 0.000000, maxvel = 0.624150, current_vel = 0.163404, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.163404, acc = -15.000000,T = 0.005657, P = 0.004767 on final decel initial results: dx= 0.000890,dt = 0.010894, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.010894 dt = 0.010894, not at end yet tc id = 191, canon_type = 3, mot type = 2 time: 7.505000 primary movement = 1.709031915498e-04 time: 7.505000000001e+00 total movement = 1.709031915498e-04 vel = 1.634041166590e-01 ------------------- tc state : vr = 0.287918, vf = 0.000000, maxvel = 0.624150, current_vel = 0.148404, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.148404, acc = -15.000000,T = 0.005657, P = 0.004922 on final decel initial results: dx= 0.000734,dt = 0.009894, a_f = -15.000000, v_f = 0.000000 dt = 0.009894, not at end yet tc id = 191, canon_type = 3, mot type = 2 time: 7.506000 primary movement = 1.559034143822e-04 time: 7.506000000001e+00 total movement = 1.559034143822e-04 vel = 1.484041166590e-01 ------------------- tc state : vr = 0.287918, vf = 0.000000, maxvel = 0.624150, current_vel = 0.133404, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.133404, acc = -15.000000,T = 0.005657, P = 0.005063 on final decel initial results: dx= 0.000593,dt = 0.008894, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.008894 dt = 0.008894, not at end yet tc id = 191, canon_type = 3, mot type = 2 time: 7.507000 primary movement = 1.409035982092e-04 time: 7.507000000001e+00 total movement = 1.409035982092e-04 vel = 1.334041166590e-01 ------------------- tc state : vr = 0.287918, vf = 0.000000, maxvel = 0.624150, current_vel = 0.118404, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.118404, acc = -15.000000,T = 0.005657, P = 0.005189 on final decel initial results: dx= 0.000467,dt = 0.007894, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.007894 dt = 0.007894, not at end yet tc id = 191, canon_type = 3, mot type = 2 time: 7.508000 primary movement = 1.259037467835e-04 time: 7.508000000001e+00 total movement = 1.259037467835e-04 vel = 1.184041166590e-01 ------------------- tc state : vr = 0.287918, vf = 0.000000, maxvel = 0.624150, current_vel = 0.103404, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.103404, acc = -15.000000,T = 0.005657, P = 0.005300 on final decel initial results: dx= 0.000356,dt = 0.006894, a_f = -15.000000, v_f = 0.000000 dt = 0.006894, not at end yet tc id = 191, canon_type = 3, mot type = 2 time: 7.509000 primary movement = 1.109038638580e-04 time: 7.509000000001e+00 total movement = 1.109038638580e-04 vel = 1.034041166590e-01 ------------------- tc state : vr = 0.287918, vf = 0.000000, maxvel = 0.624150, current_vel = 0.088404, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.088404, acc = -15.000000,T = 0.005657, P = 0.005396 on final decel initial results: dx= 0.000261,dt = 0.005894, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.005894 dt = 0.005894, not at end yet tc id = 191, canon_type = 3, mot type = 2 time: 7.510000 primary movement = 9.590395318532e-05 time: 7.510000000001e+00 total movement = 9.590395318532e-05 vel = 8.840411665898e-02 ------------------- tc state : vr = 0.287918, vf = 0.000000, maxvel = 0.624150, current_vel = 0.073404, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.073404, acc = -15.000000,T = 0.005657, P = 0.005477 on final decel initial results: dx= 0.000180,dt = 0.004894, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.004894 dt = 0.004894, not at end yet tc id = 191, canon_type = 3, mot type = 2 time: 7.511000 primary movement = 8.090401851863e-05 time: 7.511000000001e+00 total movement = 8.090401851863e-05 vel = 7.340411665898e-02 ------------------- tc state : vr = 0.287918, vf = 0.000000, maxvel = 0.624150, current_vel = 0.058404, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.058404, acc = -15.000000,T = 0.005657, P = 0.005543 on final decel initial results: dx= 0.000114,dt = 0.003894, a_f = -15.000000, v_f = 0.000000 dt = 0.003894, not at end yet tc id = 191, canon_type = 3, mot type = 2 time: 7.512000 primary movement = 6.590406361039e-05 time: 7.512000000001e+00 total movement = 6.590406361039e-05 vel = 5.840411665898e-02 ------------------- tc state : vr = 0.287918, vf = 0.000000, maxvel = 0.624150, current_vel = 0.043404, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.043404, acc = -15.000000,T = 0.005657, P = 0.005594 on final decel initial results: dx= 0.000063,dt = 0.002894, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.002894 dt = 0.002894, not at end yet tc id = 191, canon_type = 3, mot type = 2 time: 7.513000 primary movement = 5.090409221374e-05 time: 7.513000000001e+00 total movement = 5.090409221374e-05 vel = 4.340411665898e-02 ------------------- tc state : vr = 0.287918, vf = 0.000000, maxvel = 0.624150, current_vel = 0.028404, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.028404, acc = -15.000000,T = 0.005657, P = 0.005630 on final decel initial results: dx= 0.000027,dt = 0.001894, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.001894 dt = 0.001894, not at end yet tc id = 191, canon_type = 3, mot type = 2 time: 7.514000 primary movement = 3.590410808130e-05 time: 7.514000000001e+00 total movement = 3.590410808130e-05 vel = 2.840411665898e-02 ------------------- tc state : vr = 0.287918, vf = 0.000000, maxvel = 0.624150, current_vel = 0.013404, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.013404, acc = -15.000000,T = 0.005657, P = 0.005651 on final decel initial results: dx= 0.000006,dt = 0.000894, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.000894 actual v_f = 0.000000, a = -15.000000 split time is 0.000893608 tc id = 191, canon_type = 3, mot type = 2 time: 7.515000 primary movement = 2.090411496606e-05 time: 7.515000000001e+00 total movement = 2.090411496606e-05 vel = 1.340411665898e-02 ------------------- tc id 191 done Finishing split-cycle on id 191 tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.001598, fs = 1.000000, tc = 0.000106, term = 2 tc result: v = 0.001598, acc = 15.023130,T = 0.015165, P = 0.000000 secondary movement = 0.000000 tc id = 191, canon_type = 2, mot type = 1 time: 7.516000 primary movement = 5.989011407119e-06 time: 7.516000000001e+00 total movement = 6.074037737496e-06 vel = 1.598350175511e-03 Finished tc id 191 ------------------- Activate tc id = 191 target_vel = 8.346150 final_vel = 0.000000 length = 0.015165 Activate nexttc id 192 tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.016621, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.016621, acc = 15.023130,T = 0.015165, P = 0.000009 tc id = 191, canon_type = 2, mot type = 1 time: 7.517000 primary movement = 9.109915332771e-06 time: 7.517000000001e+00 total movement = 9.109915332771e-06 vel = 1.662148048994e-02 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.031645, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.031645, acc = 15.023130,T = 0.015165, P = 0.000033 tc id = 191, canon_type = 2, mot type = 1 time: 7.518000 primary movement = 2.413304564714e-05 time: 7.518000000001e+00 total movement = 2.413304564714e-05 vel = 3.164461080438e-02 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.046668, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.046668, acc = 15.023130,T = 0.015165, P = 0.000072 tc id = 191, canon_type = 2, mot type = 1 time: 7.519000 primary movement = 3.915617596161e-05 time: 7.519000000001e+00 total movement = 3.915617596161e-05 vel = 4.666774111881e-02 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.061691, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.061691, acc = 15.023130,T = 0.015165, P = 0.000127 tc id = 191, canon_type = 2, mot type = 1 time: 7.520000 primary movement = 5.417930627603e-05 time: 7.520000000001e+00 total movement = 5.417930627603e-05 vel = 6.169087143324e-02 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.076714, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.076714, acc = 15.023130,T = 0.015165, P = 0.000196 tc id = 191, canon_type = 2, mot type = 1 time: 7.521000 primary movement = 6.920243659045e-05 time: 7.521000000001e+00 total movement = 6.920243659045e-05 vel = 7.671400174768e-02 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.091737, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.091737, acc = 15.023130,T = 0.015165, P = 0.000280 tc id = 191, canon_type = 2, mot type = 1 time: 7.522000 primary movement = 8.422556690487e-05 time: 7.522000000001e+00 total movement = 8.422556690487e-05 vel = 9.173713206211e-02 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.106760, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.106760, acc = 15.023130,T = 0.015165, P = 0.000379 tc id = 191, canon_type = 2, mot type = 1 time: 7.523000 primary movement = 9.924869721935e-05 time: 7.523000000001e+00 total movement = 9.924869721935e-05 vel = 1.067602623765e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.121783, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.121783, acc = 15.023130,T = 0.015165, P = 0.000494 tc id = 191, canon_type = 2, mot type = 1 time: 7.524000 primary movement = 1.142718275338e-04 time: 7.524000000001e+00 total movement = 1.142718275338e-04 vel = 1.217833926910e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.136807, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.136807, acc = 15.023130,T = 0.015165, P = 0.000623 tc id = 191, canon_type = 2, mot type = 1 time: 7.525000 primary movement = 1.292949578482e-04 time: 7.525000000001e+00 total movement = 1.292949578482e-04 vel = 1.368065230054e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.151830, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.151830, acc = 15.023130,T = 0.015165, P = 0.000767 tc id = 191, canon_type = 2, mot type = 1 time: 7.526000 primary movement = 1.443180881626e-04 time: 7.526000000001e+00 total movement = 1.443180881626e-04 vel = 1.518296533198e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.166853, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.166853, acc = 15.023130,T = 0.015165, P = 0.000927 tc id = 191, canon_type = 2, mot type = 1 time: 7.527000 primary movement = 1.593412184770e-04 time: 7.527000000001e+00 total movement = 1.593412184770e-04 vel = 1.668527836343e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.181876, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.181876, acc = 15.023130,T = 0.015165, P = 0.001101 tc id = 191, canon_type = 2, mot type = 1 time: 7.528000 primary movement = 1.743643487915e-04 time: 7.528000000001e+00 total movement = 1.743643487915e-04 vel = 1.818759139487e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.196899, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.196899, acc = 15.023130,T = 0.015165, P = 0.001290 tc id = 191, canon_type = 2, mot type = 1 time: 7.529000 primary movement = 1.893874791059e-04 time: 7.529000000001e+00 total movement = 1.893874791059e-04 vel = 1.968990442631e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.211922, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.211922, acc = 15.023130,T = 0.015165, P = 0.001495 tc id = 191, canon_type = 2, mot type = 1 time: 7.530000 primary movement = 2.044106094203e-04 time: 7.530000000001e+00 total movement = 2.044106094203e-04 vel = 2.119221745776e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.226945, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.226945, acc = 15.023130,T = 0.015165, P = 0.001714 tc id = 191, canon_type = 2, mot type = 1 time: 7.531000 primary movement = 2.194337397348e-04 time: 7.531000000001e+00 total movement = 2.194337397348e-04 vel = 2.269453048920e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.241968, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.241968, acc = 15.023130,T = 0.015165, P = 0.001949 tc id = 191, canon_type = 2, mot type = 1 time: 7.532000 primary movement = 2.344568700492e-04 time: 7.532000000001e+00 total movement = 2.344568700492e-04 vel = 2.419684352064e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.256992, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.256992, acc = 15.023130,T = 0.015165, P = 0.002198 tc id = 191, canon_type = 2, mot type = 1 time: 7.533000 primary movement = 2.494800003637e-04 time: 7.533000000001e+00 total movement = 2.494800003637e-04 vel = 2.569915655209e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.272015, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.272015, acc = 15.023130,T = 0.015165, P = 0.002463 tc id = 191, canon_type = 2, mot type = 1 time: 7.534000 primary movement = 2.645031306781e-04 time: 7.534000000001e+00 total movement = 2.645031306781e-04 vel = 2.720146958353e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.287038, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.287038, acc = 15.023130,T = 0.015165, P = 0.002742 tc id = 191, canon_type = 2, mot type = 1 time: 7.535000 primary movement = 2.795262609926e-04 time: 7.535000000001e+00 total movement = 2.795262609926e-04 vel = 2.870378261497e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.302061, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.302061, acc = 15.023130,T = 0.015165, P = 0.003037 tc id = 191, canon_type = 2, mot type = 1 time: 7.536000 primary movement = 2.945493913069e-04 time: 7.536000000001e+00 total movement = 2.945493913069e-04 vel = 3.020609564642e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.317084, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.317084, acc = 15.023130,T = 0.015165, P = 0.003346 tc id = 191, canon_type = 2, mot type = 1 time: 7.537000 primary movement = 3.095725216214e-04 time: 7.537000000001e+00 total movement = 3.095725216214e-04 vel = 3.170840867786e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.332107, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.332107, acc = 15.023130,T = 0.015165, P = 0.003671 tc id = 191, canon_type = 2, mot type = 1 time: 7.538000 primary movement = 3.245956519358e-04 time: 7.538000000001e+00 total movement = 3.245956519358e-04 vel = 3.321072170930e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.347130, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.347130, acc = 15.023130,T = 0.015165, P = 0.004010 tc id = 191, canon_type = 2, mot type = 1 time: 7.539000 primary movement = 3.396187822502e-04 time: 7.539000000001e+00 total movement = 3.396187822502e-04 vel = 3.471303474075e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.362153, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.362153, acc = 15.023130,T = 0.015165, P = 0.004365 tc id = 191, canon_type = 2, mot type = 1 time: 7.540000 primary movement = 3.546419125647e-04 time: 7.540000000001e+00 total movement = 3.546419125647e-04 vel = 3.621534777219e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.377177, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.377177, acc = 15.023130,T = 0.015165, P = 0.004735 tc id = 191, canon_type = 2, mot type = 1 time: 7.541000 primary movement = 3.696650428791e-04 time: 7.541000000001e+00 total movement = 3.696650428791e-04 vel = 3.771766080363e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.392200, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.392200, acc = 15.023130,T = 0.015165, P = 0.005119 tc id = 191, canon_type = 2, mot type = 1 time: 7.542000 primary movement = 3.846881731936e-04 time: 7.542000000001e+00 total movement = 3.846881731936e-04 vel = 3.921997383508e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.407223, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.407223, acc = 15.023130,T = 0.015165, P = 0.005519 tc id = 191, canon_type = 2, mot type = 1 time: 7.543000 primary movement = 3.997113035080e-04 time: 7.543000000001e+00 total movement = 3.997113035080e-04 vel = 4.072228686652e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.422246, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.422246, acc = 15.023130,T = 0.015165, P = 0.005934 tc id = 191, canon_type = 2, mot type = 1 time: 7.544000 primary movement = 4.147344338224e-04 time: 7.544000000001e+00 total movement = 4.147344338224e-04 vel = 4.222459989796e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.437269, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.437269, acc = 15.023130,T = 0.015165, P = 0.006364 tc id = 191, canon_type = 2, mot type = 1 time: 7.545000 primary movement = 4.297575641369e-04 time: 7.545000000001e+00 total movement = 4.297575641369e-04 vel = 4.372691292941e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.452292, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.452292, acc = 15.023130,T = 0.015165, P = 0.006808 tc id = 191, canon_type = 2, mot type = 1 time: 7.546000 primary movement = 4.447806944513e-04 time: 7.546000000001e+00 total movement = 4.447806944513e-04 vel = 4.522922596085e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.467315, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.467315, acc = 15.023130,T = 0.015165, P = 0.007268 tc id = 191, canon_type = 2, mot type = 1 time: 7.547000 primary movement = 4.598038247657e-04 time: 7.547000000001e+00 total movement = 4.598038247657e-04 vel = 4.673153899229e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.472402, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.472402, acc = 5.086414,T = 0.015165, P = 0.007738 tc id = 191, canon_type = 2, mot type = 1 time: 7.548000 primary movement = 4.698585968247e-04 time: 7.548000000001e+00 total movement = 4.698585968247e-04 vel = 4.724018037264e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.457379, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.457379, acc = -15.023130,T = 0.015165, P = 0.008203 on final decel tc id = 191, canon_type = 2, mot type = 1 time: 7.549000 primary movement = 4.648902385692e-04 time: 7.549000000001e+00 total movement = 4.648902385692e-04 vel = 4.573786734120e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.442356, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.442356, acc = -15.023130,T = 0.015165, P = 0.008653 on final decel tc id = 191, canon_type = 2, mot type = 1 time: 7.550000 primary movement = 4.498671082548e-04 time: 7.550000000001e+00 total movement = 4.498671082548e-04 vel = 4.423555430976e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.427332, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.427332, acc = -15.023130,T = 0.015165, P = 0.009088 on final decel tc id = 191, canon_type = 2, mot type = 1 time: 7.551000 primary movement = 4.348439779403e-04 time: 7.551000000001e+00 total movement = 4.348439779403e-04 vel = 4.273324127831e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.412309, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.412309, acc = -15.023130,T = 0.015165, P = 0.009508 on final decel tc id = 191, canon_type = 2, mot type = 1 time: 7.552000 primary movement = 4.198208476259e-04 time: 7.552000000001e+00 total movement = 4.198208476259e-04 vel = 4.123092824687e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.397286, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.397286, acc = -15.023130,T = 0.015165, P = 0.009912 on final decel tc id = 191, canon_type = 2, mot type = 1 time: 7.553000 primary movement = 4.047977173115e-04 time: 7.553000000001e+00 total movement = 4.047977173115e-04 vel = 3.972861521543e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.382263, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.382263, acc = -15.023130,T = 0.015165, P = 0.010302 on final decel tc id = 191, canon_type = 2, mot type = 1 time: 7.554000 primary movement = 3.897745869970e-04 time: 7.554000000001e+00 total movement = 3.897745869970e-04 vel = 3.822630218398e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.367240, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.367240, acc = -15.023130,T = 0.015165, P = 0.010677 on final decel tc id = 191, canon_type = 2, mot type = 1 time: 7.555000 primary movement = 3.747514566826e-04 time: 7.555000000001e+00 total movement = 3.747514566826e-04 vel = 3.672398915254e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.352217, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.352217, acc = -15.023130,T = 0.015165, P = 0.011037 on final decel tc id = 191, canon_type = 2, mot type = 1 time: 7.556000 primary movement = 3.597283263682e-04 time: 7.556000000001e+00 total movement = 3.597283263682e-04 vel = 3.522167612110e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.337194, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.337194, acc = -15.023130,T = 0.015165, P = 0.011381 on final decel tc id = 191, canon_type = 2, mot type = 1 time: 7.557000 primary movement = 3.447051960538e-04 time: 7.557000000001e+00 total movement = 3.447051960538e-04 vel = 3.371936308965e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.322171, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.322171, acc = -15.023130,T = 0.015165, P = 0.011711 on final decel tc id = 191, canon_type = 2, mot type = 1 time: 7.558000 primary movement = 3.296820657393e-04 time: 7.558000000001e+00 total movement = 3.296820657393e-04 vel = 3.221705005821e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.307147, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.307147, acc = -15.023130,T = 0.015165, P = 0.012026 on final decel tc id = 191, canon_type = 2, mot type = 1 time: 7.559000 primary movement = 3.146589354249e-04 time: 7.559000000001e+00 total movement = 3.146589354249e-04 vel = 3.071473702677e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.292124, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.292124, acc = -15.023130,T = 0.015165, P = 0.012325 on final decel tc id = 191, canon_type = 2, mot type = 1 time: 7.560000 primary movement = 2.996358051105e-04 time: 7.560000000001e+00 total movement = 2.996358051105e-04 vel = 2.921242399532e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.277101, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.277101, acc = -15.023130,T = 0.015165, P = 0.012610 on final decel tc id = 191, canon_type = 2, mot type = 1 tc state : vr = 0.015023, vf = 0.000000, maxvel = 0.474393, current_vel = 0.007500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.007500, acc = 7.500000,T = 0.011332, P = 0.000004 tc id = 191, canon_type = 2, mot type = 1 secondary movement = 0.000004 time: 7.561000 primary movement = 2.846126747960e-04 time: 7.561000000001e+00 total movement = 2.883626790328e-04 vel = 2.846011096388e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.262078, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.262078, acc = -15.023130,T = 0.015165, P = 0.012879 on final decel tc id = 191, canon_type = 2, mot type = 1 tc state : vr = 0.030046, vf = 0.000000, maxvel = 0.474393, current_vel = 0.015000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.015000, acc = 7.500000,T = 0.011332, P = 0.000015 tc id = 191, canon_type = 2, mot type = 1 secondary movement = 0.000011 time: 7.562000 primary movement = 2.695895444816e-04 time: 7.562000000001e+00 total movement = 2.808395638357e-04 vel = 2.770779793244e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.247055, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.247055, acc = -15.023130,T = 0.015165, P = 0.013134 on final decel tc id = 191, canon_type = 2, mot type = 1 tc state : vr = 0.045069, vf = 0.000000, maxvel = 0.474393, current_vel = 0.022500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.022500, acc = 7.500000,T = 0.011332, P = 0.000034 tc id = 191, canon_type = 2, mot type = 1 secondary movement = 0.000019 time: 7.563000 primary movement = 2.545664141672e-04 time: 7.563000000001e+00 total movement = 2.733164685692e-04 vel = 2.695548490099e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.232032, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.232032, acc = -15.023130,T = 0.015165, P = 0.013374 on final decel tc id = 191, canon_type = 2, mot type = 1 tc state : vr = 0.060093, vf = 0.000000, maxvel = 0.474393, current_vel = 0.030000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.030000, acc = 7.500000,T = 0.011332, P = 0.000060 tc id = 191, canon_type = 2, mot type = 1 secondary movement = 0.000026 time: 7.564000 primary movement = 2.395432838527e-04 time: 7.564000000001e+00 total movement = 2.657934065206e-04 vel = 2.620317186955e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.217009, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.217009, acc = -15.023130,T = 0.015165, P = 0.013598 on final decel tc id = 191, canon_type = 2, mot type = 1 tc state : vr = 0.075116, vf = 0.000000, maxvel = 0.474393, current_vel = 0.037500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.037500, acc = 7.500000,T = 0.011332, P = 0.000094 tc id = 191, canon_type = 2, mot type = 1 secondary movement = 0.000034 time: 7.565000 primary movement = 2.245201535383e-04 time: 7.565000000001e+00 total movement = 2.582703909771e-04 vel = 2.545085883811e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.201985, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.201985, acc = -15.023130,T = 0.015165, P = 0.013808 on final decel tc id = 191, canon_type = 2, mot type = 1 tc state : vr = 0.090139, vf = 0.000000, maxvel = 0.474393, current_vel = 0.045000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.045000, acc = 7.500000,T = 0.011332, P = 0.000135 tc id = 191, canon_type = 2, mot type = 1 secondary movement = 0.000041 time: 7.566000 primary movement = 2.094970232239e-04 time: 7.566000000001e+00 total movement = 2.507474352257e-04 vel = 2.469854580666e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.186962, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.186962, acc = -15.023130,T = 0.015165, P = 0.014002 on final decel tc id = 191, canon_type = 2, mot type = 1 tc state : vr = 0.105162, vf = 0.000000, maxvel = 0.474393, current_vel = 0.052500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.052500, acc = 7.500000,T = 0.011332, P = 0.000184 tc id = 191, canon_type = 2, mot type = 1 secondary movement = 0.000049 time: 7.567000 primary movement = 1.944738929094e-04 time: 7.567000000001e+00 total movement = 2.432245525536e-04 vel = 2.394623277522e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.171939, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.171939, acc = -15.023130,T = 0.015165, P = 0.014182 on final decel tc id = 191, canon_type = 2, mot type = 1 tc state : vr = 0.120185, vf = 0.000000, maxvel = 0.474393, current_vel = 0.060000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.060000, acc = 7.500000,T = 0.011332, P = 0.000240 tc id = 191, canon_type = 2, mot type = 1 secondary movement = 0.000056 time: 7.568000 primary movement = 1.794507625950e-04 time: 7.568000000001e+00 total movement = 2.357017562479e-04 vel = 2.319391974378e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.156916, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.156916, acc = -15.023130,T = 0.015165, P = 0.014346 on final decel tc id = 191, canon_type = 2, mot type = 1 tc state : vr = 0.135208, vf = 0.000000, maxvel = 0.474393, current_vel = 0.067500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.067500, acc = 7.500000,T = 0.011332, P = 0.000304 tc id = 191, canon_type = 2, mot type = 1 secondary movement = 0.000064 time: 7.569000 primary movement = 1.644276322805e-04 time: 7.569000000001e+00 total movement = 2.281790595957e-04 vel = 2.244160671233e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.141893, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.141893, acc = -15.023130,T = 0.015165, P = 0.014495 on final decel tc id = 191, canon_type = 2, mot type = 1 tc state : vr = 0.150231, vf = 0.000000, maxvel = 0.474393, current_vel = 0.075000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.075000, acc = 7.500000,T = 0.011332, P = 0.000375 tc id = 191, canon_type = 2, mot type = 1 secondary movement = 0.000071 time: 7.570000 primary movement = 1.494045019661e-04 time: 7.570000000001e+00 total movement = 2.206564758841e-04 vel = 2.168929368089e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.126870, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.126870, acc = -15.023130,T = 0.015165, P = 0.014630 on final decel tc id = 191, canon_type = 2, mot type = 1 tc state : vr = 0.165254, vf = 0.000000, maxvel = 0.474393, current_vel = 0.082500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.082500, acc = 7.500000,T = 0.011332, P = 0.000454 tc id = 191, canon_type = 2, mot type = 1 secondary movement = 0.000079 time: 7.571000 primary movement = 1.343813716517e-04 time: 7.571000000001e+00 total movement = 2.131340184002e-04 vel = 2.093698064945e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.111847, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.111847, acc = -15.023130,T = 0.015165, P = 0.014749 on final decel tc id = 191, canon_type = 2, mot type = 1 tc state : vr = 0.180278, vf = 0.000000, maxvel = 0.474393, current_vel = 0.090000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.090000, acc = 7.500000,T = 0.011332, P = 0.000540 tc id = 191, canon_type = 2, mot type = 1 secondary movement = 0.000086 time: 7.572000 primary movement = 1.193582413373e-04 time: 7.572000000001e+00 total movement = 2.056117004310e-04 vel = 2.018466761800e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.096824, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.096824, acc = -15.023130,T = 0.015165, P = 0.014853 on final decel tc id = 191, canon_type = 2, mot type = 1 tc state : vr = 0.195301, vf = 0.000000, maxvel = 0.474393, current_vel = 0.097500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.097500, acc = 7.500000,T = 0.011332, P = 0.000634 tc id = 192, canon_type = 3, mot type = 2 secondary movement = 0.000094 time: 7.573000 primary movement = 1.043351110228e-04 time: 7.573000000001e+00 total movement = 1.980895352636e-04 vel = 1.943235458656e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.081800, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.081800, acc = -15.023130,T = 0.015165, P = 0.014943 on final decel tc id = 191, canon_type = 2, mot type = 1 tc state : vr = 0.210324, vf = 0.000000, maxvel = 0.474393, current_vel = 0.105000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.105000, acc = 7.500000,T = 0.011332, P = 0.000735 tc id = 192, canon_type = 3, mot type = 2 secondary movement = 0.000101 time: 7.574000 primary movement = 8.931198070838e-05 time: 7.574000000001e+00 total movement = 1.905675361849e-04 vel = 1.868004155512e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.066777, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.066777, acc = -15.023130,T = 0.015165, P = 0.015017 on final decel tc id = 191, canon_type = 2, mot type = 1 tc state : vr = 0.225347, vf = 0.000000, maxvel = 0.474393, current_vel = 0.112500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.112500, acc = 7.500000,T = 0.011332, P = 0.000844 tc id = 192, canon_type = 3, mot type = 2 secondary movement = 0.000109 time: 7.575000 primary movement = 7.428885039390e-05 time: 7.575000000001e+00 total movement = 1.830457164818e-04 vel = 1.792772852367e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.051754, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.051754, acc = -15.023130,T = 0.015165, P = 0.015076 on final decel tc id = 191, canon_type = 2, mot type = 1 tc state : vr = 0.240370, vf = 0.000000, maxvel = 0.474393, current_vel = 0.120000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.120000, acc = 7.500000,T = 0.011332, P = 0.000960 tc id = 192, canon_type = 3, mot type = 2 secondary movement = 0.000116 time: 7.576000 primary movement = 5.926572007954e-05 time: 7.576000000001e+00 total movement = 1.755240894416e-04 vel = 1.717541549223e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.036731, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.036731, acc = -15.023130,T = 0.015165, P = 0.015121 on final decel tc id = 191, canon_type = 2, mot type = 1 tc state : vr = 0.255393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.127500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.127500, acc = 7.500000,T = 0.011332, P = 0.001084 tc id = 192, canon_type = 3, mot type = 2 secondary movement = 0.000124 time: 7.577000 primary movement = 4.424258976506e-05 time: 7.577000000001e+00 total movement = 1.680026683508e-04 vel = 1.642310246079e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.021708, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.021708, acc = -15.023130,T = 0.015165, P = 0.015150 on final decel tc id = 191, canon_type = 2, mot type = 1 tc state : vr = 0.270416, vf = 0.000000, maxvel = 0.474393, current_vel = 0.135000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.135000, acc = 7.500000,T = 0.011332, P = 0.001215 tc id = 192, canon_type = 3, mot type = 2 secondary movement = 0.000131 time: 7.578000 primary movement = 2.921945945065e-05 time: 7.578000000001e+00 total movement = 1.604814664965e-04 vel = 1.567078942934e-01 ------------------- tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.006685, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.006685, acc = -15.023130,T = 0.015165, P = 0.015164 on final decel tc id = 191, canon_type = 2, mot type = 1 tc state : vr = 0.285439, vf = 0.000000, maxvel = 0.474393, current_vel = 0.142500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.142500, acc = 7.500000,T = 0.011332, P = 0.001354 tc id = 192, canon_type = 3, mot type = 2 secondary movement = 0.000139 time: 7.579000 primary movement = 1.419632913622e-05 time: 7.579000000001e+00 total movement = 1.529604971656e-04 vel = 1.491847639790e-01 ------------------- Found newvel = -0.006685, assuming segment is done segment 191 at target in runcycle tc state : vr = 8.346150, vf = 0.000000, maxvel = 8.346150, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.015165, P = 0.015165 tc id = 191, canon_type = 2, mot type = 1 tc state : vr = 0.292124, vf = 0.000000, maxvel = 0.474393, current_vel = 0.150000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.150000, acc = 7.500000,T = 0.011332, P = 0.001500 tc id = 192, canon_type = 3, mot type = 2 secondary movement = 0.000146 time: 7.580000 primary movement = 1.487242289708e-06 time: 7.580000000001e+00 total movement = 1.477538171127e-04 vel = 1.500000000000e-01 Finished tc id 191 ------------------- Activate nexttc id 193 tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.157500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.157500, acc = 7.500000,T = 0.011332, P = 0.001654 tc id = 192, canon_type = 3, mot type = 2 time: 7.581000 primary movement = 1.537692407136e-04 time: 7.581000000001e+00 total movement = 1.537692407136e-04 vel = 1.575000000000e-01 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.165000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.165000, acc = 7.500000,T = 0.011332, P = 0.001815 tc id = 192, canon_type = 3, mot type = 2 time: 7.582000 primary movement = 1.612721789877e-04 time: 7.582000000001e+00 total movement = 1.612721789877e-04 vel = 1.650000000000e-01 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.172500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.172500, acc = 7.500000,T = 0.011332, P = 0.001984 tc id = 192, canon_type = 3, mot type = 2 time: 7.583000 primary movement = 1.687754029322e-04 time: 7.583000000001e+00 total movement = 1.687754029322e-04 vel = 1.725000000000e-01 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.180000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.180000, acc = 7.500000,T = 0.011332, P = 0.002160 tc id = 192, canon_type = 3, mot type = 2 time: 7.584000 primary movement = 1.762789258337e-04 time: 7.584000000001e+00 total movement = 1.762789258337e-04 vel = 1.800000000000e-01 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.187500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.187500, acc = 7.500000,T = 0.011332, P = 0.002344 tc id = 192, canon_type = 3, mot type = 2 time: 7.585000 primary movement = 1.837827609787e-04 time: 7.585000000001e+00 total movement = 1.837827609787e-04 vel = 1.875000000000e-01 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.195000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.195000, acc = 7.500000,T = 0.011332, P = 0.002535 tc id = 192, canon_type = 3, mot type = 2 time: 7.586000 primary movement = 1.912869216538e-04 time: 7.586000000001e+00 total movement = 1.912869216538e-04 vel = 1.950000000000e-01 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.202500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.202500, acc = 7.500000,T = 0.011332, P = 0.002734 tc id = 192, canon_type = 3, mot type = 2 time: 7.587000 primary movement = 1.987914211455e-04 time: 7.587000000001e+00 total movement = 1.987914211455e-04 vel = 2.025000000000e-01 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.210000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.210000, acc = 7.500000,T = 0.011332, P = 0.002940 tc id = 192, canon_type = 3, mot type = 2 time: 7.588000 primary movement = 2.062962727403e-04 time: 7.588000000001e+00 total movement = 2.062962727403e-04 vel = 2.100000000000e-01 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.217500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.217500, acc = 7.500000,T = 0.011332, P = 0.003154 tc id = 192, canon_type = 3, mot type = 2 time: 7.589000 primary movement = 2.138014897245e-04 time: 7.589000000001e+00 total movement = 2.138014897245e-04 vel = 2.175000000000e-01 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.225000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.225000, acc = 7.500000,T = 0.011332, P = 0.003375 tc id = 192, canon_type = 3, mot type = 2 time: 7.590000 primary movement = 2.213070853845e-04 time: 7.590000000001e+00 total movement = 2.213070853845e-04 vel = 2.250000000000e-01 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.232500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.232500, acc = 7.500000,T = 0.011332, P = 0.003604 tc id = 192, canon_type = 3, mot type = 2 time: 7.591000 primary movement = 2.288130730064e-04 time: 7.591000000001e+00 total movement = 2.288130730064e-04 vel = 2.325000000000e-01 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.240000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.240000, acc = 7.500000,T = 0.011332, P = 0.003840 tc id = 192, canon_type = 3, mot type = 2 time: 7.592000 primary movement = 2.363194658766e-04 time: 7.592000000001e+00 total movement = 2.363194658766e-04 vel = 2.400000000000e-01 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.247500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.247500, acc = 7.500000,T = 0.011332, P = 0.004084 tc id = 192, canon_type = 3, mot type = 2 time: 7.593000 primary movement = 2.438262772812e-04 time: 7.593000000001e+00 total movement = 2.438262772812e-04 vel = 2.475000000000e-01 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.255000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.255000, acc = 7.500000,T = 0.011332, P = 0.004335 tc id = 192, canon_type = 3, mot type = 2 time: 7.594000 primary movement = 2.513335205062e-04 time: 7.594000000001e+00 total movement = 2.513335205062e-04 vel = 2.550000000000e-01 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.262500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.262500, acc = 7.500000,T = 0.011332, P = 0.004594 tc id = 192, canon_type = 3, mot type = 2 time: 7.595000 primary movement = 2.588412088376e-04 time: 7.595000000001e+00 total movement = 2.588412088376e-04 vel = 2.625000000000e-01 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.270000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.270000, acc = 7.500000,T = 0.011332, P = 0.004860 tc id = 192, canon_type = 3, mot type = 2 time: 7.596000 primary movement = 2.663493555615e-04 time: 7.596000000001e+00 total movement = 2.663493555615e-04 vel = 2.700000000000e-01 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.277500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.277500, acc = 7.500000,T = 0.011332, P = 0.005134 tc id = 192, canon_type = 3, mot type = 2 time: 7.597000 primary movement = 2.738579739635e-04 time: 7.597000000001e+00 total movement = 2.738579739635e-04 vel = 2.775000000000e-01 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.285000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.285000, acc = 7.500000,T = 0.011332, P = 0.005415 tc id = 192, canon_type = 3, mot type = 2 time: 7.598000 primary movement = 2.813670773295e-04 time: 7.598000000001e+00 total movement = 2.813670773295e-04 vel = 2.850000000000e-01 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.290577, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.290577, acc = 5.577422,T = 0.011332, P = 0.005703 tc id = 192, canon_type = 3, mot type = 2 time: 7.599000 primary movement = 2.879149791256e-04 time: 7.599000000001e+00 total movement = 2.879149791256e-04 vel = 2.905774218774e-01 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.283077, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.283077, acc = -7.500000,T = 0.011332, P = 0.005990 on final decel tc id = 192, canon_type = 3, mot type = 2 time: 7.600000 primary movement = 2.869599505196e-04 time: 7.600000000001e+00 total movement = 2.869599505196e-04 vel = 2.830774218774e-01 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.275577, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.275577, acc = -7.500000,T = 0.011332, P = 0.006269 on final decel tc id = 192, canon_type = 3, mot type = 2 time: 7.601000 primary movement = 2.794630404437e-04 time: 7.601000000001e+00 total movement = 2.794630404437e-04 vel = 2.755774218774e-01 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.268077, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.268077, acc = -7.500000,T = 0.011332, P = 0.006541 on final decel tc id = 192, canon_type = 3, mot type = 2 time: 7.602000 primary movement = 2.719656093366e-04 time: 7.602000000001e+00 total movement = 2.719656093366e-04 vel = 2.680774218774e-01 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.260577, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.260577, acc = -7.500000,T = 0.011332, P = 0.006805 on final decel tc id = 192, canon_type = 3, mot type = 2 time: 7.603000 primary movement = 2.644676711866e-04 time: 7.603000000001e+00 total movement = 2.644676711866e-04 vel = 2.605774218774e-01 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.253077, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.253077, acc = -7.500000,T = 0.011332, P = 0.007062 on final decel tc id = 192, canon_type = 3, mot type = 2 time: 7.604000 primary movement = 2.569692399831e-04 time: 7.604000000001e+00 total movement = 2.569692399831e-04 vel = 2.530774218774e-01 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.245577, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.245577, acc = -7.500000,T = 0.011332, P = 0.007311 on final decel tc id = 192, canon_type = 3, mot type = 2 time: 7.605000 primary movement = 2.494703297150e-04 time: 7.605000000001e+00 total movement = 2.494703297150e-04 vel = 2.455774218774e-01 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.238077, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.238077, acc = -7.500000,T = 0.011332, P = 0.007553 on final decel tc id = 192, canon_type = 3, mot type = 2 time: 7.606000 primary movement = 2.419709543711e-04 time: 7.606000000001e+00 total movement = 2.419709543711e-04 vel = 2.380774218774e-01 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.230577, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.230577, acc = -7.500000,T = 0.011332, P = 0.007787 on final decel tc id = 192, canon_type = 3, mot type = 2 time: 7.607000 primary movement = 2.344711279409e-04 time: 7.607000000001e+00 total movement = 2.344711279409e-04 vel = 2.305774218774e-01 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.223077, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.223077, acc = -7.500000,T = 0.011332, P = 0.008014 on final decel tc id = 192, canon_type = 3, mot type = 2 time: 7.608000 primary movement = 2.269708644134e-04 time: 7.608000000001e+00 total movement = 2.269708644134e-04 vel = 2.230774218774e-01 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.215577, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.215577, acc = -7.500000,T = 0.011332, P = 0.008234 on final decel tc id = 192, canon_type = 3, mot type = 2 time: 7.609000 primary movement = 2.194701777780e-04 time: 7.609000000001e+00 total movement = 2.194701777780e-04 vel = 2.155774218774e-01 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.208077, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.208077, acc = -7.500000,T = 0.011332, P = 0.008445 on final decel tc id = 192, canon_type = 3, mot type = 2 time: 7.610000 primary movement = 2.119690820240e-04 time: 7.610000000001e+00 total movement = 2.119690820240e-04 vel = 2.080774218774e-01 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.200577, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.200577, acc = -7.500000,T = 0.011332, P = 0.008650 on final decel tc id = 192, canon_type = 3, mot type = 2 time: 7.611000 primary movement = 2.044675911408e-04 time: 7.611000000001e+00 total movement = 2.044675911408e-04 vel = 2.005774218774e-01 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.193077, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.193077, acc = -7.500000,T = 0.011332, P = 0.008847 on final decel tc id = 192, canon_type = 3, mot type = 2 time: 7.612000 primary movement = 1.969657191180e-04 time: 7.612000000001e+00 total movement = 1.969657191180e-04 vel = 1.930774218774e-01 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.185577, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.185577, acc = -7.500000,T = 0.011332, P = 0.009036 on final decel tc id = 192, canon_type = 3, mot type = 2 time: 7.613000 primary movement = 1.894634799449e-04 time: 7.613000000001e+00 total movement = 1.894634799449e-04 vel = 1.855774218774e-01 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.178077, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.178077, acc = -7.500000,T = 0.011332, P = 0.009218 on final decel tc id = 192, canon_type = 3, mot type = 2 time: 7.614000 primary movement = 1.819608876113e-04 time: 7.614000000001e+00 total movement = 1.819608876113e-04 vel = 1.780774218774e-01 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.170577, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.170577, acc = -7.500000,T = 0.011332, P = 0.009392 on final decel tc id = 192, canon_type = 3, mot type = 2 time: 7.615000 primary movement = 1.744579561067e-04 time: 7.615000000001e+00 total movement = 1.744579561067e-04 vel = 1.705774218774e-01 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.163077, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.163077, acc = -7.500000,T = 0.011332, P = 0.009559 on final decel tc id = 192, canon_type = 3, mot type = 2 time: 7.616000 primary movement = 1.669546994209e-04 time: 7.616000000001e+00 total movement = 1.669546994209e-04 vel = 1.630774218774e-01 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.155577, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.155577, acc = -7.500000,T = 0.011332, P = 0.009718 on final decel tc id = 192, canon_type = 3, mot type = 2 time: 7.617000 primary movement = 1.594511315436e-04 time: 7.617000000001e+00 total movement = 1.594511315436e-04 vel = 1.555774218774e-01 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.148077, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.148077, acc = -7.500000,T = 0.011332, P = 0.009870 on final decel tc id = 192, canon_type = 3, mot type = 2 time: 7.618000 primary movement = 1.519472664646e-04 time: 7.618000000001e+00 total movement = 1.519472664646e-04 vel = 1.480774218774e-01 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.140577, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.140577, acc = -7.500000,T = 0.011332, P = 0.010014 on final decel tc id = 192, canon_type = 3, mot type = 2 time: 7.619000 primary movement = 1.444431181737e-04 time: 7.619000000001e+00 total movement = 1.444431181737e-04 vel = 1.405774218774e-01 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.133077, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.133077, acc = -7.500000,T = 0.011332, P = 0.010151 on final decel tc id = 192, canon_type = 3, mot type = 2 time: 7.620000 primary movement = 1.369387006609e-04 time: 7.620000000001e+00 total movement = 1.369387006609e-04 vel = 1.330774218774e-01 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.125577, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.125577, acc = -7.500000,T = 0.011332, P = 0.010280 on final decel tc id = 192, canon_type = 3, mot type = 2 time: 7.621000 primary movement = 1.294340279160e-04 time: 7.621000000001e+00 total movement = 1.294340279160e-04 vel = 1.255774218774e-01 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.118077, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.118077, acc = -7.500000,T = 0.011332, P = 0.010402 on final decel tc id = 192, canon_type = 3, mot type = 2 time: 7.622000 primary movement = 1.219291139290e-04 time: 7.622000000001e+00 total movement = 1.219291139290e-04 vel = 1.180774218774e-01 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.110577, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.110577, acc = -7.500000,T = 0.011332, P = 0.010517 on final decel tc id = 192, canon_type = 3, mot type = 2 time: 7.623000 primary movement = 1.144239726899e-04 time: 7.623000000001e+00 total movement = 1.144239726899e-04 vel = 1.105774218774e-01 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.103077, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.103077, acc = -7.500000,T = 0.011332, P = 0.010623 on final decel tc id = 192, canon_type = 3, mot type = 2 time: 7.624000 primary movement = 1.069186181888e-04 time: 7.624000000001e+00 total movement = 1.069186181888e-04 vel = 1.030774218774e-01 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.095577, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.095577, acc = -7.500000,T = 0.011332, P = 0.010723 on final decel tc id = 192, canon_type = 3, mot type = 2 time: 7.625000 primary movement = 9.941306441556e-05 time: 7.625000000001e+00 total movement = 9.941306441556e-05 vel = 9.557742187738e-02 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.088077, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.088077, acc = -7.500000,T = 0.011332, P = 0.010815 on final decel tc id = 192, canon_type = 3, mot type = 2 time: 7.626000 primary movement = 9.190732536055e-05 time: 7.626000000001e+00 total movement = 9.190732536055e-05 vel = 8.807742187738e-02 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.080577, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.080577, acc = -7.500000,T = 0.011332, P = 0.010899 on final decel tc id = 192, canon_type = 3, mot type = 2 time: 7.627000 primary movement = 8.440141501365e-05 time: 7.627000000001e+00 total movement = 8.440141501365e-05 vel = 8.057742187738e-02 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.073077, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.073077, acc = -7.500000,T = 0.011332, P = 0.010976 on final decel tc id = 192, canon_type = 3, mot type = 2 tc state : vr = 0.007500, vf = 0.007500, maxvel = 9.316913, current_vel = 0.007500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.007500, acc = 7.500000,T = 0.001644, P = 0.000004 initial results: dx= 0.001640,dt = 0.013537, a_f = 16.791707, v_f = 0.234806 recalculating with a_f = 16.791707, a = 16.770510 revised dt = 0.013545 dt = 0.013545, not at end yet tc id = 192, canon_type = 3, mot type = 2 secondary movement = 0.000004 time: 7.628000 primary movement = 7.689534736526e-05 time: 7.628000000001e+00 total movement = 8.064534736523e-05 vel = 8.057742187738e-02 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.065577, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.065577, acc = -7.500000,T = 0.011332, P = 0.011045 on final decel tc id = 192, canon_type = 3, mot type = 2 tc state : vr = 0.015000, vf = 0.015000, maxvel = 9.316913, current_vel = 0.015000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.015000, acc = 7.500000,T = 0.001644, P = 0.000015 initial results: dx= 0.001629,dt = 0.013040, a_f = 16.855885, v_f = 0.234806 recalculating with a_f = 16.855885, a = 16.770510 revised dt = 0.013071 dt = 0.013071, not at end yet tc id = 192, canon_type = 3, mot type = 2 secondary movement = 0.000011 time: 7.629000 primary movement = 6.938913640529e-05 time: 7.629000000001e+00 total movement = 8.063913640533e-05 vel = 8.057742187738e-02 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.058077, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.058077, acc = -7.500000,T = 0.011332, P = 0.011107 on final decel tc id = 192, canon_type = 3, mot type = 2 tc state : vr = 0.022500, vf = 0.022500, maxvel = 9.316913, current_vel = 0.022500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.022500, acc = 7.500000,T = 0.001644, P = 0.000034 initial results: dx= 0.001610,dt = 0.012514, a_f = 16.964842, v_f = 0.234806 recalculating with a_f = 16.964842, a = 16.770510 revised dt = 0.012580 dt = 0.012580, not at end yet tc id = 192, canon_type = 3, mot type = 2 secondary movement = 0.000019 time: 7.630000 primary movement = 6.188279612422e-05 time: 7.630000000001e+00 total movement = 8.063279612420e-05 vel = 8.057742187738e-02 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.050577, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.050577, acc = -7.500000,T = 0.011332, P = 0.011161 on final decel tc id = 192, canon_type = 3, mot type = 2 tc state : vr = 0.030000, vf = 0.030000, maxvel = 9.316913, current_vel = 0.030000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.030000, acc = 7.500000,T = 0.001644, P = 0.000060 initial results: dx= 0.001584,dt = 0.011962, a_f = 17.121715, v_f = 0.234806 recalculating with a_f = 17.121715, a = 16.770510 revised dt = 0.012070 dt = 0.012070, not at end yet tc id = 192, canon_type = 3, mot type = 2 secondary movement = 0.000026 time: 7.631000 primary movement = 5.437634051201e-05 time: 7.631000000001e+00 total movement = 8.062634051200e-05 vel = 8.057742187738e-02 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.043077, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.043077, acc = -7.500000,T = 0.011332, P = 0.011208 on final decel tc id = 192, canon_type = 3, mot type = 2 tc state : vr = 0.037500, vf = 0.037500, maxvel = 9.316913, current_vel = 0.037500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.037500, acc = 7.500000,T = 0.001644, P = 0.000094 initial results: dx= 0.001550,dt = 0.011384, a_f = 17.331217, v_f = 0.234806 recalculating with a_f = 17.331217, a = 16.770510 revised dt = 0.011543 dt = 0.011543, not at end yet tc id = 192, canon_type = 3, mot type = 2 secondary movement = 0.000034 time: 7.632000 primary movement = 4.686978355908e-05 time: 7.632000000001e+00 total movement = 8.061978355907e-05 vel = 8.057742187738e-02 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.035577, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.035577, acc = -7.500000,T = 0.011332, P = 0.011247 on final decel tc id = 192, canon_type = 3, mot type = 2 tc state : vr = 0.045000, vf = 0.045000, maxvel = 9.316913, current_vel = 0.045000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.045000, acc = 7.500000,T = 0.001644, P = 0.000135 initial results: dx= 0.001509,dt = 0.010784, a_f = 17.600003, v_f = 0.234806 recalculating with a_f = 17.600003, a = 16.770510 revised dt = 0.010996 dt = 0.010996, not at end yet tc id = 193, canon_type = 2, mot type = 1 secondary movement = 0.000041 time: 7.633000 primary movement = 3.936313925554e-05 time: 7.633000000001e+00 total movement = 8.061313925560e-05 vel = 8.057742187738e-02 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.028077, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.028077, acc = -7.500000,T = 0.011332, P = 0.011279 on final decel tc id = 192, canon_type = 3, mot type = 2 tc state : vr = 0.052500, vf = 0.052500, maxvel = 9.316913, current_vel = 0.052500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.052500, acc = 7.500000,T = 0.001644, P = 0.000184 initial results: dx= 0.001460,dt = 0.010164, a_f = 17.937240, v_f = 0.234806 recalculating with a_f = 17.937240, a = 16.770510 revised dt = 0.010431 dt = 0.010431, not at end yet tc id = 193, canon_type = 2, mot type = 1 secondary movement = 0.000049 time: 7.634000 primary movement = 3.185642159178e-05 time: 7.634000000001e+00 total movement = 8.060642159172e-05 vel = 8.057742187738e-02 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.020577, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.020577, acc = -7.500000,T = 0.011332, P = 0.011304 on final decel tc id = 192, canon_type = 3, mot type = 2 tc state : vr = 0.060000, vf = 0.060000, maxvel = 9.316913, current_vel = 0.060000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.060000, acc = 7.500000,T = 0.001644, P = 0.000240 initial results: dx= 0.001404,dt = 0.009523, a_f = 18.355466, v_f = 0.234806 recalculating with a_f = 18.355466, a = 16.770510 revised dt = 0.009847 dt = 0.009847, not at end yet tc id = 193, canon_type = 2, mot type = 1 secondary movement = 0.000056 time: 7.635000 primary movement = 2.434964455803e-05 time: 7.635000000001e+00 total movement = 8.059964455804e-05 vel = 8.057742187738e-02 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.013077, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.013077, acc = -7.500000,T = 0.011332, P = 0.011320 on final decel tc id = 192, canon_type = 3, mot type = 2 tc state : vr = 0.067500, vf = 0.067500, maxvel = 9.316913, current_vel = 0.067500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.067500, acc = 7.500000,T = 0.001644, P = 0.000304 initial results: dx= 0.001340,dt = 0.008865, a_f = 18.871901, v_f = 0.234806 recalculating with a_f = 18.871901, a = 16.770510 revised dt = 0.009242 dt = 0.009242, not at end yet tc id = 193, canon_type = 2, mot type = 1 secondary movement = 0.000064 time: 7.636000 primary movement = 1.684282214452e-05 time: 7.636000000001e+00 total movement = 8.059282214453e-05 vel = 8.057742187738e-02 ------------------- tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.005577, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.005577, acc = -7.500000,T = 0.011332, P = 0.011330 on final decel tc id = 192, canon_type = 3, mot type = 2 tc state : vr = 0.075000, vf = 0.075000, maxvel = 9.316913, current_vel = 0.075000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.075000, acc = 7.500000,T = 0.001644, P = 0.000375 initial results: dx= 0.001269,dt = 0.008191, a_f = 19.510507, v_f = 0.234806 recalculating with a_f = 19.510507, a = 16.770510 revised dt = 0.008616 dt = 0.008616, not at end yet tc id = 193, canon_type = 2, mot type = 1 secondary movement = 0.000071 time: 7.637000 primary movement = 9.335968341639e-06 time: 7.637000000001e+00 total movement = 8.058596834166e-05 vel = 8.057742187738e-02 ------------------- Found newvel = -0.001923, assuming segment is done segment 192 at target in runcycle tc state : vr = 0.474393, vf = 0.000000, maxvel = 0.474393, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.011332, P = 0.011332 tc id = 192, canon_type = 3, mot type = 2 tc state : vr = 0.080577, vf = 0.080577, maxvel = 9.316913, current_vel = 0.080577, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.080577, acc = 5.577422,T = 0.001644, P = 0.000453 initial results: dx= 0.001191,dt = 0.007553, a_f = 20.420539, v_f = 0.234806 recalculating with a_f = 20.420539, a = 16.770510 revised dt = 0.008045 dt = 0.008045, not at end yet tc id = 193, canon_type = 2, mot type = 1 secondary movement = 0.000078 time: 7.638000 primary movement = 2.075743504768e-06 time: 7.638000000001e+00 total movement = 7.986445444348e-05 vel = 8.057742187738e-02 Finished tc id 192 ------------------- tc state : vr = 0.782750, vf = 0.234806, maxvel = 9.316913, current_vel = 0.097348, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.097348, acc = 16.770510,T = 0.001644, P = 0.000542 initial results: dx= 0.001102,dt = 0.006636, a_f = 20.715194, v_f = 0.234806 recalculating with a_f = 20.715194, a = 16.770510 revised dt = 0.007045 dt = 0.007045, not at end yet tc id = 193, canon_type = 2, mot type = 1 time: 7.639000 primary movement = 8.896267679299e-05 time: 7.639000000001e+00 total movement = 8.896267679299e-05 vel = 9.734793170863e-02 ------------------- tc state : vr = 0.782750, vf = 0.234806, maxvel = 9.316913, current_vel = 0.114118, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.114118, acc = 16.770510,T = 0.001644, P = 0.000647 initial results: dx= 0.000996,dt = 0.005711, a_f = 21.133830, v_f = 0.234806 recalculating with a_f = 21.133830, a = 16.770510 revised dt = 0.006045 dt = 0.006045, not at end yet tc id = 193, canon_type = 2, mot type = 1 time: 7.640000 primary movement = 1.057331866242e-04 time: 7.640000000001e+00 total movement = 1.057331866242e-04 vel = 1.141184415399e-01 ------------------- tc state : vr = 0.782750, vf = 0.234806, maxvel = 9.316913, current_vel = 0.130889, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.130889, acc = 16.770510,T = 0.001644, P = 0.000770 initial results: dx= 0.000874,dt = 0.004779, a_f = 21.745561, v_f = 0.234806 recalculating with a_f = 21.745561, a = 16.770510 revised dt = 0.005045 dt = 0.005045, not at end yet tc id = 193, canon_type = 2, mot type = 1 time: 7.641000 primary movement = 1.225036964555e-04 time: 7.641000000001e+00 total movement = 1.225036964555e-04 vel = 1.308889513711e-01 ------------------- tc state : vr = 0.782750, vf = 0.234806, maxvel = 9.316913, current_vel = 0.147659, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.147659, acc = 16.770510,T = 0.001644, P = 0.000909 initial results: dx= 0.000735,dt = 0.003841, a_f = 22.688902, v_f = 0.234806 recalculating with a_f = 22.688902, a = 16.770510 revised dt = 0.004045 dt = 0.004045, not at end yet tc id = 193, canon_type = 2, mot type = 1 time: 7.642000 primary movement = 1.392742062868e-04 time: 7.642000000001e+00 total movement = 1.392742062868e-04 vel = 1.476594612024e-01 ------------------- tc state : vr = 0.782750, vf = 0.234806, maxvel = 9.316913, current_vel = 0.164430, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.164430, acc = 16.770510,T = 0.001644, P = 0.001065 initial results: dx= 0.000578,dt = 0.002898, a_f = 24.285418, v_f = 0.234806 recalculating with a_f = 24.285418, a = 16.770510 revised dt = 0.003045 dt = 0.003045, not at end yet tc id = 193, canon_type = 2, mot type = 1 time: 7.643000 primary movement = 1.560447161180e-04 time: 7.643000000001e+00 total movement = 1.560447161180e-04 vel = 1.644299710336e-01 ------------------- tc state : vr = 0.782750, vf = 0.234806, maxvel = 9.316913, current_vel = 0.181200, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.181200, acc = 16.770510,T = 0.001644, P = 0.001238 initial results: dx= 0.000406,dt = 0.001950, a_f = 27.486898, v_f = 0.234806 recalculating with a_f = 27.486898, a = 16.770510 revised dt = 0.002045 dt = 0.002045, not at end yet tc id = 193, canon_type = 2, mot type = 1 time: 7.644000 primary movement = 1.728152259493e-04 time: 7.644000000001e+00 total movement = 1.728152259493e-04 vel = 1.812004808649e-01 ------------------- tc state : vr = 0.782750, vf = 0.234806, maxvel = 9.316913, current_vel = 0.197971, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.197971, acc = 16.770510,T = 0.001644, P = 0.001428 initial results: dx= 0.000216,dt = 0.000999, a_f = 36.889860, v_f = 0.234806 recalculating with a_f = 36.889860, a = 16.770510 revised dt = 0.001045 dt = 0.001045, not at end yet tc id = 193, canon_type = 2, mot type = 1 time: 7.645000 primary movement = 1.895857357805e-04 time: 7.645000000001e+00 total movement = 1.895857357805e-04 vel = 1.979709906961e-01 ------------------- tc state : vr = 0.782750, vf = 0.234806, maxvel = 9.316913, current_vel = 0.214742, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.214742, acc = 16.770510,T = 0.001644, P = 0.001634 initial results: dx= 0.000010,dt = 0.000043, a_f = 464.411069, v_f = 0.234806 recalculating with a_f = 464.411069, a = 16.770510 revised dt = 0.000045 actual v_f = 0.215499, a = 16.770510 split time is 4.51433e-05 tc id = 193, canon_type = 2, mot type = 1 time: 7.646000 primary movement = 2.063562456117e-04 time: 7.646000000001e+00 total movement = 2.063562456117e-04 vel = 2.147415005274e-01 ------------------- tc id 193 done Finishing split-cycle on id 194 tc state : vr = 0.470940, vf = 0.470940, maxvel = 0.557924, current_vel = 0.229821, fs = 1.000000, tc = 0.000955, term = 3 tc result: v = 0.229821, acc = 15.000000,T = 0.005555, P = 0.000213 initial results: dx= 0.005342,dt = 0.015247, a_f = 15.813703, v_f = 0.470940 recalculating with a_f = 15.813703, a = 15.000000 revised dt = 0.015453 dt = 0.015453, not at end yet secondary movement = 0.000213 tc id = 194, canon_type = 3, mot type = 2 time: 7.647000 primary movement = 9.711222495361e-06 time: 7.647000000001e+00 total movement = 2.223168335181e-04 vel = 2.298214271350e-01 Finished tc id 193 ------------------- Activate tc id = 194 target_vel = 0.470940 final_vel = 0.470940 length = 0.005555 tc state : vr = 0.470940, vf = 0.470940, maxvel = 0.557924, current_vel = 0.244821, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.244821, acc = 15.000000,T = 0.005555, P = 0.000450 initial results: dx= 0.005105,dt = 0.014265, a_f = 15.851530, v_f = 0.470940 recalculating with a_f = 15.851530, a = 15.000000 revised dt = 0.014453 dt = 0.014453, not at end yet tc id = 194, canon_type = 3, mot type = 2 time: 7.648000 primary movement = 2.373175473991e-04 time: 7.648000000001e+00 total movement = 2.373175473991e-04 vel = 2.448214271350e-01 ------------------- tc state : vr = 0.470940, vf = 0.470940, maxvel = 0.557924, current_vel = 0.259821, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.259821, acc = 15.000000,T = 0.005555, P = 0.000702 initial results: dx= 0.004853,dt = 0.013281, a_f = 15.895805, v_f = 0.470940 recalculating with a_f = 15.895805, a = 15.000000 revised dt = 0.013453 dt = 0.013453, not at end yet tc id = 194, canon_type = 3, mot type = 2 time: 7.649000 primary movement = 2.523167642637e-04 time: 7.649000000001e+00 total movement = 2.523167642637e-04 vel = 2.598214271350e-01 ------------------- tc state : vr = 0.470940, vf = 0.470940, maxvel = 0.557924, current_vel = 0.274821, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.274821, acc = 15.000000,T = 0.005555, P = 0.000970 initial results: dx= 0.004585,dt = 0.012297, a_f = 15.948029, v_f = 0.470940 recalculating with a_f = 15.948029, a = 15.000000 revised dt = 0.012453 dt = 0.012453, not at end yet tc id = 194, canon_type = 3, mot type = 2 time: 7.650000 primary movement = 2.673158822563e-04 time: 7.650000000001e+00 total movement = 2.673158822563e-04 vel = 2.748214271350e-01 ------------------- tc state : vr = 0.470940, vf = 0.470940, maxvel = 0.557924, current_vel = 0.289821, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.289821, acc = 15.000000,T = 0.005555, P = 0.001252 initial results: dx= 0.004303,dt = 0.011313, a_f = 16.010228, v_f = 0.470940 recalculating with a_f = 16.010228, a = 15.000000 revised dt = 0.011453 dt = 0.011453, not at end yet tc id = 194, canon_type = 3, mot type = 2 time: 7.651000 primary movement = 2.823148954994e-04 time: 7.651000000001e+00 total movement = 2.823148954994e-04 vel = 2.898214271350e-01 ------------------- tc state : vr = 0.470940, vf = 0.470940, maxvel = 0.557924, current_vel = 0.304821, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.304821, acc = 15.000000,T = 0.005555, P = 0.001549 initial results: dx= 0.004006,dt = 0.010327, a_f = 16.085209, v_f = 0.470940 recalculating with a_f = 16.085209, a = 15.000000 revised dt = 0.010453 dt = 0.010453, not at end yet tc id = 194, canon_type = 3, mot type = 2 time: 7.652000 primary movement = 2.973137981155e-04 time: 7.652000000001e+00 total movement = 2.973137981155e-04 vel = 3.048214271350e-01 ------------------- tc state : vr = 0.470940, vf = 0.470940, maxvel = 0.557924, current_vel = 0.319821, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.319821, acc = 15.000000,T = 0.005555, P = 0.001862 initial results: dx= 0.003693,dt = 0.009342, a_f = 16.176975, v_f = 0.470940 recalculating with a_f = 16.176975, a = 15.000000 revised dt = 0.009453 dt = 0.009453, not at end yet tc id = 194, canon_type = 3, mot type = 2 time: 7.653000 primary movement = 3.123125842272e-04 time: 7.653000000001e+00 total movement = 3.123125842272e-04 vel = 3.198214271350e-01 ------------------- tc state : vr = 0.470940, vf = 0.470940, maxvel = 0.557924, current_vel = 0.334821, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.334821, acc = 15.000000,T = 0.005555, P = 0.002189 initial results: dx= 0.003366,dt = 0.008355, a_f = 16.291422, v_f = 0.470940 recalculating with a_f = 16.291422, a = 15.000000 revised dt = 0.008453 dt = 0.008453, not at end yet tc id = 194, canon_type = 3, mot type = 2 time: 7.654000 primary movement = 3.273112479572e-04 time: 7.654000000001e+00 total movement = 3.273112479572e-04 vel = 3.348214271350e-01 ------------------- tc state : vr = 0.470940, vf = 0.470940, maxvel = 0.557924, current_vel = 0.349821, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.349821, acc = 15.000000,T = 0.005555, P = 0.002531 initial results: dx= 0.003024,dt = 0.007368, a_f = 16.437621, v_f = 0.470940 recalculating with a_f = 16.437621, a = 15.000000 revised dt = 0.007453 dt = 0.007453, not at end yet tc id = 194, canon_type = 3, mot type = 2 time: 7.655000 primary movement = 3.423097834282e-04 time: 7.655000000001e+00 total movement = 3.423097834282e-04 vel = 3.498214271350e-01 ------------------- tc state : vr = 0.470940, vf = 0.470940, maxvel = 0.557924, current_vel = 0.364821, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.364821, acc = 15.000000,T = 0.005555, P = 0.002889 initial results: dx= 0.002667,dt = 0.006381, a_f = 16.630266, v_f = 0.470940 recalculating with a_f = 16.630266, a = 15.000000 revised dt = 0.006453 dt = 0.006453, not at end yet tc id = 194, canon_type = 3, mot type = 2 time: 7.656000 primary movement = 3.573081847627e-04 time: 7.656000000001e+00 total movement = 3.573081847627e-04 vel = 3.648214271350e-01 ------------------- tc state : vr = 0.470940, vf = 0.470940, maxvel = 0.557924, current_vel = 0.379821, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.379821, acc = 15.000000,T = 0.005555, P = 0.003261 initial results: dx= 0.002294,dt = 0.005393, a_f = 16.894839, v_f = 0.470940 recalculating with a_f = 16.894839, a = 15.000000 revised dt = 0.005453 dt = 0.005453, not at end yet tc id = 194, canon_type = 3, mot type = 2 time: 7.657000 primary movement = 3.723064460837e-04 time: 7.657000000001e+00 total movement = 3.723064460837e-04 vel = 3.798214271350e-01 ------------------- tc state : vr = 0.470940, vf = 0.470940, maxvel = 0.557924, current_vel = 0.394821, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.394821, acc = 15.000000,T = 0.005555, P = 0.003648 initial results: dx= 0.001907,dt = 0.004405, a_f = 17.279716, v_f = 0.470940 recalculating with a_f = 17.279716, a = 15.000000 revised dt = 0.004453 dt = 0.004453, not at end yet tc id = 194, canon_type = 3, mot type = 2 time: 7.658000 primary movement = 3.873045615140e-04 time: 7.658000000001e+00 total movement = 3.873045615140e-04 vel = 3.948214271350e-01 ------------------- tc state : vr = 0.470940, vf = 0.470940, maxvel = 0.557924, current_vel = 0.409821, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.409821, acc = 15.000000,T = 0.005555, P = 0.004050 initial results: dx= 0.001505,dt = 0.003416, a_f = 17.889317, v_f = 0.470940 recalculating with a_f = 17.889317, a = 15.000000 revised dt = 0.003453 dt = 0.003453, not at end yet tc id = 194, canon_type = 3, mot type = 2 time: 7.659000 primary movement = 4.023025251763e-04 time: 7.659000000001e+00 total movement = 4.023025251763e-04 vel = 4.098214271350e-01 ------------------- tc state : vr = 0.470940, vf = 0.470940, maxvel = 0.557924, current_vel = 0.424821, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.424821, acc = 15.000000,T = 0.005555, P = 0.004468 initial results: dx= 0.001087,dt = 0.002428, a_f = 18.998346, v_f = 0.470940 recalculating with a_f = 18.998346, a = 15.000000 revised dt = 0.002453 dt = 0.002453, not at end yet tc id = 194, canon_type = 3, mot type = 2 time: 7.660000 primary movement = 4.173003311938e-04 time: 7.660000000001e+00 total movement = 4.173003311938e-04 vel = 4.248214271350e-01 ------------------- tc state : vr = 0.470940, vf = 0.470940, maxvel = 0.557924, current_vel = 0.439821, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.439821, acc = 15.000000,T = 0.005555, P = 0.004900 initial results: dx= 0.000655,dt = 0.001438, a_f = 21.637739, v_f = 0.470940 recalculating with a_f = 21.637739, a = 15.000000 revised dt = 0.001453 dt = 0.001453, not at end yet tc id = 194, canon_type = 3, mot type = 2 time: 7.661000 primary movement = 4.322979736894e-04 time: 7.661000000001e+00 total movement = 4.322979736894e-04 vel = 4.398214271350e-01 ------------------- tc state : vr = 0.470940, vf = 0.470940, maxvel = 0.557924, current_vel = 0.454821, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.454821, acc = 15.000000,T = 0.005555, P = 0.005347 initial results: dx= 0.000208,dt = 0.000448, a_f = 35.940884, v_f = 0.470940 recalculating with a_f = 35.940884, a = 15.000000 revised dt = 0.000453 actual v_f = 0.461617, a = 15.000000 split time is 0.000453038 tc id = 194, canon_type = 3, mot type = 2 time: 7.662000 primary movement = 4.472954467861e-04 time: 7.662000000001e+00 total movement = 4.472954467861e-04 vel = 4.548214271350e-01 ------------------- tc id 194 done Finishing split-cycle on id 194 tc state : vr = 1.791692, vf = 0.393801, maxvel = 8.333300, current_vel = 0.478026, fs = 1.000000, tc = 0.000547, term = 3 tc result: v = 0.478026, acc = 30.000000,T = 0.003763, P = 0.000257 initial results: dx= 0.003506,dt = 0.008042, a_f = -10.473287, v_f = 0.393801 dt = 0.008042, not at end yet secondary movement = 0.000257 tc id = 194, canon_type = 2, mot type = 1 time: 7.663000 primary movement = 2.075883113334e-04 time: 7.663000000001e+00 total movement = 4.645625827629e-04 vel = 4.780258508773e-01 Finished tc id 194 ------------------- Activate tc id = 194 target_vel = 1.791692 final_vel = 0.393801 length = 0.003763 tc state : vr = 1.791692, vf = 0.393801, maxvel = 8.333300, current_vel = 0.508026, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.508026, acc = 30.000000,T = 0.003763, P = 0.000750 initial results: dx= 0.003013,dt = 0.006681, a_f = -17.097031, v_f = 0.393801 dt = 0.006681, not at end yet tc id = 194, canon_type = 2, mot type = 1 time: 7.664000 primary movement = 4.930258508773e-04 time: 7.664000000001e+00 total movement = 4.930258508773e-04 vel = 5.080258508773e-01 ------------------- tc state : vr = 1.791692, vf = 0.393801, maxvel = 8.333300, current_vel = 0.538026, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.538026, acc = 30.000000,T = 0.003763, P = 0.001273 initial results: dx= 0.002490,dt = 0.005343, a_f = -26.991668, v_f = 0.393801 dt = 0.005343, not at end yet tc id = 194, canon_type = 2, mot type = 1 time: 7.665000 primary movement = 5.230258508773e-04 time: 7.665000000001e+00 total movement = 5.230258508773e-04 vel = 5.380258508773e-01 ------------------- tc state : vr = 1.791692, vf = 0.393801, maxvel = 8.333300, current_vel = 0.522154, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.522154, acc = -15.871603,T = 0.003763, P = 0.001803 on final decel initial results: dx= 0.001959,dt = 0.004278, a_f = -30.000000, v_f = 0.393801 dt = 0.004278, not at end yet tc id = 194, canon_type = 2, mot type = 1 time: 7.666000 primary movement = 5.300900492027e-04 time: 7.666000000001e+00 total movement = 5.300900492027e-04 vel = 5.221542475281e-01 ------------------- tc state : vr = 1.791692, vf = 0.393801, maxvel = 8.333300, current_vel = 0.492154, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.492154, acc = -30.000000,T = 0.003763, P = 0.002310 on final decel initial results: dx= 0.001452,dt = 0.003278, a_f = -30.000000, v_f = 0.393801 dt = 0.003278, not at end yet tc id = 194, canon_type = 2, mot type = 1 time: 7.667000 primary movement = 5.071542475281e-04 time: 7.667000000001e+00 total movement = 5.071542475281e-04 vel = 4.921542475281e-01 ------------------- tc state : vr = 1.791692, vf = 0.393801, maxvel = 8.333300, current_vel = 0.462154, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.462154, acc = -30.000000,T = 0.003763, P = 0.002787 on final decel initial results: dx= 0.000975,dt = 0.002278, a_f = -30.000000, v_f = 0.393801 dt = 0.002278, not at end yet tc id = 194, canon_type = 2, mot type = 1 time: 7.668000 primary movement = 4.771542475281e-04 time: 7.668000000001e+00 total movement = 4.771542475281e-04 vel = 4.621542475281e-01 ------------------- tc state : vr = 1.791692, vf = 0.393801, maxvel = 8.333300, current_vel = 0.432154, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.432154, acc = -30.000000,T = 0.003763, P = 0.003235 on final decel initial results: dx= 0.000528,dt = 0.001278, a_f = -30.000000, v_f = 0.393801 recalculating with a_f = -30.000000, a = -30.000000 revised dt = 0.001278 dt = 0.001278, not at end yet tc id = 194, canon_type = 2, mot type = 1 time: 7.669000 primary movement = 4.471542475281e-04 time: 7.669000000001e+00 total movement = 4.471542475281e-04 vel = 4.321542475281e-01 ------------------- tc state : vr = 1.791692, vf = 0.393801, maxvel = 8.333300, current_vel = 0.402154, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.402154, acc = -30.000000,T = 0.003763, P = 0.003652 on final decel initial results: dx= 0.000111,dt = 0.000278, a_f = -30.000000, v_f = 0.393801 actual v_f = 0.393801, a = -30.000000 split time is 0.000278457 tc id = 194, canon_type = 2, mot type = 1 time: 7.670000 primary movement = 4.171542475281e-04 time: 7.670000000001e+00 total movement = 4.171542475281e-04 vel = 4.021542475281e-01 ------------------- tc id 194 done Finishing split-cycle on id 195 tc state : vr = 0.393801, vf = 0.393801, maxvel = 0.393801, current_vel = 0.393801, fs = 1.000000, tc = 0.000722, term = 3 tc result: v = 0.393801, acc = 0.000000,T = 0.002768, P = 0.000284 initial results: dx= 0.002483,dt = 0.006306, a_f = 0.000000, v_f = 0.393801 dt = 0.006306, not at end yet secondary movement = 0.000284 tc id = 195, canon_type = 3, mot type = 2 time: 7.671000 primary movement = 1.108197770638e-04 time: 7.671000000001e+00 total movement = 3.949367737128e-04 vel = 3.938005233377e-01 Finished tc id 194 ------------------- Activate tc id = 195 target_vel = 0.393801 final_vel = 0.393801 length = 0.002768 tc state : vr = 0.393801, vf = 0.393801, maxvel = 0.393801, current_vel = 0.393801, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.393801, acc = 0.000000,T = 0.002768, P = 0.000678 initial results: dx= 0.002090,dt = 0.005306, a_f = 0.000000, v_f = 0.393801 dt = 0.005306, not at end yet tc id = 195, canon_type = 3, mot type = 2 time: 7.672000 primary movement = 3.937291078160e-04 time: 7.672000000001e+00 total movement = 3.937291078160e-04 vel = 3.938005233377e-01 ------------------- tc state : vr = 0.393801, vf = 0.393801, maxvel = 0.393801, current_vel = 0.393801, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.393801, acc = 0.000000,T = 0.002768, P = 0.001072 initial results: dx= 0.001696,dt = 0.004306, a_f = 0.000000, v_f = 0.393801 dt = 0.004306, not at end yet tc id = 195, canon_type = 3, mot type = 2 time: 7.673000 primary movement = 3.937291078160e-04 time: 7.673000000001e+00 total movement = 3.937291078160e-04 vel = 3.938005233377e-01 ------------------- tc state : vr = 0.393801, vf = 0.393801, maxvel = 0.393801, current_vel = 0.393801, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.393801, acc = 0.000000,T = 0.002768, P = 0.001466 initial results: dx= 0.001302,dt = 0.003306, a_f = 0.000000, v_f = 0.393801 dt = 0.003306, not at end yet tc id = 195, canon_type = 3, mot type = 2 time: 7.674000 primary movement = 3.937291078160e-04 time: 7.674000000001e+00 total movement = 3.937291078160e-04 vel = 3.938005233377e-01 ------------------- tc state : vr = 0.393801, vf = 0.393801, maxvel = 0.393801, current_vel = 0.393801, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.393801, acc = 0.000000,T = 0.002768, P = 0.001859 initial results: dx= 0.000908,dt = 0.002306, a_f = 0.000000, v_f = 0.393801 dt = 0.002306, not at end yet tc id = 195, canon_type = 3, mot type = 2 time: 7.675000 primary movement = 3.937291078160e-04 time: 7.675000000001e+00 total movement = 3.937291078160e-04 vel = 3.938005233377e-01 ------------------- tc state : vr = 0.393801, vf = 0.393801, maxvel = 0.393801, current_vel = 0.393801, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.393801, acc = 0.000000,T = 0.002768, P = 0.002253 initial results: dx= 0.000514,dt = 0.001306, a_f = 0.000000, v_f = 0.393801 dt = 0.001306, not at end yet tc id = 195, canon_type = 3, mot type = 2 time: 7.676000 primary movement = 3.937291078160e-04 time: 7.676000000001e+00 total movement = 3.937291078160e-04 vel = 3.938005233377e-01 ------------------- tc state : vr = 0.393801, vf = 0.393801, maxvel = 0.393801, current_vel = 0.393801, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.393801, acc = 0.000000,T = 0.002768, P = 0.002647 initial results: dx= 0.000121,dt = 0.000306, a_f = 0.000000, v_f = 0.393801 actual v_f = 0.393801, a = 0.000000 split time is 0.000306145 tc id = 195, canon_type = 3, mot type = 2 time: 7.677000 primary movement = 3.937291078160e-04 time: 7.677000000001e+00 total movement = 3.937291078160e-04 vel = 3.938005233377e-01 ------------------- tc id 195 done Finishing split-cycle on id 195 tc state : vr = 0.790749, vf = 0.313846, maxvel = 9.316913, current_vel = 0.417073, fs = 1.000000, tc = 0.000694, term = 3 tc result: v = 0.417073, acc = 33.541020,T = 0.001661, P = 0.000281 initial results: dx= 0.001379,dt = 0.003774, a_f = -27.351779, v_f = 0.313846 dt = 0.003774, not at end yet secondary movement = 0.000281 tc id = 195, canon_type = 2, mot type = 1 time: 7.678000 primary movement = 1.205579092311e-04 time: 7.678000000001e+00 total movement = 4.018723865546e-04 vel = 4.170731362861e-01 Finished tc id 195 ------------------- Activate tc id = 195 target_vel = 0.790749 final_vel = 0.313846 length = 0.001661 tc state : vr = 0.790749, vf = 0.313846, maxvel = 9.316913, current_vel = 0.404318, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.404318, acc = -12.755380,T = 0.001661, P = 0.000692 on final decel initial results: dx= 0.000969,dt = 0.002697, a_f = -33.541020, v_f = 0.313846 recalculating with a_f = -33.541020, a = -33.541020 revised dt = 0.002697 dt = 0.002697, not at end yet tc id = 195, canon_type = 2, mot type = 1 time: 7.679000 primary movement = 4.106954462519e-04 time: 7.679000000001e+00 total movement = 4.106954462519e-04 vel = 4.043177562177e-01 ------------------- tc state : vr = 0.790749, vf = 0.313846, maxvel = 9.316913, current_vel = 0.370777, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.370777, acc = -33.541020,T = 0.001661, P = 0.001080 on final decel initial results: dx= 0.000581,dt = 0.001697, a_f = -33.541020, v_f = 0.313846 recalculating with a_f = -33.541020, a = -33.541020 revised dt = 0.001697 dt = 0.001697, not at end yet tc id = 195, canon_type = 2, mot type = 1 time: 7.680000 primary movement = 3.875472463865e-04 time: 7.680000000001e+00 total movement = 3.875472463865e-04 vel = 3.707767365552e-01 ------------------- tc state : vr = 0.790749, vf = 0.313846, maxvel = 9.316913, current_vel = 0.337236, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.337236, acc = -33.541020,T = 0.001661, P = 0.001434 on final decel initial results: dx= 0.000227,dt = 0.000697, a_f = -33.541020, v_f = 0.313846 recalculating with a_f = -33.541020, a = -33.541020 revised dt = 0.000697 actual v_f = 0.313846, a = -33.541020 split time is 0.000697333 tc id = 195, canon_type = 2, mot type = 1 time: 7.681000 primary movement = 3.540062267240e-04 time: 7.681000000001e+00 total movement = 3.540062267240e-04 vel = 3.372357168927e-01 ------------------- tc id 195 done Finishing split-cycle on id 196 tc state : vr = 0.313846, vf = 0.313846, maxvel = 0.313846, current_vel = 0.313846, fs = 1.000000, tc = 0.000303, term = 3 tc result: v = 0.313846, acc = 0.000000,T = 0.002687, P = 0.000095 initial results: dx= 0.002592,dt = 0.008258, a_f = 0.000000, v_f = 0.313846 dt = 0.008258, not at end yet secondary movement = 0.000095 tc id = 196, canon_type = 3, mot type = 2 time: 7.682000 primary movement = 2.270104480394e-04 time: 7.682000000001e+00 total movement = 3.219990267997e-04 vel = 3.138464671549e-01 Finished tc id 195 ------------------- Activate tc id = 196 target_vel = 0.313846 final_vel = 0.313846 length = 0.002687 tc state : vr = 0.313846, vf = 0.313846, maxvel = 0.313846, current_vel = 0.313846, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.313846, acc = 0.000000,T = 0.002687, P = 0.000409 initial results: dx= 0.002278,dt = 0.007258, a_f = 0.000000, v_f = 0.313846 dt = 0.007258, not at end yet tc id = 196, canon_type = 3, mot type = 2 time: 7.683000 primary movement = 3.137568609498e-04 time: 7.683000000001e+00 total movement = 3.137568609498e-04 vel = 3.138464671549e-01 ------------------- tc state : vr = 0.313846, vf = 0.313846, maxvel = 0.313846, current_vel = 0.313846, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.313846, acc = 0.000000,T = 0.002687, P = 0.000723 initial results: dx= 0.001964,dt = 0.006258, a_f = 0.000000, v_f = 0.313846 dt = 0.006258, not at end yet tc id = 196, canon_type = 3, mot type = 2 time: 7.684000 primary movement = 3.137568609498e-04 time: 7.684000000001e+00 total movement = 3.137568609498e-04 vel = 3.138464671549e-01 ------------------- tc state : vr = 0.313846, vf = 0.313846, maxvel = 0.313846, current_vel = 0.313846, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.313846, acc = 0.000000,T = 0.002687, P = 0.001037 initial results: dx= 0.001650,dt = 0.005258, a_f = 0.000000, v_f = 0.313846 dt = 0.005258, not at end yet tc id = 196, canon_type = 3, mot type = 2 time: 7.685000 primary movement = 3.137568609498e-04 time: 7.685000000001e+00 total movement = 3.137568609498e-04 vel = 3.138464671549e-01 ------------------- tc state : vr = 0.313846, vf = 0.313846, maxvel = 0.313846, current_vel = 0.313846, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.313846, acc = 0.000000,T = 0.002687, P = 0.001350 initial results: dx= 0.001336,dt = 0.004258, a_f = 0.000000, v_f = 0.313846 dt = 0.004258, not at end yet tc id = 196, canon_type = 3, mot type = 2 time: 7.686000 primary movement = 3.137568609498e-04 time: 7.686000000001e+00 total movement = 3.137568609498e-04 vel = 3.138464671549e-01 ------------------- tc state : vr = 0.313846, vf = 0.313846, maxvel = 0.313846, current_vel = 0.313846, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.313846, acc = 0.000000,T = 0.002687, P = 0.001664 initial results: dx= 0.001022,dt = 0.003258, a_f = 0.000000, v_f = 0.313846 dt = 0.003258, not at end yet tc id = 196, canon_type = 3, mot type = 2 time: 7.687000 primary movement = 3.137568609498e-04 time: 7.687000000001e+00 total movement = 3.137568609498e-04 vel = 3.138464671549e-01 ------------------- tc state : vr = 0.313846, vf = 0.313846, maxvel = 0.313846, current_vel = 0.313846, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.313846, acc = 0.000000,T = 0.002687, P = 0.001978 initial results: dx= 0.000709,dt = 0.002258, a_f = 0.000000, v_f = 0.313846 dt = 0.002258, not at end yet tc id = 196, canon_type = 3, mot type = 2 time: 7.688000 primary movement = 3.137568609498e-04 time: 7.688000000001e+00 total movement = 3.137568609498e-04 vel = 3.138464671549e-01 ------------------- tc state : vr = 0.313846, vf = 0.313846, maxvel = 0.313846, current_vel = 0.313846, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.313846, acc = 0.000000,T = 0.002687, P = 0.002292 initial results: dx= 0.000395,dt = 0.001258, a_f = 0.000000, v_f = 0.313846 dt = 0.001258, not at end yet tc id = 196, canon_type = 3, mot type = 2 time: 7.689000 primary movement = 3.137568609498e-04 time: 7.689000000001e+00 total movement = 3.137568609498e-04 vel = 3.138464671549e-01 ------------------- tc state : vr = 0.313846, vf = 0.313846, maxvel = 0.313846, current_vel = 0.313846, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.313846, acc = 0.000000,T = 0.002687, P = 0.002606 initial results: dx= 0.000081,dt = 0.000258, a_f = 0.000000, v_f = 0.313846 actual v_f = 0.313846, a = 0.000000 split time is 0.000257507 tc id = 196, canon_type = 3, mot type = 2 time: 7.690000 primary movement = 3.137568609498e-04 time: 7.690000000001e+00 total movement = 3.137568609498e-04 vel = 3.138464671549e-01 ------------------- tc id 196 done Finishing split-cycle on id 196 tc state : vr = 0.369556, vf = 0.369556, maxvel = 8.589769, current_vel = 0.336807, fs = 1.000000, tc = 0.000742, term = 3 tc result: v = 0.336807, acc = 30.923292,T = 0.000776, P = 0.000242 initial results: dx= 0.000535,dt = 0.001513, a_f = 21.639241, v_f = 0.369556 dt = 0.001513, not at end yet secondary movement = 0.000242 tc id = 196, canon_type = 2, mot type = 1 time: 7.691000 primary movement = 8.081613025952e-05 time: 7.691000000001e+00 total movement = 3.223688785198e-04 vel = 3.368067953206e-01 Finished tc id 196 ------------------- Activate tc id = 196 target_vel = 0.369556 final_vel = 0.369556 length = 0.000776 tc state : vr = 0.369556, vf = 0.369556, maxvel = 8.589769, current_vel = 0.367730, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.367730, acc = 30.923292,T = 0.000776, P = 0.000594 initial results: dx= 0.000182,dt = 0.000494, a_f = 3.693930, v_f = 0.369556 actual v_f = 0.369556, a = 3.693930 split time is 0.000494372 tc id = 196, canon_type = 2, mot type = 1 time: 7.692000 primary movement = 3.522684414167e-04 time: 7.692000000001e+00 total movement = 3.522684414167e-04 vel = 3.677300875127e-01 ------------------- tc id 196 done Finishing split-cycle on id 197 tc state : vr = 0.369556, vf = 0.369556, maxvel = 0.369556, current_vel = 0.369556, fs = 1.000000, tc = 0.000506, term = 3 tc result: v = 0.369556, acc = 0.000000,T = 0.003725, P = 0.000187 initial results: dx= 0.003538,dt = 0.009574, a_f = 0.000000, v_f = 0.369556 dt = 0.009574, not at end yet secondary movement = 0.000187 tc id = 197, canon_type = 3, mot type = 2 time: 7.693000 primary movement = 1.822469651792e-04 time: 7.693000000001e+00 total movement = 3.690950208577e-04 vel = 3.695562642173e-01 Finished tc id 196 ------------------- Activate tc id = 197 target_vel = 0.369556 final_vel = 0.369556 length = 0.003725 tc state : vr = 0.369556, vf = 0.369556, maxvel = 0.369556, current_vel = 0.369556, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.369556, acc = 0.000000,T = 0.003725, P = 0.000556 initial results: dx= 0.003169,dt = 0.008574, a_f = 0.000000, v_f = 0.369556 dt = 0.008574, not at end yet tc id = 197, canon_type = 3, mot type = 2 time: 7.694000 primary movement = 3.694801641340e-04 time: 7.694000000001e+00 total movement = 3.694801641340e-04 vel = 3.695562642173e-01 ------------------- tc state : vr = 0.369556, vf = 0.369556, maxvel = 0.369556, current_vel = 0.369556, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.369556, acc = 0.000000,T = 0.003725, P = 0.000926 initial results: dx= 0.002799,dt = 0.007574, a_f = 0.000000, v_f = 0.369556 dt = 0.007574, not at end yet tc id = 197, canon_type = 3, mot type = 2 time: 7.695000 primary movement = 3.694801641340e-04 time: 7.695000000001e+00 total movement = 3.694801641340e-04 vel = 3.695562642173e-01 ------------------- tc state : vr = 0.369556, vf = 0.369556, maxvel = 0.369556, current_vel = 0.369556, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.369556, acc = 0.000000,T = 0.003725, P = 0.001296 initial results: dx= 0.002429,dt = 0.006574, a_f = 0.000000, v_f = 0.369556 dt = 0.006574, not at end yet tc id = 197, canon_type = 3, mot type = 2 time: 7.696000 primary movement = 3.694801641341e-04 time: 7.696000000001e+00 total movement = 3.694801641341e-04 vel = 3.695562642173e-01 ------------------- tc state : vr = 0.369556, vf = 0.369556, maxvel = 0.369556, current_vel = 0.369556, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.369556, acc = 0.000000,T = 0.003725, P = 0.001665 initial results: dx= 0.002060,dt = 0.005574, a_f = 0.000000, v_f = 0.369556 dt = 0.005574, not at end yet tc id = 197, canon_type = 3, mot type = 2 time: 7.697000 primary movement = 3.694801641340e-04 time: 7.697000000001e+00 total movement = 3.694801641340e-04 vel = 3.695562642173e-01 ------------------- tc state : vr = 0.369556, vf = 0.369556, maxvel = 0.369556, current_vel = 0.369556, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.369556, acc = 0.000000,T = 0.003725, P = 0.002035 initial results: dx= 0.001690,dt = 0.004574, a_f = 0.000000, v_f = 0.369556 dt = 0.004574, not at end yet tc id = 197, canon_type = 3, mot type = 2 time: 7.698000 primary movement = 3.694801641340e-04 time: 7.698000000001e+00 total movement = 3.694801641340e-04 vel = 3.695562642173e-01 ------------------- tc state : vr = 0.369556, vf = 0.369556, maxvel = 0.369556, current_vel = 0.369556, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.369556, acc = 0.000000,T = 0.003725, P = 0.002404 initial results: dx= 0.001321,dt = 0.003574, a_f = 0.000000, v_f = 0.369556 dt = 0.003574, not at end yet tc id = 197, canon_type = 3, mot type = 2 time: 7.699000 primary movement = 3.694801641340e-04 time: 7.699000000001e+00 total movement = 3.694801641340e-04 vel = 3.695562642173e-01 ------------------- tc state : vr = 0.369556, vf = 0.369556, maxvel = 0.369556, current_vel = 0.369556, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.369556, acc = 0.000000,T = 0.003725, P = 0.002774 initial results: dx= 0.000951,dt = 0.002574, a_f = 0.000000, v_f = 0.369556 dt = 0.002574, not at end yet tc id = 197, canon_type = 3, mot type = 2 time: 7.700000 primary movement = 3.694801641341e-04 time: 7.700000000001e+00 total movement = 3.694801641341e-04 vel = 3.695562642173e-01 ------------------- tc state : vr = 0.369556, vf = 0.369556, maxvel = 0.369556, current_vel = 0.369556, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.369556, acc = 0.000000,T = 0.003725, P = 0.003143 initial results: dx= 0.000582,dt = 0.001574, a_f = 0.000000, v_f = 0.369556 dt = 0.001574, not at end yet tc id = 197, canon_type = 3, mot type = 2 time: 7.701000 primary movement = 3.694801641340e-04 time: 7.701000000001e+00 total movement = 3.694801641340e-04 vel = 3.695562642173e-01 ------------------- tc state : vr = 0.369556, vf = 0.369556, maxvel = 0.369556, current_vel = 0.369556, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.369556, acc = 0.000000,T = 0.003725, P = 0.003513 initial results: dx= 0.000212,dt = 0.000574, a_f = 0.000000, v_f = 0.369556 actual v_f = 0.369556, a = 0.000000 split time is 0.000574033 tc id = 197, canon_type = 3, mot type = 2 time: 7.702000 primary movement = 3.694801641340e-04 time: 7.702000000001e+00 total movement = 3.694801641340e-04 vel = 3.695562642173e-01 ------------------- tc id 197 done Finishing split-cycle on id 197 tc state : vr = 0.384347, vf = 0.384347, maxvel = 9.316913, current_vel = 0.383844, fs = 1.000000, tc = 0.000426, term = 3 tc result: v = 0.383844, acc = 33.541020,T = 0.002408, P = 0.000160 initial results: dx= 0.002248,dt = 0.005853, a_f = 0.085940, v_f = 0.384347 dt = 0.005853, not at end yet secondary movement = 0.000160 tc id = 197, canon_type = 2, mot type = 1 time: 7.703000 primary movement = 2.121232431217e-04 time: 7.703000000001e+00 total movement = 3.725848369698e-04 vel = 3.838436183798e-01 Finished tc id 197 ------------------- Activate tc id = 197 target_vel = 0.384347 final_vel = 0.384347 length = 0.002408 tc state : vr = 0.384347, vf = 0.384347, maxvel = 9.316913, current_vel = 0.384347, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.384347, acc = 0.502989,T = 0.002408, P = 0.000545 initial results: dx= 0.001864,dt = 0.004850, a_f = 0.000000, v_f = 0.384347 dt = 0.004850, not at end yet tc id = 197, canon_type = 2, mot type = 1 time: 7.704000 primary movement = 3.840951130447e-04 time: 7.704000000001e+00 total movement = 3.840951130447e-04 vel = 3.843466077096e-01 ------------------- tc state : vr = 0.384347, vf = 0.384347, maxvel = 9.316913, current_vel = 0.384347, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.384347, acc = 0.000000,T = 0.002408, P = 0.000929 initial results: dx= 0.001480,dt = 0.003850, a_f = 0.000000, v_f = 0.384347 dt = 0.003850, not at end yet tc id = 197, canon_type = 2, mot type = 1 time: 7.705000 primary movement = 3.843466077095e-04 time: 7.705000000001e+00 total movement = 3.843466077095e-04 vel = 3.843466077096e-01 ------------------- tc state : vr = 0.384347, vf = 0.384347, maxvel = 9.316913, current_vel = 0.384347, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.384347, acc = 0.000000,T = 0.002408, P = 0.001313 initial results: dx= 0.001095,dt = 0.002850, a_f = 0.000000, v_f = 0.384347 dt = 0.002850, not at end yet tc id = 197, canon_type = 2, mot type = 1 time: 7.706000 primary movement = 3.843466077096e-04 time: 7.706000000001e+00 total movement = 3.843466077096e-04 vel = 3.843466077096e-01 ------------------- tc state : vr = 0.384347, vf = 0.384347, maxvel = 9.316913, current_vel = 0.384347, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.384347, acc = 0.000000,T = 0.002408, P = 0.001698 initial results: dx= 0.000711,dt = 0.001850, a_f = 0.000000, v_f = 0.384347 dt = 0.001850, not at end yet tc id = 197, canon_type = 2, mot type = 1 time: 7.707000 primary movement = 3.843466077096e-04 time: 7.707000000001e+00 total movement = 3.843466077096e-04 vel = 3.843466077096e-01 ------------------- tc state : vr = 0.384347, vf = 0.384347, maxvel = 9.316913, current_vel = 0.384347, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.384347, acc = 0.000000,T = 0.002408, P = 0.002082 initial results: dx= 0.000327,dt = 0.000850, a_f = 0.000000, v_f = 0.384347 actual v_f = 0.384347, a = 0.000000 split time is 0.000849621 tc id = 197, canon_type = 2, mot type = 1 time: 7.708000 primary movement = 3.843466077095e-04 time: 7.708000000001e+00 total movement = 3.843466077095e-04 vel = 3.843466077096e-01 ------------------- tc id 197 done Finishing split-cycle on id 198 tc state : vr = 0.384347, vf = 0.384347, maxvel = 0.384347, current_vel = 0.384347, fs = 1.000000, tc = 0.000150, term = 3 tc result: v = 0.384347, acc = 0.000000,T = 0.004466, P = 0.000058 initial results: dx= 0.004408,dt = 0.011468, a_f = 0.000000, v_f = 0.384347 dt = 0.011468, not at end yet secondary movement = 0.000058 tc id = 198, canon_type = 3, mot type = 2 time: 7.709000 primary movement = 3.265487718121e-04 time: 7.709000000001e+00 total movement = 3.843463588614e-04 vel = 3.843466077096e-01 Finished tc id 197 ------------------- Activate tc id = 198 target_vel = 0.384347 final_vel = 0.384347 length = 0.004466 tc state : vr = 0.384347, vf = 0.384347, maxvel = 0.384347, current_vel = 0.384347, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.384347, acc = 0.000000,T = 0.004466, P = 0.000442 initial results: dx= 0.004023,dt = 0.010468, a_f = 0.000000, v_f = 0.384347 dt = 0.010468, not at end yet tc id = 198, canon_type = 3, mot type = 2 time: 7.710000 primary movement = 3.842734357522e-04 time: 7.710000000001e+00 total movement = 3.842734357522e-04 vel = 3.843466077096e-01 ------------------- tc state : vr = 0.384347, vf = 0.384347, maxvel = 0.384347, current_vel = 0.384347, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.384347, acc = 0.000000,T = 0.004466, P = 0.000826 initial results: dx= 0.003639,dt = 0.009468, a_f = 0.000000, v_f = 0.384347 dt = 0.009468, not at end yet tc id = 198, canon_type = 3, mot type = 2 time: 7.711000 primary movement = 3.842734357522e-04 time: 7.711000000001e+00 total movement = 3.842734357522e-04 vel = 3.843466077096e-01 ------------------- tc state : vr = 0.384347, vf = 0.384347, maxvel = 0.384347, current_vel = 0.384347, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.384347, acc = 0.000000,T = 0.004466, P = 0.001211 initial results: dx= 0.003255,dt = 0.008468, a_f = 0.000000, v_f = 0.384347 dt = 0.008468, not at end yet tc id = 198, canon_type = 3, mot type = 2 time: 7.712000 primary movement = 3.842734357521e-04 time: 7.712000000001e+00 total movement = 3.842734357521e-04 vel = 3.843466077096e-01 ------------------- tc state : vr = 0.384347, vf = 0.384347, maxvel = 0.384347, current_vel = 0.384347, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.384347, acc = 0.000000,T = 0.004466, P = 0.001595 initial results: dx= 0.002870,dt = 0.007468, a_f = 0.000000, v_f = 0.384347 dt = 0.007468, not at end yet tc id = 198, canon_type = 3, mot type = 2 time: 7.713000 primary movement = 3.842734357522e-04 time: 7.713000000001e+00 total movement = 3.842734357522e-04 vel = 3.843466077096e-01 ------------------- tc state : vr = 0.384347, vf = 0.384347, maxvel = 0.384347, current_vel = 0.384347, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.384347, acc = 0.000000,T = 0.004466, P = 0.001980 initial results: dx= 0.002486,dt = 0.006468, a_f = 0.000000, v_f = 0.384347 dt = 0.006468, not at end yet tc id = 198, canon_type = 3, mot type = 2 time: 7.714000 primary movement = 3.842734357522e-04 time: 7.714000000001e+00 total movement = 3.842734357522e-04 vel = 3.843466077096e-01 ------------------- tc state : vr = 0.384347, vf = 0.384347, maxvel = 0.384347, current_vel = 0.384347, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.384347, acc = 0.000000,T = 0.004466, P = 0.002364 initial results: dx= 0.002102,dt = 0.005468, a_f = 0.000000, v_f = 0.384347 dt = 0.005468, not at end yet tc id = 198, canon_type = 3, mot type = 2 time: 7.715000 primary movement = 3.842734357522e-04 time: 7.715000000001e+00 total movement = 3.842734357522e-04 vel = 3.843466077096e-01 ------------------- tc state : vr = 0.384347, vf = 0.384347, maxvel = 0.384347, current_vel = 0.384347, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.384347, acc = 0.000000,T = 0.004466, P = 0.002748 initial results: dx= 0.001717,dt = 0.004468, a_f = 0.000000, v_f = 0.384347 dt = 0.004468, not at end yet tc id = 198, canon_type = 3, mot type = 2 time: 7.716000 primary movement = 3.842734357521e-04 time: 7.716000000001e+00 total movement = 3.842734357521e-04 vel = 3.843466077096e-01 ------------------- tc state : vr = 0.384347, vf = 0.384347, maxvel = 0.384347, current_vel = 0.384347, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.384347, acc = 0.000000,T = 0.004466, P = 0.003133 initial results: dx= 0.001333,dt = 0.003468, a_f = 0.000000, v_f = 0.384347 dt = 0.003468, not at end yet tc id = 198, canon_type = 3, mot type = 2 time: 7.717000 primary movement = 3.842734357521e-04 time: 7.717000000001e+00 total movement = 3.842734357521e-04 vel = 3.843466077096e-01 ------------------- tc state : vr = 0.384347, vf = 0.384347, maxvel = 0.384347, current_vel = 0.384347, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.384347, acc = 0.000000,T = 0.004466, P = 0.003517 initial results: dx= 0.000949,dt = 0.002468, a_f = 0.000000, v_f = 0.384347 dt = 0.002468, not at end yet tc id = 198, canon_type = 3, mot type = 2 time: 7.718000 primary movement = 3.842734357522e-04 time: 7.718000000001e+00 total movement = 3.842734357522e-04 vel = 3.843466077096e-01 ------------------- tc state : vr = 0.384347, vf = 0.384347, maxvel = 0.384347, current_vel = 0.384347, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.384347, acc = 0.000000,T = 0.004466, P = 0.003901 initial results: dx= 0.000564,dt = 0.001468, a_f = 0.000000, v_f = 0.384347 dt = 0.001468, not at end yet tc id = 198, canon_type = 3, mot type = 2 time: 7.719000 primary movement = 3.842734357522e-04 time: 7.719000000001e+00 total movement = 3.842734357522e-04 vel = 3.843466077096e-01 ------------------- tc state : vr = 0.384347, vf = 0.384347, maxvel = 0.384347, current_vel = 0.384347, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.384347, acc = 0.000000,T = 0.004466, P = 0.004286 initial results: dx= 0.000180,dt = 0.000468, a_f = 0.000000, v_f = 0.384347 actual v_f = 0.384347, a = 0.000000 split time is 0.000468414 tc id = 198, canon_type = 3, mot type = 2 time: 7.720000 primary movement = 3.842734357521e-04 time: 7.720000000001e+00 total movement = 3.842734357521e-04 vel = 3.843466077096e-01 ------------------- tc id 198 done Finishing split-cycle on id 198 tc state : vr = 0.483324, vf = 0.483324, maxvel = 8.784069, current_vel = 0.401157, fs = 1.000000, tc = 0.000532, term = 3 tc result: v = 0.401157, acc = 31.622777,T = 0.001358, P = 0.000209 initial results: dx= 0.001149,dt = 0.002598, a_f = 31.622777, v_f = 0.483324 recalculating with a_f = 31.622777, a = 31.622777 revised dt = 0.002598 dt = 0.002598, not at end yet secondary movement = 0.000209 tc id = 198, canon_type = 2, mot type = 1 time: 7.721000 primary movement = 1.800259715306e-04 time: 7.721000000001e+00 total movement = 3.888071202792e-04 vel = 4.011568198459e-01 Finished tc id 198 ------------------- Activate tc id = 198 target_vel = 0.483324 final_vel = 0.483324 length = 0.001358 tc state : vr = 0.483324, vf = 0.483324, maxvel = 8.784069, current_vel = 0.432780, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.432780, acc = 31.622777,T = 0.001358, P = 0.000626 initial results: dx= 0.000732,dt = 0.001598, a_f = 31.622777, v_f = 0.483324 recalculating with a_f = 31.622777, a = 31.622777 revised dt = 0.001598 dt = 0.001598, not at end yet tc id = 198, canon_type = 2, mot type = 1 time: 7.722000 primary movement = 4.169682081468e-04 time: 7.722000000001e+00 total movement = 4.169682081468e-04 vel = 4.327795964476e-01 ------------------- tc state : vr = 0.483324, vf = 0.483324, maxvel = 8.784069, current_vel = 0.464402, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.464402, acc = 31.622777,T = 0.001358, P = 0.001074 initial results: dx= 0.000284,dt = 0.000598, a_f = 31.622777, v_f = 0.483324 recalculating with a_f = 31.622777, a = 31.622777 revised dt = 0.000598 actual v_f = 0.483324, a = 31.622777 split time is 0.000598366 tc id = 198, canon_type = 2, mot type = 1 time: 7.723000 primary movement = 4.485909847485e-04 time: 7.723000000001e+00 total movement = 4.485909847485e-04 vel = 4.644023730493e-01 ------------------- tc id 198 done Finishing split-cycle on id 199 tc state : vr = 0.623650, vf = 0.623650, maxvel = 0.646611, current_vel = 0.489349, fs = 1.000000, tc = 0.000402, term = 3 tc result: v = 0.489349, acc = 15.000000,T = 0.005178, P = 0.000195 initial results: dx= 0.004983,dt = 0.008953, a_f = 15.000000, v_f = 0.623650 dt = 0.008953, not at end yet secondary movement = 0.000195 tc id = 199, canon_type = 3, mot type = 2 time: 7.724000 primary movement = 2.835436687224e-04 time: 7.724000000001e+00 total movement = 4.788718525413e-04 vel = 4.893488753070e-01 Finished tc id 198 ------------------- Activate tc id = 199 target_vel = 0.623650 final_vel = 0.623650 length = 0.005178 tc state : vr = 0.623650, vf = 0.623650, maxvel = 0.646611, current_vel = 0.504349, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.504349, acc = 15.000000,T = 0.005178, P = 0.000692 initial results: dx= 0.004486,dt = 0.007953, a_f = 15.000000, v_f = 0.623650 dt = 0.007953, not at end yet tc id = 199, canon_type = 3, mot type = 2 time: 7.725000 primary movement = 4.968291425953e-04 time: 7.725000000001e+00 total movement = 4.968291425953e-04 vel = 5.043488753070e-01 ------------------- tc state : vr = 0.623650, vf = 0.623650, maxvel = 0.646611, current_vel = 0.519349, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.519349, acc = 15.000000,T = 0.005178, P = 0.001204 initial results: dx= 0.003974,dt = 0.006953, a_f = 15.000000, v_f = 0.623650 dt = 0.006953, not at end yet tc id = 199, canon_type = 3, mot type = 2 time: 7.726000 primary movement = 5.118273009043e-04 time: 7.726000000001e+00 total movement = 5.118273009043e-04 vel = 5.193488753070e-01 ------------------- tc state : vr = 0.623650, vf = 0.623650, maxvel = 0.646611, current_vel = 0.534349, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.534349, acc = 15.000000,T = 0.005178, P = 0.001731 initial results: dx= 0.003447,dt = 0.005953, a_f = 15.000000, v_f = 0.623650 dt = 0.005953, not at end yet tc id = 199, canon_type = 3, mot type = 2 time: 7.727000 primary movement = 5.268253480462e-04 time: 7.727000000001e+00 total movement = 5.268253480462e-04 vel = 5.343488753070e-01 ------------------- tc state : vr = 0.623650, vf = 0.623650, maxvel = 0.646611, current_vel = 0.549349, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.549349, acc = 15.000000,T = 0.005178, P = 0.002273 initial results: dx= 0.002905,dt = 0.004953, a_f = 15.000000, v_f = 0.623650 dt = 0.004953, not at end yet tc id = 199, canon_type = 3, mot type = 2 time: 7.728000 primary movement = 5.418232807635e-04 time: 7.728000000001e+00 total movement = 5.418232807635e-04 vel = 5.493488753070e-01 ------------------- tc state : vr = 0.623650, vf = 0.623650, maxvel = 0.646611, current_vel = 0.564349, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.564349, acc = 15.000000,T = 0.005178, P = 0.002830 initial results: dx= 0.002348,dt = 0.003953, a_f = 15.000000, v_f = 0.623650 dt = 0.003953, not at end yet tc id = 199, canon_type = 3, mot type = 2 time: 7.729000 primary movement = 5.568210957988e-04 time: 7.729000000001e+00 total movement = 5.568210957988e-04 vel = 5.643488753070e-01 ------------------- tc state : vr = 0.623650, vf = 0.623650, maxvel = 0.646611, current_vel = 0.579349, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.579349, acc = 15.000000,T = 0.005178, P = 0.003401 initial results: dx= 0.001776,dt = 0.002953, a_f = 15.000000, v_f = 0.623650 dt = 0.002953, not at end yet tc id = 199, canon_type = 3, mot type = 2 time: 7.730000 primary movement = 5.718187898944e-04 time: 7.730000000001e+00 total movement = 5.718187898944e-04 vel = 5.793488753070e-01 ------------------- tc state : vr = 0.623650, vf = 0.623650, maxvel = 0.646611, current_vel = 0.594349, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.594349, acc = 15.000000,T = 0.005178, P = 0.003988 initial results: dx= 0.001190,dt = 0.001953, a_f = 15.000000, v_f = 0.623650 dt = 0.001953, not at end yet tc id = 199, canon_type = 3, mot type = 2 time: 7.731000 primary movement = 5.868163597930e-04 time: 7.731000000001e+00 total movement = 5.868163597930e-04 vel = 5.943488753070e-01 ------------------- tc state : vr = 0.623650, vf = 0.623650, maxvel = 0.646611, current_vel = 0.609349, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.609349, acc = 15.000000,T = 0.005178, P = 0.004590 initial results: dx= 0.000588,dt = 0.000953, a_f = 15.000000, v_f = 0.623650 actual v_f = 0.623650, a = 15.000000 split time is 0.000953425 tc id = 199, canon_type = 3, mot type = 2 time: 7.732000 primary movement = 6.018138022372e-04 time: 7.732000000001e+00 total movement = 6.018138022372e-04 vel = 6.093488753070e-01 ------------------- tc id 199 done Finishing split-cycle on id 199 tc state : vr = 3.420175, vf = 0.905473, maxvel = 8.333300, current_vel = 0.625048, fs = 1.000000, tc = 0.000047, term = 3 tc result: v = 0.625048, acc = 30.000000,T = 0.007182, P = 0.000029 initial results: dx= 0.007153,dt = 0.009348, a_f = 30.000000, v_f = 0.905473 dt = 0.009348, not at end yet secondary movement = 0.000029 tc id = 199, canon_type = 2, mot type = 1 time: 7.733000 primary movement = 5.877531191880e-04 time: 7.733000000001e+00 total movement = 6.168324733824e-04 vel = 6.250475076425e-01 Finished tc id 199 ------------------- Activate tc id = 199 target_vel = 3.420175 final_vel = 0.905473 length = 0.007182 tc state : vr = 3.420175, vf = 0.905473, maxvel = 8.333300, current_vel = 0.655048, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.655048, acc = 30.000000,T = 0.007182, P = 0.000669 initial results: dx= 0.006513,dt = 0.008348, a_f = 30.000000, v_f = 0.905473 dt = 0.008348, not at end yet tc id = 199, canon_type = 2, mot type = 1 time: 7.734000 primary movement = 6.400475076425e-04 time: 7.734000000001e+00 total movement = 6.400475076425e-04 vel = 6.550475076425e-01 ------------------- tc state : vr = 3.420175, vf = 0.905473, maxvel = 8.333300, current_vel = 0.685048, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.685048, acc = 30.000000,T = 0.007182, P = 0.001339 initial results: dx= 0.005843,dt = 0.007348, a_f = 30.000000, v_f = 0.905473 dt = 0.007348, not at end yet tc id = 199, canon_type = 2, mot type = 1 time: 7.735000 primary movement = 6.700475076424e-04 time: 7.735000000001e+00 total movement = 6.700475076424e-04 vel = 6.850475076425e-01 ------------------- tc state : vr = 3.420175, vf = 0.905473, maxvel = 8.333300, current_vel = 0.715048, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.715048, acc = 30.000000,T = 0.007182, P = 0.002039 initial results: dx= 0.005143,dt = 0.006348, a_f = 30.000000, v_f = 0.905473 dt = 0.006348, not at end yet tc id = 199, canon_type = 2, mot type = 1 time: 7.736000 primary movement = 7.000475076425e-04 time: 7.736000000001e+00 total movement = 7.000475076425e-04 vel = 7.150475076425e-01 ------------------- tc state : vr = 3.420175, vf = 0.905473, maxvel = 8.333300, current_vel = 0.745048, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.745048, acc = 30.000000,T = 0.007182, P = 0.002769 initial results: dx= 0.004413,dt = 0.005348, a_f = 30.000000, v_f = 0.905473 dt = 0.005348, not at end yet tc id = 199, canon_type = 2, mot type = 1 time: 7.737000 primary movement = 7.300475076425e-04 time: 7.737000000001e+00 total movement = 7.300475076425e-04 vel = 7.450475076425e-01 ------------------- tc state : vr = 3.420175, vf = 0.905473, maxvel = 8.333300, current_vel = 0.775048, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.775048, acc = 30.000000,T = 0.007182, P = 0.003529 initial results: dx= 0.003653,dt = 0.004348, a_f = 30.000000, v_f = 0.905473 dt = 0.004348, not at end yet tc id = 199, canon_type = 2, mot type = 1 time: 7.738000 primary movement = 7.600475076425e-04 time: 7.738000000001e+00 total movement = 7.600475076425e-04 vel = 7.750475076425e-01 ------------------- tc state : vr = 3.420175, vf = 0.905473, maxvel = 8.333300, current_vel = 0.805048, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.805048, acc = 30.000000,T = 0.007182, P = 0.004319 initial results: dx= 0.002863,dt = 0.003348, a_f = 30.000000, v_f = 0.905473 dt = 0.003348, not at end yet tc id = 199, canon_type = 2, mot type = 1 time: 7.739000 primary movement = 7.900475076424e-04 time: 7.739000000001e+00 total movement = 7.900475076424e-04 vel = 8.050475076425e-01 ------------------- tc state : vr = 3.420175, vf = 0.905473, maxvel = 8.333300, current_vel = 0.835048, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.835048, acc = 30.000000,T = 0.007182, P = 0.005139 initial results: dx= 0.002043,dt = 0.002348, a_f = 30.000000, v_f = 0.905473 dt = 0.002348, not at end yet tc id = 199, canon_type = 2, mot type = 1 time: 7.740000 primary movement = 8.200475076425e-04 time: 7.740000000001e+00 total movement = 8.200475076425e-04 vel = 8.350475076425e-01 ------------------- tc state : vr = 3.420175, vf = 0.905473, maxvel = 8.333300, current_vel = 0.865048, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.865048, acc = 30.000000,T = 0.007182, P = 0.005989 initial results: dx= 0.001193,dt = 0.001348, a_f = 30.000000, v_f = 0.905473 dt = 0.001348, not at end yet tc id = 199, canon_type = 2, mot type = 1 time: 7.741000 primary movement = 8.500475076425e-04 time: 7.741000000001e+00 total movement = 8.500475076425e-04 vel = 8.650475076425e-01 ------------------- tc state : vr = 3.420175, vf = 0.905473, maxvel = 8.333300, current_vel = 0.895048, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.895048, acc = 30.000000,T = 0.007182, P = 0.006870 initial results: dx= 0.000313,dt = 0.000348, a_f = 30.000000, v_f = 0.905473 actual v_f = 0.905473, a = 30.000000 split time is 0.000347523 tc id = 199, canon_type = 2, mot type = 1 time: 7.742000 primary movement = 8.800475076424e-04 time: 7.742000000001e+00 total movement = 8.800475076424e-04 vel = 8.950475076425e-01 ------------------- tc id 199 done Finishing split-cycle on id 200 tc state : vr = 0.942166, vf = 0.900756, maxvel = 0.942166, current_vel = 0.915260, fs = 1.000000, tc = 0.000652, term = 3 tc result: v = 0.915260, acc = 15.000000,T = 0.008370, P = 0.000594 initial results: dx= 0.007776,dt = 0.008564, a_f = -1.693684, v_f = 0.900756 dt = 0.008564, not at end yet secondary movement = 0.000594 tc id = 200, canon_type = 3, mot type = 2 time: 7.743000 primary movement = 3.128612349484e-04 time: 7.743000000001e+00 total movement = 9.068470810604e-04 vel = 9.152603535771e-01 Finished tc id 199 ------------------- Activate tc id = 200 target_vel = 0.942166 final_vel = 0.900756 length = 0.008370 tc state : vr = 0.942166, vf = 0.900756, maxvel = 0.942166, current_vel = 0.930260, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.930260, acc = 15.000000,T = 0.008370, P = 0.001517 initial results: dx= 0.006853,dt = 0.007486, a_f = -3.941382, v_f = 0.900756 dt = 0.007486, not at end yet tc id = 200, canon_type = 3, mot type = 2 time: 7.744000 primary movement = 9.227323091831e-04 time: 7.744000000001e+00 total movement = 9.227323091831e-04 vel = 9.302603535771e-01 ------------------- tc state : vr = 0.942166, vf = 0.900756, maxvel = 0.942166, current_vel = 0.942166, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.942166, acc = 11.905419,T = 0.008370, P = 0.002453 initial results: dx= 0.005917,dt = 0.006421, a_f = -6.448671, v_f = 0.900756 dt = 0.006421, not at end yet tc id = 200, canon_type = 3, mot type = 2 time: 7.745000 primary movement = 9.361837741479e-04 time: 7.745000000001e+00 total movement = 9.361837741479e-04 vel = 9.421657725446e-01 ------------------- tc state : vr = 0.942166, vf = 0.900756, maxvel = 0.942166, current_vel = 0.942166, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.942166, acc = 0.000000,T = 0.008370, P = 0.003395 initial results: dx= 0.004975,dt = 0.005399, a_f = -7.669927, v_f = 0.900756 dt = 0.005399, not at end yet tc id = 200, canon_type = 3, mot type = 2 time: 7.746000 primary movement = 9.421359213937e-04 time: 7.746000000001e+00 total movement = 9.421359213937e-04 vel = 9.421657725446e-01 ------------------- tc state : vr = 0.942166, vf = 0.900756, maxvel = 0.942166, current_vel = 0.942166, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.942166, acc = 0.000000,T = 0.008370, P = 0.004337 initial results: dx= 0.004033,dt = 0.004377, a_f = -9.461815, v_f = 0.900756 dt = 0.004377, not at end yet tc id = 200, canon_type = 3, mot type = 2 time: 7.747000 primary movement = 9.421359213937e-04 time: 7.747000000001e+00 total movement = 9.421359213937e-04 vel = 9.421657725446e-01 ------------------- tc state : vr = 0.942166, vf = 0.900756, maxvel = 0.942166, current_vel = 0.942166, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.942166, acc = 0.000000,T = 0.008370, P = 0.005279 initial results: dx= 0.003091,dt = 0.003354, a_f = -12.346198, v_f = 0.900756 dt = 0.003354, not at end yet tc id = 200, canon_type = 3, mot type = 2 time: 7.748000 primary movement = 9.421359213937e-04 time: 7.748000000001e+00 total movement = 9.421359213937e-04 vel = 9.421657725446e-01 ------------------- tc state : vr = 0.942166, vf = 0.900756, maxvel = 0.942166, current_vel = 0.935900, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.935900, acc = -6.265531,T = 0.008370, P = 0.006218 on final decel initial results: dx= 0.002152,dt = 0.002343, a_f = -15.000000, v_f = 0.900756 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.002343 dt = 0.002343, not at end yet tc id = 200, canon_type = 3, mot type = 2 time: 7.749000 primary movement = 9.390034527171e-04 time: 7.749000000001e+00 total movement = 9.390034527171e-04 vel = 9.359002416305e-01 ------------------- tc state : vr = 0.942166, vf = 0.900756, maxvel = 0.942166, current_vel = 0.920900, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.920900, acc = -15.000000,T = 0.008370, P = 0.007147 on final decel initial results: dx= 0.001223,dt = 0.001343, a_f = -15.000000, v_f = 0.900756 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.001343 dt = 0.001343, not at end yet tc id = 200, canon_type = 3, mot type = 2 time: 7.750000 primary movement = 9.283716798705e-04 time: 7.750000000001e+00 total movement = 9.283716798705e-04 vel = 9.209002416305e-01 ------------------- tc state : vr = 0.942166, vf = 0.900756, maxvel = 0.942166, current_vel = 0.905900, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.905900, acc = -15.000000,T = 0.008370, P = 0.008060 on final decel initial results: dx= 0.000310,dt = 0.000343, a_f = -15.000000, v_f = 0.900756 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.000343 actual v_f = 0.900756, a = -15.000000 split time is 0.000342965 tc id = 200, canon_type = 3, mot type = 2 time: 7.751000 primary movement = 9.133730420174e-04 time: 7.751000000001e+00 total movement = 9.133730420174e-04 vel = 9.059002416305e-01 ------------------- tc id 200 done Finishing split-cycle on id 200 tc state : vr = 2.217819, vf = 0.723405, maxvel = 8.589769, current_vel = 0.880438, fs = 1.000000, tc = 0.000657, term = 3 tc result: v = 0.880438, acc = -30.923292,T = 0.004657, P = 0.000585 on final decel initial results: dx= 0.004072,dt = 0.005078, a_f = -30.923292, v_f = 0.723405 recalculating with a_f = -30.923292, a = -30.923292 revised dt = 0.005078 dt = 0.005078, not at end yet secondary movement = 0.000585 tc id = 200, canon_type = 2, mot type = 1 time: 7.752000 primary movement = 3.098085781710e-04 time: 7.752000000001e+00 total movement = 8.949621746203e-04 vel = 8.804380769363e-01 Finished tc id 200 ------------------- Activate tc id = 200 target_vel = 2.217819 final_vel = 0.723405 length = 0.004657 tc state : vr = 2.217819, vf = 0.723405, maxvel = 8.589769, current_vel = 0.849515, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.849515, acc = -30.923292,T = 0.004657, P = 0.001450 on final decel initial results: dx= 0.003207,dt = 0.004078, a_f = -30.923292, v_f = 0.723405 recalculating with a_f = -30.923292, a = -30.923292 revised dt = 0.004078 dt = 0.004078, not at end yet tc id = 200, canon_type = 2, mot type = 1 time: 7.753000 primary movement = 8.649764308403e-04 time: 7.753000000001e+00 total movement = 8.649764308403e-04 vel = 8.495147847442e-01 ------------------- tc state : vr = 2.217819, vf = 0.723405, maxvel = 8.589769, current_vel = 0.818591, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.818591, acc = -30.923292,T = 0.004657, P = 0.002284 on final decel initial results: dx= 0.002373,dt = 0.003078, a_f = -30.923292, v_f = 0.723405 recalculating with a_f = -30.923292, a = -30.923292 revised dt = 0.003078 dt = 0.003078, not at end yet tc id = 200, canon_type = 2, mot type = 1 time: 7.754000 primary movement = 8.340531386481e-04 time: 7.754000000001e+00 total movement = 8.340531386481e-04 vel = 8.185914925520e-01 ------------------- tc state : vr = 2.217819, vf = 0.723405, maxvel = 8.589769, current_vel = 0.787668, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.787668, acc = -30.923292,T = 0.004657, P = 0.003087 on final decel initial results: dx= 0.001570,dt = 0.002078, a_f = -30.923292, v_f = 0.723405 recalculating with a_f = -30.923292, a = -30.923292 revised dt = 0.002078 dt = 0.002078, not at end yet tc id = 200, canon_type = 2, mot type = 1 time: 7.755000 primary movement = 8.031298464560e-04 time: 7.755000000001e+00 total movement = 8.031298464560e-04 vel = 7.876682003599e-01 ------------------- tc state : vr = 2.217819, vf = 0.723405, maxvel = 8.589769, current_vel = 0.756745, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.756745, acc = -30.923292,T = 0.004657, P = 0.003860 on final decel initial results: dx= 0.000798,dt = 0.001078, a_f = -30.923292, v_f = 0.723405 recalculating with a_f = -30.923292, a = -30.923292 revised dt = 0.001078 dt = 0.001078, not at end yet tc id = 200, canon_type = 2, mot type = 1 time: 7.756000 primary movement = 7.722065542639e-04 time: 7.756000000001e+00 total movement = 7.722065542639e-04 vel = 7.567449081678e-01 ------------------- tc state : vr = 2.217819, vf = 0.723405, maxvel = 8.589769, current_vel = 0.725822, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.725822, acc = -30.923292,T = 0.004657, P = 0.004601 on final decel initial results: dx= 0.000057,dt = 0.000078, a_f = -30.923292, v_f = 0.723405 recalculating with a_f = -30.923292, a = -30.923292 revised dt = 0.000078 actual v_f = 0.723405, a = -30.923292 split time is 7.81345e-05 tc id = 200, canon_type = 2, mot type = 1 time: 7.757000 primary movement = 7.412832620718e-04 time: 7.757000000001e+00 total movement = 7.412832620718e-04 vel = 7.258216159756e-01 ------------------- tc id 200 done Finishing split-cycle on id 201 tc state : vr = 0.723405, vf = 0.623863, maxvel = 0.723405, current_vel = 0.723405, fs = 1.000000, tc = 0.000922, term = 3 tc result: v = 0.723405, acc = -0.000000,T = 0.006942, P = 0.000667 initial results: dx= 0.006275,dt = 0.009315, a_f = -10.685827, v_f = 0.623863 dt = 0.009315, not at end yet secondary movement = 0.000667 tc id = 201, canon_type = 3, mot type = 2 time: 7.758000 primary movement = 5.661734303105e-05 time: 7.758000000001e+00 total movement = 7.234693738506e-04 vel = 7.234054388337e-01 Finished tc id 200 ------------------- Activate tc id = 201 target_vel = 0.723405 final_vel = 0.623863 length = 0.006942 tc state : vr = 0.723405, vf = 0.623863, maxvel = 0.723405, current_vel = 0.723405, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.723405, acc = 0.000000,T = 0.006942, P = 0.001390 initial results: dx= 0.005552,dt = 0.008241, a_f = -12.078215, v_f = 0.623863 dt = 0.008241, not at end yet tc id = 201, canon_type = 3, mot type = 2 time: 7.759000 primary movement = 7.233665608476e-04 time: 7.759000000001e+00 total movement = 7.233665608476e-04 vel = 7.234054388337e-01 ------------------- tc state : vr = 0.723405, vf = 0.623863, maxvel = 0.723405, current_vel = 0.723405, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.723405, acc = 0.000000,T = 0.006942, P = 0.002114 initial results: dx= 0.004828,dt = 0.007168, a_f = -13.887833, v_f = 0.623863 dt = 0.007168, not at end yet tc id = 201, canon_type = 3, mot type = 2 time: 7.760000 primary movement = 7.233665608476e-04 time: 7.760000000001e+00 total movement = 7.233665608476e-04 vel = 7.234054388337e-01 ------------------- tc state : vr = 0.723405, vf = 0.623863, maxvel = 0.723405, current_vel = 0.715867, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.715867, acc = -7.538015,T = 0.006942, P = 0.002833 on final decel initial results: dx= 0.004109,dt = 0.006134, a_f = -15.000000, v_f = 0.623863 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.006134 dt = 0.006134, not at end yet tc id = 201, canon_type = 3, mot type = 2 time: 7.761000 primary movement = 7.195981577299e-04 time: 7.761000000001e+00 total movement = 7.195981577299e-04 vel = 7.158674235852e-01 ------------------- tc state : vr = 0.723405, vf = 0.623863, maxvel = 0.723405, current_vel = 0.700867, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.700867, acc = -15.000000,T = 0.006942, P = 0.003542 on final decel initial results: dx= 0.003400,dt = 0.005134, a_f = -15.000000, v_f = 0.623863 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.005134 dt = 0.005134, not at end yet tc id = 201, canon_type = 3, mot type = 2 time: 7.762000 primary movement = 7.083309200875e-04 time: 7.762000000001e+00 total movement = 7.083309200875e-04 vel = 7.008674235852e-01 ------------------- tc state : vr = 0.723405, vf = 0.623863, maxvel = 0.723405, current_vel = 0.685867, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.685867, acc = -15.000000,T = 0.006942, P = 0.004235 on final decel initial results: dx= 0.002707,dt = 0.004134, a_f = -15.000000, v_f = 0.623863 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.004134 dt = 0.004134, not at end yet tc id = 201, canon_type = 3, mot type = 2 time: 7.763000 primary movement = 6.933331902415e-04 time: 7.763000000001e+00 total movement = 6.933331902415e-04 vel = 6.858674235852e-01 ------------------- tc state : vr = 0.723405, vf = 0.623863, maxvel = 0.723405, current_vel = 0.670867, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.670867, acc = -15.000000,T = 0.006942, P = 0.004913 on final decel initial results: dx= 0.002029,dt = 0.003134, a_f = -15.000000, v_f = 0.623863 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.003134 dt = 0.003134, not at end yet tc id = 201, canon_type = 3, mot type = 2 time: 7.764000 primary movement = 6.783353642695e-04 time: 7.764000000001e+00 total movement = 6.783353642695e-04 vel = 6.708674235852e-01 ------------------- tc state : vr = 0.723405, vf = 0.623863, maxvel = 0.723405, current_vel = 0.655867, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.655867, acc = -15.000000,T = 0.006942, P = 0.005577 on final decel initial results: dx= 0.001365,dt = 0.002134, a_f = -15.000000, v_f = 0.623863 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.002134 dt = 0.002134, not at end yet tc id = 201, canon_type = 3, mot type = 2 time: 7.765000 primary movement = 6.633374442508e-04 time: 7.765000000001e+00 total movement = 6.633374442508e-04 vel = 6.558674235852e-01 ------------------- tc state : vr = 0.723405, vf = 0.623863, maxvel = 0.723405, current_vel = 0.640867, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.640867, acc = -15.000000,T = 0.006942, P = 0.006225 on final decel initial results: dx= 0.000717,dt = 0.001134, a_f = -15.000000, v_f = 0.623863 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.001134 dt = 0.001134, not at end yet tc id = 201, canon_type = 3, mot type = 2 time: 7.766000 primary movement = 6.483394322647e-04 time: 7.766000000001e+00 total movement = 6.483394322647e-04 vel = 6.408674235852e-01 ------------------- tc state : vr = 0.723405, vf = 0.623863, maxvel = 0.723405, current_vel = 0.625867, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.625867, acc = -15.000000,T = 0.006942, P = 0.006859 on final decel initial results: dx= 0.000083,dt = 0.000134, a_f = -15.000000, v_f = 0.623863 actual v_f = 0.623863, a = -15.000000 split time is 0.000133624 tc id = 201, canon_type = 3, mot type = 2 time: 7.767000 primary movement = 6.333413303907e-04 time: 7.767000000001e+00 total movement = 6.333413303907e-04 vel = 6.258674235852e-01 ------------------- tc id 201 done Finishing split-cycle on id 201 tc state : vr = 2.153051, vf = 0.341420, maxvel = 8.374863, current_vel = 0.597742, fs = 1.000000, tc = 0.000866, term = 3 tc result: v = 0.597742, acc = -30.149627,T = 0.004521, P = 0.000529 on final decel initial results: dx= 0.003992,dt = 0.008502, a_f = -30.149627, v_f = 0.341420 recalculating with a_f = -30.149627, a = -30.149627 revised dt = 0.008502 dt = 0.008502, not at end yet secondary movement = 0.000529 tc id = 201, canon_type = 2, mot type = 1 time: 7.768000 primary movement = 8.349667016972e-05 time: 7.768000000001e+00 total movement = 6.126816474482e-04 vel = 5.977421440666e-01 Finished tc id 201 ------------------- Activate tc id = 201 target_vel = 2.153051 final_vel = 0.341420 length = 0.004521 tc state : vr = 2.153051, vf = 0.341420, maxvel = 8.374863, current_vel = 0.567593, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.567593, acc = -30.149627,T = 0.004521, P = 0.001112 on final decel initial results: dx= 0.003410,dt = 0.007502, a_f = -30.149627, v_f = 0.341420 recalculating with a_f = -30.149627, a = -30.149627 revised dt = 0.007502 dt = 0.007502, not at end yet tc id = 201, canon_type = 2, mot type = 1 time: 7.769000 primary movement = 5.826673306349e-04 time: 7.769000000001e+00 total movement = 5.826673306349e-04 vel = 5.675925172032e-01 ------------------- tc state : vr = 2.153051, vf = 0.341420, maxvel = 8.374863, current_vel = 0.537443, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.537443, acc = -30.149627,T = 0.004521, P = 0.001664 on final decel initial results: dx= 0.002857,dt = 0.006502, a_f = -30.149627, v_f = 0.341420 recalculating with a_f = -30.149627, a = -30.149627 revised dt = 0.006502 dt = 0.006502, not at end yet tc id = 201, canon_type = 2, mot type = 1 time: 7.770000 primary movement = 5.525177037715e-04 time: 7.770000000001e+00 total movement = 5.525177037715e-04 vel = 5.374428903398e-01 ------------------- tc state : vr = 2.153051, vf = 0.341420, maxvel = 8.374863, current_vel = 0.507293, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.507293, acc = -30.149627,T = 0.004521, P = 0.002187 on final decel initial results: dx= 0.002335,dt = 0.005502, a_f = -30.149627, v_f = 0.341420 recalculating with a_f = -30.149627, a = -30.149627 revised dt = 0.005502 dt = 0.005502, not at end yet tc id = 201, canon_type = 2, mot type = 1 time: 7.771000 primary movement = 5.223680769081e-04 time: 7.771000000001e+00 total movement = 5.223680769081e-04 vel = 5.072932634765e-01 ------------------- tc state : vr = 2.153051, vf = 0.341420, maxvel = 8.374863, current_vel = 0.477144, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.477144, acc = -30.149627,T = 0.004521, P = 0.002679 on final decel initial results: dx= 0.001842,dt = 0.004502, a_f = -30.149627, v_f = 0.341420 recalculating with a_f = -30.149627, a = -30.149627 revised dt = 0.004502 dt = 0.004502, not at end yet tc id = 201, canon_type = 2, mot type = 1 time: 7.772000 primary movement = 4.922184500449e-04 time: 7.772000000001e+00 total movement = 4.922184500449e-04 vel = 4.771436366131e-01 ------------------- tc state : vr = 2.153051, vf = 0.341420, maxvel = 8.374863, current_vel = 0.446994, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.446994, acc = -30.149627,T = 0.004521, P = 0.003141 on final decel initial results: dx= 0.001380,dt = 0.003502, a_f = -30.149627, v_f = 0.341420 recalculating with a_f = -30.149627, a = -30.149627 revised dt = 0.003502 dt = 0.003502, not at end yet tc id = 201, canon_type = 2, mot type = 1 time: 7.773000 primary movement = 4.620688231814e-04 time: 7.773000000001e+00 total movement = 4.620688231814e-04 vel = 4.469940097497e-01 ------------------- tc state : vr = 2.153051, vf = 0.341420, maxvel = 8.374863, current_vel = 0.416844, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.416844, acc = -30.149627,T = 0.004521, P = 0.003573 on final decel initial results: dx= 0.000948,dt = 0.002502, a_f = -30.149627, v_f = 0.341420 recalculating with a_f = -30.149627, a = -30.149627 revised dt = 0.002502 dt = 0.002502, not at end yet tc id = 201, canon_type = 2, mot type = 1 time: 7.774000 primary movement = 4.319191963181e-04 time: 7.774000000001e+00 total movement = 4.319191963181e-04 vel = 4.168443828864e-01 ------------------- tc state : vr = 2.153051, vf = 0.341420, maxvel = 8.374863, current_vel = 0.386695, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.386695, acc = -30.149627,T = 0.004521, P = 0.003975 on final decel initial results: dx= 0.000547,dt = 0.001502, a_f = -30.149627, v_f = 0.341420 recalculating with a_f = -30.149627, a = -30.149627 revised dt = 0.001502 dt = 0.001502, not at end yet tc id = 201, canon_type = 2, mot type = 1 time: 7.775000 primary movement = 4.017695694546e-04 time: 7.775000000001e+00 total movement = 4.017695694546e-04 vel = 3.866947560230e-01 ------------------- tc state : vr = 2.153051, vf = 0.341420, maxvel = 8.374863, current_vel = 0.356545, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.356545, acc = -30.149627,T = 0.004521, P = 0.004346 on final decel initial results: dx= 0.000175,dt = 0.000502, a_f = -30.149627, v_f = 0.341420 recalculating with a_f = -30.149627, a = -30.149627 revised dt = 0.000502 actual v_f = 0.341420, a = -30.149627 split time is 0.000501665 tc id = 201, canon_type = 2, mot type = 1 time: 7.776000 primary movement = 3.716199425914e-04 time: 7.776000000001e+00 total movement = 3.716199425914e-04 vel = 3.565451291597e-01 ------------------- tc id 201 done Finishing split-cycle on id 202 tc state : vr = 0.383688, vf = 0.000000, maxvel = 0.383688, current_vel = 0.333945, fs = 1.000000, tc = 0.000498, term = 3 tc result: v = 0.333945, acc = -15.000000,T = 0.003886, P = 0.000168 on final decel initial results: dx= 0.003717,dt = 0.022263, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.022263 dt = 0.022263, not at end yet secondary movement = 0.000168 tc id = 202, canon_type = 3, mot type = 2 time: 7.777000 primary movement = 1.750724267978e-04 time: 7.777000000001e+00 total movement = 3.433452427658e-04 vel = 3.339450889684e-01 Finished tc id 201 ------------------- Activate tc id = 202 target_vel = 0.383688 final_vel = 0.000000 length = 0.003886 tc state : vr = 0.383688, vf = 0.000000, maxvel = 0.383688, current_vel = 0.318945, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.318945, acc = -15.000000,T = 0.003886, P = 0.000495 on final decel initial results: dx= 0.003391,dt = 0.021263, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.021263 dt = 0.021263, not at end yet tc id = 202, canon_type = 3, mot type = 2 time: 7.778000 primary movement = 3.263999457051e-04 time: 7.778000000001e+00 total movement = 3.263999457051e-04 vel = 3.189450889684e-01 ------------------- tc state : vr = 0.383688, vf = 0.000000, maxvel = 0.383688, current_vel = 0.303945, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.303945, acc = -15.000000,T = 0.003886, P = 0.000806 on final decel initial results: dx= 0.003079,dt = 0.020263, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.020263 dt = 0.020263, not at end yet tc id = 202, canon_type = 3, mot type = 2 time: 7.779000 primary movement = 3.114058869335e-04 time: 7.779000000001e+00 total movement = 3.114058869335e-04 vel = 3.039450889684e-01 ------------------- tc state : vr = 0.383688, vf = 0.000000, maxvel = 0.383688, current_vel = 0.288945, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.288945, acc = -15.000000,T = 0.003886, P = 0.001103 on final decel initial results: dx= 0.002783,dt = 0.019263, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.019263 dt = 0.019263, not at end yet tc id = 202, canon_type = 3, mot type = 2 time: 7.780000 primary movement = 2.964112826038e-04 time: 7.780000000001e+00 total movement = 2.964112826038e-04 vel = 2.889450889684e-01 ------------------- tc state : vr = 0.383688, vf = 0.000000, maxvel = 0.383688, current_vel = 0.273945, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.273945, acc = -15.000000,T = 0.003886, P = 0.001384 on final decel initial results: dx= 0.002502,dt = 0.018263, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.018263 dt = 0.018263, not at end yet tc id = 202, canon_type = 3, mot type = 2 time: 7.781000 primary movement = 2.814161589852e-04 time: 7.781000000001e+00 total movement = 2.814161589852e-04 vel = 2.739450889684e-01 ------------------- tc state : vr = 0.383688, vf = 0.000000, maxvel = 0.383688, current_vel = 0.258945, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.258945, acc = -15.000000,T = 0.003886, P = 0.001651 on final decel initial results: dx= 0.002235,dt = 0.017263, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.017263 dt = 0.017263, not at end yet tc id = 202, canon_type = 3, mot type = 2 time: 7.782000 primary movement = 2.664205423479e-04 time: 7.782000000001e+00 total movement = 2.664205423479e-04 vel = 2.589450889684e-01 ------------------- tc state : vr = 0.383688, vf = 0.000000, maxvel = 0.383688, current_vel = 0.243945, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.243945, acc = -15.000000,T = 0.003886, P = 0.001902 on final decel initial results: dx= 0.001984,dt = 0.016263, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.016263 dt = 0.016263, not at end yet tc id = 202, canon_type = 3, mot type = 2 time: 7.783000 primary movement = 2.514244589634e-04 time: 7.783000000001e+00 total movement = 2.514244589634e-04 vel = 2.439450889684e-01 ------------------- tc state : vr = 0.383688, vf = 0.000000, maxvel = 0.383688, current_vel = 0.228945, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.228945, acc = -15.000000,T = 0.003886, P = 0.002138 on final decel initial results: dx= 0.001747,dt = 0.015263, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.015263 dt = 0.015263, not at end yet tc id = 202, canon_type = 3, mot type = 2 time: 7.784000 primary movement = 2.364279351033e-04 time: 7.784000000001e+00 total movement = 2.364279351033e-04 vel = 2.289450889684e-01 ------------------- tc state : vr = 0.383688, vf = 0.000000, maxvel = 0.383688, current_vel = 0.213945, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.213945, acc = -15.000000,T = 0.003886, P = 0.002360 on final decel initial results: dx= 0.001526,dt = 0.014263, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.014263 dt = 0.014263, not at end yet tc id = 202, canon_type = 3, mot type = 2 time: 7.785000 primary movement = 2.214309970402e-04 time: 7.785000000001e+00 total movement = 2.214309970402e-04 vel = 2.139450889684e-01 ------------------- tc state : vr = 0.383688, vf = 0.000000, maxvel = 0.383688, current_vel = 0.198945, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.198945, acc = -15.000000,T = 0.003886, P = 0.002566 on final decel initial results: dx= 0.001319,dt = 0.013263, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.013263 dt = 0.013263, not at end yet tc id = 202, canon_type = 3, mot type = 2 time: 7.786000 primary movement = 2.064336710480e-04 time: 7.786000000001e+00 total movement = 2.064336710480e-04 vel = 1.989450889684e-01 ------------------- tc state : vr = 0.383688, vf = 0.000000, maxvel = 0.383688, current_vel = 0.183945, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.183945, acc = -15.000000,T = 0.003886, P = 0.002758 on final decel initial results: dx= 0.001128,dt = 0.012263, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.012263 dt = 0.012263, not at end yet tc id = 202, canon_type = 3, mot type = 2 time: 7.787000 primary movement = 1.914359834003e-04 time: 7.787000000001e+00 total movement = 1.914359834003e-04 vel = 1.839450889684e-01 ------------------- tc state : vr = 0.383688, vf = 0.000000, maxvel = 0.383688, current_vel = 0.168945, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.168945, acc = -15.000000,T = 0.003886, P = 0.002934 on final decel initial results: dx= 0.000951,dt = 0.011263, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.011263 dt = 0.011263, not at end yet tc id = 202, canon_type = 3, mot type = 2 time: 7.788000 primary movement = 1.764379603722e-04 time: 7.788000000001e+00 total movement = 1.764379603722e-04 vel = 1.689450889684e-01 ------------------- tc state : vr = 0.383688, vf = 0.000000, maxvel = 0.383688, current_vel = 0.153945, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.153945, acc = -15.000000,T = 0.003886, P = 0.003096 on final decel initial results: dx= 0.000790,dt = 0.010263, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.010263 dt = 0.010263, not at end yet tc id = 202, canon_type = 3, mot type = 2 time: 7.789000 primary movement = 1.614396282390e-04 time: 7.789000000001e+00 total movement = 1.614396282390e-04 vel = 1.539450889684e-01 ------------------- tc state : vr = 0.383688, vf = 0.000000, maxvel = 0.383688, current_vel = 0.138945, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.138945, acc = -15.000000,T = 0.003886, P = 0.003242 on final decel initial results: dx= 0.000644,dt = 0.009263, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.009263 dt = 0.009263, not at end yet tc id = 202, canon_type = 3, mot type = 2 time: 7.790000 primary movement = 1.464410132763e-04 time: 7.790000000001e+00 total movement = 1.464410132763e-04 vel = 1.389450889684e-01 ------------------- tc state : vr = 0.383688, vf = 0.000000, maxvel = 0.383688, current_vel = 0.123945, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.123945, acc = -15.000000,T = 0.003886, P = 0.003374 on final decel initial results: dx= 0.000512,dt = 0.008263, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.008263 dt = 0.008263, not at end yet tc id = 202, canon_type = 3, mot type = 2 time: 7.791000 primary movement = 1.314421417608e-04 time: 7.791000000001e+00 total movement = 1.314421417608e-04 vel = 1.239450889684e-01 ------------------- tc state : vr = 0.383688, vf = 0.000000, maxvel = 0.383688, current_vel = 0.108945, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.108945, acc = -15.000000,T = 0.003886, P = 0.003490 on final decel initial results: dx= 0.000396,dt = 0.007263, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.007263 dt = 0.007263, not at end yet tc id = 202, canon_type = 3, mot type = 2 time: 7.792000 primary movement = 1.164430399692e-04 time: 7.792000000001e+00 total movement = 1.164430399692e-04 vel = 1.089450889684e-01 ------------------- tc state : vr = 0.383688, vf = 0.000000, maxvel = 0.383688, current_vel = 0.093945, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.093945, acc = -15.000000,T = 0.003886, P = 0.003591 on final decel initial results: dx= 0.000294,dt = 0.006263, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.006263 dt = 0.006263, not at end yet tc id = 202, canon_type = 3, mot type = 2 time: 7.793000 primary movement = 1.014437341787e-04 time: 7.793000000001e+00 total movement = 1.014437341787e-04 vel = 9.394508896837e-02 ------------------- tc state : vr = 0.383688, vf = 0.000000, maxvel = 0.383688, current_vel = 0.078945, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.078945, acc = -15.000000,T = 0.003886, P = 0.003678 on final decel initial results: dx= 0.000208,dt = 0.005263, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.005263 dt = 0.005263, not at end yet tc id = 202, canon_type = 3, mot type = 2 time: 7.794000 primary movement = 8.644425066686e-05 time: 7.794000000001e+00 total movement = 8.644425066686e-05 vel = 7.894508896837e-02 ------------------- tc state : vr = 0.383688, vf = 0.000000, maxvel = 0.383688, current_vel = 0.063945, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.063945, acc = -15.000000,T = 0.003886, P = 0.003749 on final decel initial results: dx= 0.000136,dt = 0.004263, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.004263 dt = 0.004263, not at end yet tc id = 202, canon_type = 3, mot type = 2 time: 7.795000 primary movement = 7.144461571157e-05 time: 7.795000000001e+00 total movement = 7.144461571157e-05 vel = 6.394508896837e-02 ------------------- tc state : vr = 0.383688, vf = 0.000000, maxvel = 0.383688, current_vel = 0.048945, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.048945, acc = -15.000000,T = 0.003886, P = 0.003806 on final decel initial results: dx= 0.000080,dt = 0.003263, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.003263 dt = 0.003263, not at end yet tc id = 202, canon_type = 3, mot type = 2 time: 7.796000 primary movement = 5.644485559115e-05 time: 7.796000000001e+00 total movement = 5.644485559115e-05 vel = 4.894508896837e-02 ------------------- tc state : vr = 0.383688, vf = 0.000000, maxvel = 0.383688, current_vel = 0.033945, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.033945, acc = -15.000000,T = 0.003886, P = 0.003847 on final decel initial results: dx= 0.000038,dt = 0.002263, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.002263 dt = 0.002263, not at end yet tc id = 202, canon_type = 3, mot type = 2 time: 7.797000 primary movement = 4.144499658372e-05 time: 7.797000000001e+00 total movement = 4.144499658372e-05 vel = 3.394508896837e-02 ------------------- tc state : vr = 0.383688, vf = 0.000000, maxvel = 0.383688, current_vel = 0.018945, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.018945, acc = -15.000000,T = 0.003886, P = 0.003874 on final decel initial results: dx= 0.000012,dt = 0.001263, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.001263 dt = 0.001263, not at end yet tc id = 202, canon_type = 3, mot type = 2 time: 7.798000 primary movement = 2.644506496816e-05 time: 7.798000000001e+00 total movement = 2.644506496816e-05 vel = 1.894508896837e-02 ------------------- tc state : vr = 0.383688, vf = 0.000000, maxvel = 0.383688, current_vel = 0.003945, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.003945, acc = -15.000000,T = 0.003886, P = 0.003885 on final decel initial results: dx= 0.000001,dt = 0.000263, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.000263 actual v_f = 0.000000, a = -15.000000 split time is 0.000263005 tc id = 202, canon_type = 3, mot type = 2 time: 7.799000 primary movement = 1.144508702288e-05 time: 7.799000000001e+00 total movement = 1.144508702288e-05 vel = 3.945088968368e-03 ------------------- tc id 202 done Finishing split-cycle on id 202 tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.015634, fs = 1.000000, tc = 0.000737, term = 2 tc result: v = 0.015634, acc = 21.213203,T = 0.003634, P = 0.000006 secondary movement = 0.000006 tc id = 202, canon_type = 2, mot type = 1 time: 7.800000 primary movement = 5.187908987245e-07 time: 7.800000000001e+00 total movement = 6.279899336819e-06 vel = 1.563403756633e-02 Finished tc id 202 ------------------- Activate tc id = 202 target_vel = 11.785066 final_vel = 0.000000 length = 0.003634 Activate nexttc id 203 tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.036847, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.036847, acc = 21.213203,T = 0.003634, P = 0.000032 tc id = 202, canon_type = 2, mot type = 1 time: 7.801000 primary movement = 2.624063928415e-05 time: 7.801000000001e+00 total movement = 2.624063928415e-05 vel = 3.684724100193e-02 ------------------- tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.058060, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.058060, acc = 21.213203,T = 0.003634, P = 0.000079 tc id = 202, canon_type = 2, mot type = 1 time: 7.802000 primary movement = 4.745384271973e-05 time: 7.802000000001e+00 total movement = 4.745384271973e-05 vel = 5.806044443752e-02 ------------------- tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.079274, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.079274, acc = 21.213203,T = 0.003634, P = 0.000148 tc id = 202, canon_type = 2, mot type = 1 time: 7.803000 primary movement = 6.866704615533e-05 time: 7.803000000001e+00 total movement = 6.866704615533e-05 vel = 7.927364787312e-02 ------------------- tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.100487, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.100487, acc = 21.213203,T = 0.003634, P = 0.000238 tc id = 202, canon_type = 2, mot type = 1 time: 7.804000 primary movement = 8.988024959091e-05 time: 7.804000000001e+00 total movement = 8.988024959091e-05 vel = 1.004868513087e-01 ------------------- tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.121700, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.121700, acc = 21.213203,T = 0.003634, P = 0.000349 tc id = 202, canon_type = 2, mot type = 1 time: 7.805000 primary movement = 1.110934530265e-04 time: 7.805000000001e+00 total movement = 1.110934530265e-04 vel = 1.217000547443e-01 ------------------- tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.142913, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.142913, acc = 21.213203,T = 0.003634, P = 0.000481 tc id = 202, canon_type = 2, mot type = 1 time: 7.806000 primary movement = 1.323066564621e-04 time: 7.806000000001e+00 total movement = 1.323066564621e-04 vel = 1.429132581799e-01 ------------------- tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.164126, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.164126, acc = 21.213203,T = 0.003634, P = 0.000635 tc id = 202, canon_type = 2, mot type = 1 time: 7.807000 primary movement = 1.535198598978e-04 time: 7.807000000001e+00 total movement = 1.535198598978e-04 vel = 1.641264616155e-01 ------------------- tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.185340, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.185340, acc = 21.213203,T = 0.003634, P = 0.000810 tc id = 202, canon_type = 2, mot type = 1 time: 7.808000 primary movement = 1.747330633333e-04 time: 7.808000000001e+00 total movement = 1.747330633333e-04 vel = 1.853396650511e-01 ------------------- tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.206553, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.206553, acc = 21.213203,T = 0.003634, P = 0.001006 tc id = 202, canon_type = 2, mot type = 1 time: 7.809000 primary movement = 1.959462667689e-04 time: 7.809000000001e+00 total movement = 1.959462667689e-04 vel = 2.065528684867e-01 ------------------- tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.227766, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.227766, acc = 21.213203,T = 0.003634, P = 0.001223 tc id = 202, canon_type = 2, mot type = 1 time: 7.810000 primary movement = 2.171594702045e-04 time: 7.810000000001e+00 total movement = 2.171594702045e-04 vel = 2.277660719223e-01 ------------------- tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.248979, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.248979, acc = 21.213203,T = 0.003634, P = 0.001461 tc id = 202, canon_type = 2, mot type = 1 time: 7.811000 primary movement = 2.383726736401e-04 time: 7.811000000001e+00 total movement = 2.383726736401e-04 vel = 2.489792753579e-01 ------------------- tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.270192, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.270192, acc = 21.213203,T = 0.003634, P = 0.001721 tc id = 202, canon_type = 2, mot type = 1 time: 7.812000 primary movement = 2.595858770757e-04 time: 7.812000000001e+00 total movement = 2.595858770757e-04 vel = 2.701924787935e-01 ------------------- tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.264278, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.264278, acc = -5.914167,T = 0.003634, P = 0.001988 on final decel tc id = 202, canon_type = 2, mot type = 1 tc state : vr = 0.005914, vf = 0.005914, maxvel = 8.975239, current_vel = 0.005914, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.005914, acc = 5.914167,T = 0.007692, P = 0.000003 initial results: dx= 0.007689,dt = 0.030555, a_f = 16.083841, v_f = 0.497356 dt = 0.030555, not at end yet tc id = 202, canon_type = 2, mot type = 1 secondary movement = 0.000003 time: 7.813000 primary movement = 2.672353953079e-04 time: 7.813000000001e+00 total movement = 2.701924787935e-04 vel = 2.701924787935e-01 ------------------- tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.243065, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.243065, acc = -21.213203,T = 0.003634, P = 0.002242 on final decel tc id = 202, canon_type = 2, mot type = 1 tc state : vr = 0.027127, vf = 0.027127, maxvel = 8.975239, current_vel = 0.022070, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.022070, acc = 16.155494,T = 0.007692, P = 0.000017 initial results: dx= 0.007675,dt = 0.029551, a_f = 16.083710, v_f = 0.497356 dt = 0.029551, not at end yet tc id = 202, canon_type = 2, mot type = 1 secondary movement = 0.000014 time: 7.814000 primary movement = 2.536717101047e-04 time: 7.814000000001e+00 total movement = 2.676636242863e-04 vel = 2.651347697793e-01 ------------------- tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.221852, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.221852, acc = -21.213203,T = 0.003634, P = 0.002474 on final decel tc id = 202, canon_type = 2, mot type = 1 tc state : vr = 0.048341, vf = 0.048341, maxvel = 8.975239, current_vel = 0.038225, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.038225, acc = 16.155494,T = 0.007692, P = 0.000047 initial results: dx= 0.007645,dt = 0.028547, a_f = 16.083427, v_f = 0.497356 dt = 0.028547, not at end yet tc id = 202, canon_type = 2, mot type = 1 secondary movement = 0.000030 time: 7.815000 primary movement = 2.324585066691e-04 time: 7.815000000001e+00 total movement = 2.626059152722e-04 vel = 2.600770607651e-01 ------------------- tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.200639, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.200639, acc = -21.213203,T = 0.003634, P = 0.002685 on final decel tc id = 202, canon_type = 2, mot type = 1 tc state : vr = 0.069554, vf = 0.069554, maxvel = 8.975239, current_vel = 0.054381, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.054381, acc = 16.155494,T = 0.007692, P = 0.000093 initial results: dx= 0.007598,dt = 0.027543, a_f = 16.082988, v_f = 0.497356 dt = 0.027543, not at end yet tc id = 202, canon_type = 2, mot type = 1 secondary movement = 0.000046 time: 7.816000 primary movement = 2.112453032335e-04 time: 7.816000000001e+00 total movement = 2.575482062580e-04 vel = 2.550193517509e-01 ------------------- tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.179425, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.179425, acc = -21.213203,T = 0.003634, P = 0.002875 on final decel tc id = 202, canon_type = 2, mot type = 1 tc state : vr = 0.090767, vf = 0.090767, maxvel = 8.975239, current_vel = 0.070536, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.070536, acc = 16.155494,T = 0.007692, P = 0.000156 initial results: dx= 0.007536,dt = 0.026540, a_f = 16.082387, v_f = 0.497356 dt = 0.026540, not at end yet tc id = 202, canon_type = 2, mot type = 1 secondary movement = 0.000062 time: 7.817000 primary movement = 1.900320997980e-04 time: 7.817000000001e+00 total movement = 2.524904972438e-04 vel = 2.499616427367e-01 ------------------- tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.158212, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.158212, acc = -21.213203,T = 0.003634, P = 0.003044 on final decel tc id = 202, canon_type = 2, mot type = 1 tc state : vr = 0.111980, vf = 0.111980, maxvel = 8.975239, current_vel = 0.086692, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.086692, acc = 16.155494,T = 0.007692, P = 0.000234 initial results: dx= 0.007457,dt = 0.025536, a_f = 16.081616, v_f = 0.497356 dt = 0.025536, not at end yet tc id = 202, canon_type = 2, mot type = 1 secondary movement = 0.000079 time: 7.818000 primary movement = 1.688188963623e-04 time: 7.818000000001e+00 total movement = 2.474327882296e-04 vel = 2.449039337225e-01 ------------------- tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.136999, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.136999, acc = -21.213203,T = 0.003634, P = 0.003192 on final decel tc id = 202, canon_type = 2, mot type = 1 tc state : vr = 0.133193, vf = 0.133193, maxvel = 8.975239, current_vel = 0.102847, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.102847, acc = 16.155494,T = 0.007692, P = 0.000329 initial results: dx= 0.007362,dt = 0.024533, a_f = 16.080665, v_f = 0.497356 dt = 0.024533, not at end yet tc id = 202, canon_type = 2, mot type = 1 secondary movement = 0.000095 time: 7.819000 primary movement = 1.476056929268e-04 time: 7.819000000001e+00 total movement = 2.423750792155e-04 vel = 2.398462247083e-01 ------------------- tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.115786, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.115786, acc = -21.213203,T = 0.003634, P = 0.003318 on final decel tc id = 202, canon_type = 2, mot type = 1 tc state : vr = 0.154407, vf = 0.154407, maxvel = 8.975239, current_vel = 0.119003, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.119003, acc = 16.155494,T = 0.007692, P = 0.000440 initial results: dx= 0.007252,dt = 0.023530, a_f = 16.079521, v_f = 0.497356 dt = 0.023530, not at end yet tc id = 203, canon_type = 2, mot type = 1 secondary movement = 0.000111 time: 7.820000 primary movement = 1.263924894911e-04 time: 7.820000000001e+00 total movement = 2.373173702012e-04 vel = 2.347885156941e-01 ------------------- tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.094573, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.094573, acc = -21.213203,T = 0.003634, P = 0.003423 on final decel tc id = 202, canon_type = 2, mot type = 1 tc state : vr = 0.175620, vf = 0.175620, maxvel = 8.975239, current_vel = 0.135158, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.135158, acc = 16.155494,T = 0.007692, P = 0.000567 initial results: dx= 0.007124,dt = 0.022527, a_f = 16.078166, v_f = 0.497356 dt = 0.022527, not at end yet tc id = 203, canon_type = 2, mot type = 1 secondary movement = 0.000127 time: 7.821000 primary movement = 1.051792860555e-04 time: 7.821000000001e+00 total movement = 2.322596611871e-04 vel = 2.297308066799e-01 ------------------- tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.073359, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.073359, acc = -21.213203,T = 0.003634, P = 0.003507 on final decel tc id = 202, canon_type = 2, mot type = 1 tc state : vr = 0.196833, vf = 0.196833, maxvel = 8.975239, current_vel = 0.151314, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.151314, acc = 16.155494,T = 0.007692, P = 0.000710 initial results: dx= 0.006981,dt = 0.021525, a_f = 16.076579, v_f = 0.497356 dt = 0.021525, not at end yet tc id = 203, canon_type = 2, mot type = 1 secondary movement = 0.000143 time: 7.822000 primary movement = 8.396608261995e-05 time: 7.822000000001e+00 total movement = 2.272019521728e-04 vel = 2.246730976657e-01 ------------------- tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.052146, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.052146, acc = -21.213203,T = 0.003634, P = 0.003570 on final decel tc id = 202, canon_type = 2, mot type = 1 tc state : vr = 0.218046, vf = 0.218046, maxvel = 8.975239, current_vel = 0.167469, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.167469, acc = 16.155494,T = 0.007692, P = 0.000870 initial results: dx= 0.006822,dt = 0.020522, a_f = 16.074735, v_f = 0.497356 dt = 0.020522, not at end yet tc id = 203, canon_type = 2, mot type = 1 secondary movement = 0.000159 time: 7.823000 primary movement = 6.275287918435e-05 time: 7.823000000001e+00 total movement = 2.221442431587e-04 vel = 2.196153886516e-01 ------------------- tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.030933, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.030933, acc = -21.213203,T = 0.003634, P = 0.003612 on final decel tc id = 202, canon_type = 2, mot type = 1 tc state : vr = 0.239259, vf = 0.239259, maxvel = 8.975239, current_vel = 0.183625, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.183625, acc = 16.155494,T = 0.007692, P = 0.001045 initial results: dx= 0.006646,dt = 0.019520, a_f = 16.072602, v_f = 0.497356 dt = 0.019520, not at end yet tc id = 203, canon_type = 2, mot type = 1 secondary movement = 0.000176 time: 7.824000 primary movement = 4.153967574869e-05 time: 7.824000000001e+00 total movement = 2.170865341444e-04 vel = 2.145576796374e-01 ------------------- tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.009720, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.009720, acc = -21.213203,T = 0.003634, P = 0.003632 on final decel tc id = 202, canon_type = 2, mot type = 1 tc state : vr = 0.260473, vf = 0.260473, maxvel = 8.975239, current_vel = 0.199780, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.199780, acc = 16.155494,T = 0.007692, P = 0.001237 initial results: dx= 0.006455,dt = 0.018517, a_f = 16.070140, v_f = 0.497356 dt = 0.018517, not at end yet tc id = 203, canon_type = 2, mot type = 1 secondary movement = 0.000192 time: 7.825000 primary movement = 2.032647231317e-05 time: 7.825000000001e+00 total movement = 2.120288251303e-04 vel = 2.094999706232e-01 ------------------- Found newvel = -0.009720, assuming segment is done segment 202 at target in runcycle tc state : vr = 11.785066, vf = 0.000000, maxvel = 11.785066, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.003634, P = 0.003634 tc id = 202, canon_type = 2, mot type = 1 tc state : vr = 0.270192, vf = 0.270192, maxvel = 8.975239, current_vel = 0.215936, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.215936, acc = 16.155494,T = 0.007692, P = 0.001445 initial results: dx= 0.006247,dt = 0.017515, a_f = 16.067300, v_f = 0.497356 dt = 0.017515, not at end yet tc id = 203, canon_type = 2, mot type = 1 secondary movement = 0.000208 time: 7.826000 primary movement = 2.226817950356e-06 time: 7.826000000001e+00 total movement = 2.100846651889e-04 vel = 2.159355944492e-01 Finished tc id 202 ------------------- tc state : vr = 3.662701, vf = 0.497356, maxvel = 8.975239, current_vel = 0.232091, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.232091, acc = 16.155494,T = 0.007692, P = 0.001669 initial results: dx= 0.006023,dt = 0.016513, a_f = 16.064020, v_f = 0.497356 dt = 0.016513, not at end yet tc id = 203, canon_type = 2, mot type = 1 time: 7.827000 primary movement = 2.240133416599e-04 time: 7.827000000001e+00 total movement = 2.240133416599e-04 vel = 2.320910888706e-01 ------------------- tc state : vr = 3.662701, vf = 0.497356, maxvel = 8.975239, current_vel = 0.248247, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.248247, acc = 16.155494,T = 0.007692, P = 0.001909 initial results: dx= 0.005783,dt = 0.015511, a_f = 16.060220, v_f = 0.497356 dt = 0.015511, not at end yet tc id = 203, canon_type = 2, mot type = 1 time: 7.828000 primary movement = 2.401688360814e-04 time: 7.828000000001e+00 total movement = 2.401688360814e-04 vel = 2.482465832920e-01 ------------------- tc state : vr = 3.662701, vf = 0.497356, maxvel = 8.975239, current_vel = 0.264402, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.264402, acc = 16.155494,T = 0.007692, P = 0.002165 initial results: dx= 0.005526,dt = 0.014509, a_f = 16.055801, v_f = 0.497356 dt = 0.014509, not at end yet tc id = 203, canon_type = 2, mot type = 1 time: 7.829000 primary movement = 2.563243305027e-04 time: 7.829000000001e+00 total movement = 2.563243305027e-04 vel = 2.644020777134e-01 ------------------- tc state : vr = 3.662701, vf = 0.497356, maxvel = 8.975239, current_vel = 0.280558, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.280558, acc = 16.155494,T = 0.007692, P = 0.002438 initial results: dx= 0.005254,dt = 0.013507, a_f = 16.050631, v_f = 0.497356 dt = 0.013507, not at end yet tc id = 203, canon_type = 2, mot type = 1 time: 7.830000 primary movement = 2.724798249242e-04 time: 7.830000000001e+00 total movement = 2.724798249242e-04 vel = 2.805575721348e-01 ------------------- tc state : vr = 3.662701, vf = 0.497356, maxvel = 8.975239, current_vel = 0.296713, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.296713, acc = 16.155494,T = 0.007692, P = 0.002727 initial results: dx= 0.004965,dt = 0.012505, a_f = 16.044535, v_f = 0.497356 dt = 0.012505, not at end yet tc id = 203, canon_type = 2, mot type = 1 time: 7.831000 primary movement = 2.886353193455e-04 time: 7.831000000001e+00 total movement = 2.886353193455e-04 vel = 2.967130665562e-01 ------------------- tc state : vr = 3.662701, vf = 0.497356, maxvel = 8.975239, current_vel = 0.312869, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.312869, acc = 16.155494,T = 0.007692, P = 0.003031 initial results: dx= 0.004660,dt = 0.011504, a_f = 16.037278, v_f = 0.497356 dt = 0.011504, not at end yet tc id = 203, canon_type = 2, mot type = 1 time: 7.832000 primary movement = 3.047908137670e-04 time: 7.832000000001e+00 total movement = 3.047908137670e-04 vel = 3.128685609776e-01 ------------------- tc state : vr = 3.662701, vf = 0.497356, maxvel = 8.975239, current_vel = 0.329024, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.329024, acc = 16.155494,T = 0.007692, P = 0.003352 initial results: dx= 0.004339,dt = 0.010502, a_f = 16.028534, v_f = 0.497356 dt = 0.010502, not at end yet tc id = 203, canon_type = 2, mot type = 1 time: 7.833000 primary movement = 3.209463081884e-04 time: 7.833000000001e+00 total movement = 3.209463081884e-04 vel = 3.290240553991e-01 ------------------- tc state : vr = 3.662701, vf = 0.497356, maxvel = 8.975239, current_vel = 0.345180, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.345180, acc = 16.155494,T = 0.007692, P = 0.003689 initial results: dx= 0.004002,dt = 0.009500, a_f = 16.017840, v_f = 0.497356 dt = 0.009500, not at end yet tc id = 203, canon_type = 2, mot type = 1 time: 7.834000 primary movement = 3.371018026098e-04 time: 7.834000000001e+00 total movement = 3.371018026098e-04 vel = 3.451795498205e-01 ------------------- tc state : vr = 3.662701, vf = 0.497356, maxvel = 8.975239, current_vel = 0.361335, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.361335, acc = 16.155494,T = 0.007692, P = 0.004043 initial results: dx= 0.003649,dt = 0.008499, a_f = 16.004514, v_f = 0.497356 dt = 0.008499, not at end yet tc id = 203, canon_type = 2, mot type = 1 time: 7.835000 primary movement = 3.532572970311e-04 time: 7.835000000001e+00 total movement = 3.532572970311e-04 vel = 3.613350442419e-01 ------------------- tc state : vr = 3.662701, vf = 0.497356, maxvel = 8.975239, current_vel = 0.377491, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.377491, acc = 16.155494,T = 0.007692, P = 0.004412 initial results: dx= 0.003280,dt = 0.007497, a_f = 15.987508, v_f = 0.497356 dt = 0.007497, not at end yet tc id = 203, canon_type = 2, mot type = 1 time: 7.836000 primary movement = 3.694127914526e-04 time: 7.836000000001e+00 total movement = 3.694127914526e-04 vel = 3.774905386633e-01 ------------------- tc state : vr = 3.662701, vf = 0.497356, maxvel = 8.975239, current_vel = 0.393646, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.393646, acc = 16.155494,T = 0.007692, P = 0.004798 initial results: dx= 0.002894,dt = 0.006496, a_f = 15.965127, v_f = 0.497356 dt = 0.006496, not at end yet tc id = 203, canon_type = 2, mot type = 1 time: 7.837000 primary movement = 3.855682858739e-04 time: 7.837000000001e+00 total movement = 3.855682858739e-04 vel = 3.936460330847e-01 ------------------- tc state : vr = 3.662701, vf = 0.497356, maxvel = 8.975239, current_vel = 0.409802, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.409802, acc = 16.155494,T = 0.007692, P = 0.005199 initial results: dx= 0.002492,dt = 0.005495, a_f = 15.934442, v_f = 0.497356 dt = 0.005495, not at end yet tc id = 203, canon_type = 2, mot type = 1 time: 7.838000 primary movement = 4.017237802953e-04 time: 7.838000000001e+00 total movement = 4.017237802953e-04 vel = 4.098015275061e-01 ------------------- tc state : vr = 3.662701, vf = 0.497356, maxvel = 8.975239, current_vel = 0.425957, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.425957, acc = 16.155494,T = 0.007692, P = 0.005617 initial results: dx= 0.002074,dt = 0.004493, a_f = 15.889911, v_f = 0.497356 dt = 0.004493, not at end yet tc id = 203, canon_type = 2, mot type = 1 time: 7.839000 primary movement = 4.178792747168e-04 time: 7.839000000001e+00 total movement = 4.178792747168e-04 vel = 4.259570219275e-01 ------------------- tc state : vr = 3.662701, vf = 0.497356, maxvel = 8.975239, current_vel = 0.442113, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.442113, acc = 16.155494,T = 0.007692, P = 0.006051 initial results: dx= 0.001640,dt = 0.003492, a_f = 15.819638, v_f = 0.497356 dt = 0.003492, not at end yet tc id = 203, canon_type = 2, mot type = 1 time: 7.840000 primary movement = 4.340347691382e-04 time: 7.840000000001e+00 total movement = 4.340347691382e-04 vel = 4.421125163489e-01 ------------------- tc state : vr = 3.662701, vf = 0.497356, maxvel = 8.975239, current_vel = 0.458268, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.458268, acc = 16.155494,T = 0.007692, P = 0.006502 initial results: dx= 0.001190,dt = 0.002491, a_f = 15.692598, v_f = 0.497356 dt = 0.002491, not at end yet tc id = 203, canon_type = 2, mot type = 1 time: 7.841000 primary movement = 4.501902635596e-04 time: 7.841000000001e+00 total movement = 4.501902635596e-04 vel = 4.582680107703e-01 ------------------- tc state : vr = 3.662701, vf = 0.497356, maxvel = 8.975239, current_vel = 0.474424, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.474424, acc = 16.155494,T = 0.007692, P = 0.006968 initial results: dx= 0.000724,dt = 0.001490, a_f = 15.394360, v_f = 0.497356 dt = 0.001490, not at end yet tc id = 203, canon_type = 2, mot type = 1 time: 7.842000 primary movement = 4.663457579809e-04 time: 7.842000000001e+00 total movement = 4.663457579809e-04 vel = 4.744235051917e-01 ------------------- tc state : vr = 3.662701, vf = 0.497356, maxvel = 8.975239, current_vel = 0.490579, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.490579, acc = 16.155494,T = 0.007692, P = 0.007450 initial results: dx= 0.000241,dt = 0.000489, a_f = 13.872512, v_f = 0.497356 actual v_f = 0.497356, a = 13.872512 split time is 0.000488529 tc id = 203, canon_type = 2, mot type = 1 time: 7.843000 primary movement = 4.825012524025e-04 time: 7.843000000001e+00 total movement = 4.825012524025e-04 vel = 4.905789996131e-01 ------------------- tc id 203 done Finishing split-cycle on id 204 tc state : vr = 0.497356, vf = 0.497356, maxvel = 0.497356, current_vel = 0.497356, fs = 1.000000, tc = 0.000511, term = 3 tc result: v = 0.497356, acc = 0.000000,T = 0.005955, P = 0.000254 initial results: dx= 0.005701,dt = 0.011462, a_f = 0.000000, v_f = 0.497356 dt = 0.011462, not at end yet secondary movement = 0.000254 tc id = 204, canon_type = 3, mot type = 2 time: 7.844000 primary movement = 2.413172538980e-04 time: 7.844000000001e+00 total movement = 4.956931436574e-04 vel = 4.973561178540e-01 Finished tc id 203 ------------------- Activate tc id = 204 target_vel = 0.497356 final_vel = 0.497356 length = 0.005955 tc state : vr = 0.497356, vf = 0.497356, maxvel = 0.497356, current_vel = 0.497356, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.497356, acc = 0.000000,T = 0.005955, P = 0.000752 initial results: dx= 0.005204,dt = 0.010462, a_f = 0.000000, v_f = 0.497356 dt = 0.010462, not at end yet tc id = 204, canon_type = 3, mot type = 2 time: 7.845000 primary movement = 4.972995707649e-04 time: 7.845000000001e+00 total movement = 4.972995707649e-04 vel = 4.973561178540e-01 ------------------- tc state : vr = 0.497356, vf = 0.497356, maxvel = 0.497356, current_vel = 0.497356, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.497356, acc = 0.000000,T = 0.005955, P = 0.001249 initial results: dx= 0.004706,dt = 0.009462, a_f = 0.000000, v_f = 0.497356 dt = 0.009462, not at end yet tc id = 204, canon_type = 3, mot type = 2 time: 7.846000 primary movement = 4.972995707650e-04 time: 7.846000000001e+00 total movement = 4.972995707650e-04 vel = 4.973561178540e-01 ------------------- tc state : vr = 0.497356, vf = 0.497356, maxvel = 0.497356, current_vel = 0.497356, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.497356, acc = 0.000000,T = 0.005955, P = 0.001746 initial results: dx= 0.004209,dt = 0.008462, a_f = 0.000000, v_f = 0.497356 dt = 0.008462, not at end yet tc id = 204, canon_type = 3, mot type = 2 time: 7.847000 primary movement = 4.972995707649e-04 time: 7.847000000001e+00 total movement = 4.972995707649e-04 vel = 4.973561178540e-01 ------------------- tc state : vr = 0.497356, vf = 0.497356, maxvel = 0.497356, current_vel = 0.497356, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.497356, acc = 0.000000,T = 0.005955, P = 0.002244 initial results: dx= 0.003711,dt = 0.007462, a_f = 0.000000, v_f = 0.497356 dt = 0.007462, not at end yet tc id = 204, canon_type = 3, mot type = 2 time: 7.848000 primary movement = 4.972995707649e-04 time: 7.848000000001e+00 total movement = 4.972995707649e-04 vel = 4.973561178540e-01 ------------------- tc state : vr = 0.497356, vf = 0.497356, maxvel = 0.497356, current_vel = 0.497356, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.497356, acc = 0.000000,T = 0.005955, P = 0.002741 initial results: dx= 0.003214,dt = 0.006462, a_f = 0.000000, v_f = 0.497356 dt = 0.006462, not at end yet tc id = 204, canon_type = 3, mot type = 2 time: 7.849000 primary movement = 4.972995707650e-04 time: 7.849000000001e+00 total movement = 4.972995707650e-04 vel = 4.973561178540e-01 ------------------- tc state : vr = 0.497356, vf = 0.497356, maxvel = 0.497356, current_vel = 0.497356, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.497356, acc = 0.000000,T = 0.005955, P = 0.003239 initial results: dx= 0.002717,dt = 0.005462, a_f = 0.000000, v_f = 0.497356 dt = 0.005462, not at end yet tc id = 204, canon_type = 3, mot type = 2 time: 7.850000 primary movement = 4.972995707650e-04 time: 7.850000000001e+00 total movement = 4.972995707650e-04 vel = 4.973561178540e-01 ------------------- tc state : vr = 0.497356, vf = 0.497356, maxvel = 0.497356, current_vel = 0.497356, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.497356, acc = 0.000000,T = 0.005955, P = 0.003736 initial results: dx= 0.002219,dt = 0.004462, a_f = 0.000000, v_f = 0.497356 dt = 0.004462, not at end yet tc id = 204, canon_type = 3, mot type = 2 time: 7.851000 primary movement = 4.972995707649e-04 time: 7.851000000001e+00 total movement = 4.972995707649e-04 vel = 4.973561178540e-01 ------------------- tc state : vr = 0.497356, vf = 0.497356, maxvel = 0.497356, current_vel = 0.497356, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.497356, acc = 0.000000,T = 0.005955, P = 0.004233 initial results: dx= 0.001722,dt = 0.003462, a_f = 0.000000, v_f = 0.497356 dt = 0.003462, not at end yet tc id = 204, canon_type = 3, mot type = 2 time: 7.852000 primary movement = 4.972995707650e-04 time: 7.852000000001e+00 total movement = 4.972995707650e-04 vel = 4.973561178540e-01 ------------------- tc state : vr = 0.497356, vf = 0.497356, maxvel = 0.497356, current_vel = 0.497356, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.497356, acc = 0.000000,T = 0.005955, P = 0.004731 initial results: dx= 0.001225,dt = 0.002462, a_f = 0.000000, v_f = 0.497356 dt = 0.002462, not at end yet tc id = 204, canon_type = 3, mot type = 2 time: 7.853000 primary movement = 4.972995707649e-04 time: 7.853000000001e+00 total movement = 4.972995707649e-04 vel = 4.973561178540e-01 ------------------- tc state : vr = 0.497356, vf = 0.497356, maxvel = 0.497356, current_vel = 0.497356, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.497356, acc = 0.000000,T = 0.005955, P = 0.005228 initial results: dx= 0.000727,dt = 0.001462, a_f = 0.000000, v_f = 0.497356 dt = 0.001462, not at end yet tc id = 204, canon_type = 3, mot type = 2 time: 7.854000 primary movement = 4.972995707650e-04 time: 7.854000000001e+00 total movement = 4.972995707650e-04 vel = 4.973561178540e-01 ------------------- tc state : vr = 0.497356, vf = 0.497356, maxvel = 0.497356, current_vel = 0.497356, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.497356, acc = 0.000000,T = 0.005955, P = 0.005725 initial results: dx= 0.000230,dt = 0.000462, a_f = 0.000000, v_f = 0.497356 actual v_f = 0.497356, a = 0.000000 split time is 0.000462342 tc id = 204, canon_type = 3, mot type = 2 time: 7.855000 primary movement = 4.972995707649e-04 time: 7.855000000001e+00 total movement = 4.972995707649e-04 vel = 4.973561178540e-01 ------------------- tc id 204 done Finishing split-cycle on id 204 tc state : vr = 1.736314, vf = 0.300272, maxvel = 8.589769, current_vel = 0.513982, fs = 1.000000, tc = 0.000538, term = 3 tc result: v = 0.513982, acc = 30.923292,T = 0.003646, P = 0.000272 initial results: dx= 0.003374,dt = 0.008288, a_f = -25.784676, v_f = 0.300272 dt = 0.008288, not at end yet secondary movement = 0.000272 tc id = 204, canon_type = 2, mot type = 1 time: 7.856000 primary movement = 2.299432724848e-04 time: 7.856000000001e+00 total movement = 5.018201138721e-04 vel = 5.139822584290e-01 Finished tc id 204 ------------------- Activate tc id = 204 target_vel = 1.736314 final_vel = 0.300272 length = 0.003646 tc state : vr = 1.736314, vf = 0.300272, maxvel = 8.589769, current_vel = 0.516706, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.516706, acc = 2.723474,T = 0.003646, P = 0.000787 initial results: dx= 0.002859,dt = 0.006999, a_f = -30.923292, v_f = 0.300272 recalculating with a_f = -30.923292, a = -30.923292 revised dt = 0.006999 dt = 0.006999, not at end yet tc id = 204, canon_type = 2, mot type = 1 time: 7.857000 primary movement = 5.153439954476e-04 time: 7.857000000001e+00 total movement = 5.153439954476e-04 vel = 5.167057324662e-01 ------------------- tc state : vr = 1.736314, vf = 0.300272, maxvel = 8.589769, current_vel = 0.485782, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.485782, acc = -30.923292,T = 0.003646, P = 0.001288 on final decel initial results: dx= 0.002358,dt = 0.005999, a_f = -30.923292, v_f = 0.300272 recalculating with a_f = -30.923292, a = -30.923292 revised dt = 0.005999 dt = 0.005999, not at end yet tc id = 204, canon_type = 2, mot type = 1 time: 7.858000 primary movement = 5.012440863701e-04 time: 7.858000000001e+00 total movement = 5.012440863701e-04 vel = 4.857824402740e-01 ------------------- tc state : vr = 1.736314, vf = 0.300272, maxvel = 8.589769, current_vel = 0.454859, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.454859, acc = -30.923292,T = 0.003646, P = 0.001759 on final decel initial results: dx= 0.001887,dt = 0.004999, a_f = -30.923292, v_f = 0.300272 recalculating with a_f = -30.923292, a = -30.923292 revised dt = 0.004999 dt = 0.004999, not at end yet tc id = 204, canon_type = 2, mot type = 1 time: 7.859000 primary movement = 4.703207941780e-04 time: 7.859000000001e+00 total movement = 4.703207941780e-04 vel = 4.548591480819e-01 ------------------- tc state : vr = 1.736314, vf = 0.300272, maxvel = 8.589769, current_vel = 0.423936, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.423936, acc = -30.923292,T = 0.003646, P = 0.002198 on final decel initial results: dx= 0.001448,dt = 0.003999, a_f = -30.923292, v_f = 0.300272 recalculating with a_f = -30.923292, a = -30.923292 revised dt = 0.003999 dt = 0.003999, not at end yet tc id = 204, canon_type = 2, mot type = 1 time: 7.860000 primary movement = 4.393975019859e-04 time: 7.860000000001e+00 total movement = 4.393975019859e-04 vel = 4.239358558898e-01 ------------------- tc state : vr = 1.736314, vf = 0.300272, maxvel = 8.589769, current_vel = 0.393013, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.393013, acc = -30.923292,T = 0.003646, P = 0.002607 on final decel initial results: dx= 0.001040,dt = 0.002999, a_f = -30.923292, v_f = 0.300272 recalculating with a_f = -30.923292, a = -30.923292 revised dt = 0.002999 dt = 0.002999, not at end yet tc id = 204, canon_type = 2, mot type = 1 time: 7.861000 primary movement = 4.084742097937e-04 time: 7.861000000001e+00 total movement = 4.084742097937e-04 vel = 3.930125636976e-01 ------------------- tc state : vr = 1.736314, vf = 0.300272, maxvel = 8.589769, current_vel = 0.362089, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.362089, acc = -30.923292,T = 0.003646, P = 0.002984 on final decel initial results: dx= 0.000662,dt = 0.001999, a_f = -30.923292, v_f = 0.300272 recalculating with a_f = -30.923292, a = -30.923292 revised dt = 0.001999 dt = 0.001999, not at end yet tc id = 204, canon_type = 2, mot type = 1 time: 7.862000 primary movement = 3.775509176015e-04 time: 7.862000000001e+00 total movement = 3.775509176015e-04 vel = 3.620892715055e-01 ------------------- tc state : vr = 1.736314, vf = 0.300272, maxvel = 8.589769, current_vel = 0.331166, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.331166, acc = -30.923292,T = 0.003646, P = 0.003331 on final decel initial results: dx= 0.000315,dt = 0.000999, a_f = -30.923292, v_f = 0.300272 recalculating with a_f = -30.923292, a = -30.923292 revised dt = 0.000999 actual v_f = 0.300272, a = -30.923292 split time is 0.000999065 tc id = 204, canon_type = 2, mot type = 1 time: 7.863000 primary movement = 3.466276254094e-04 time: 7.863000000001e+00 total movement = 3.466276254094e-04 vel = 3.311659793134e-01 ------------------- tc id 204 done Finishing split-cycle on id 205 tc state : vr = 0.451919, vf = 0.000000, maxvel = 0.451919, current_vel = 0.300258, fs = 1.000000, tc = 0.000001, term = 3 tc result: v = 0.300258, acc = -15.000000,T = 0.003005, P = 0.000000 on final decel initial results: dx= 0.003005,dt = 0.020017, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.020017 dt = 0.020017, not at end yet secondary movement = 0.000000 tc id = 205, canon_type = 3, mot type = 2 time: 7.864000 primary movement = 3.154236366897e-04 time: 7.864000000001e+00 total movement = 3.157043401754e-04 vel = 3.002575730713e-01 Finished tc id 204 ------------------- Activate tc id = 205 target_vel = 0.451919 final_vel = 0.000000 length = 0.003005 tc state : vr = 0.451919, vf = 0.000000, maxvel = 0.451919, current_vel = 0.285258, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.285258, acc = -15.000000,T = 0.003005, P = 0.000293 on final decel initial results: dx= 0.002712,dt = 0.019017, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.019017 dt = 0.019017, not at end yet tc id = 205, canon_type = 3, mot type = 2 time: 7.865000 primary movement = 2.927406543776e-04 time: 7.865000000001e+00 total movement = 2.927406543776e-04 vel = 2.852575730713e-01 ------------------- tc state : vr = 0.451919, vf = 0.000000, maxvel = 0.451919, current_vel = 0.270258, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.270258, acc = -15.000000,T = 0.003005, P = 0.000571 on final decel initial results: dx= 0.002435,dt = 0.018017, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.018017 dt = 0.018017, not at end yet tc id = 205, canon_type = 3, mot type = 2 time: 7.866000 primary movement = 2.777431239681e-04 time: 7.866000000001e+00 total movement = 2.777431239681e-04 vel = 2.702575730713e-01 ------------------- tc state : vr = 0.451919, vf = 0.000000, maxvel = 0.451919, current_vel = 0.255258, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.255258, acc = -15.000000,T = 0.003005, P = 0.000834 on final decel initial results: dx= 0.002172,dt = 0.017017, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.017017 dt = 0.017017, not at end yet tc id = 205, canon_type = 3, mot type = 2 time: 7.867000 primary movement = 2.627453407297e-04 time: 7.867000000001e+00 total movement = 2.627453407297e-04 vel = 2.552575730713e-01 ------------------- tc state : vr = 0.451919, vf = 0.000000, maxvel = 0.451919, current_vel = 0.240258, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.240258, acc = -15.000000,T = 0.003005, P = 0.001081 on final decel initial results: dx= 0.001924,dt = 0.016017, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.016017 dt = 0.016017, not at end yet tc id = 205, canon_type = 3, mot type = 2 time: 7.868000 primary movement = 2.477473183145e-04 time: 7.868000000001e+00 total movement = 2.477473183145e-04 vel = 2.402575730713e-01 ------------------- tc state : vr = 0.451919, vf = 0.000000, maxvel = 0.451919, current_vel = 0.225258, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.225258, acc = -15.000000,T = 0.003005, P = 0.001314 on final decel initial results: dx= 0.001691,dt = 0.015017, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.015017 dt = 0.015017, not at end yet tc id = 205, canon_type = 3, mot type = 2 time: 7.869000 primary movement = 2.327490703755e-04 time: 7.869000000001e+00 total movement = 2.327490703755e-04 vel = 2.252575730713e-01 ------------------- tc state : vr = 0.451919, vf = 0.000000, maxvel = 0.451919, current_vel = 0.210258, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.210258, acc = -15.000000,T = 0.003005, P = 0.001532 on final decel initial results: dx= 0.001474,dt = 0.014017, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.014017 dt = 0.014017, not at end yet tc id = 205, canon_type = 3, mot type = 2 time: 7.870000 primary movement = 2.177506105654e-04 time: 7.870000000001e+00 total movement = 2.177506105654e-04 vel = 2.102575730713e-01 ------------------- tc state : vr = 0.451919, vf = 0.000000, maxvel = 0.451919, current_vel = 0.195258, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.195258, acc = -15.000000,T = 0.003005, P = 0.001735 on final decel initial results: dx= 0.001271,dt = 0.013017, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.013017 dt = 0.013017, not at end yet tc id = 205, canon_type = 3, mot type = 2 time: 7.871000 primary movement = 2.027519525372e-04 time: 7.871000000001e+00 total movement = 2.027519525372e-04 vel = 1.952575730713e-01 ------------------- tc state : vr = 0.451919, vf = 0.000000, maxvel = 0.451919, current_vel = 0.180258, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.180258, acc = -15.000000,T = 0.003005, P = 0.001922 on final decel initial results: dx= 0.001083,dt = 0.012017, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.012017 dt = 0.012017, not at end yet tc id = 205, canon_type = 3, mot type = 2 time: 7.872000 primary movement = 1.877531099444e-04 time: 7.872000000001e+00 total movement = 1.877531099444e-04 vel = 1.802575730713e-01 ------------------- tc state : vr = 0.451919, vf = 0.000000, maxvel = 0.451919, current_vel = 0.165258, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.165258, acc = -15.000000,T = 0.003005, P = 0.002095 on final decel initial results: dx= 0.000910,dt = 0.011017, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.011017 dt = 0.011017, not at end yet tc id = 205, canon_type = 3, mot type = 2 time: 7.873000 primary movement = 1.727540964403e-04 time: 7.873000000001e+00 total movement = 1.727540964403e-04 vel = 1.652575730713e-01 ------------------- tc state : vr = 0.451919, vf = 0.000000, maxvel = 0.451919, current_vel = 0.150258, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.150258, acc = -15.000000,T = 0.003005, P = 0.002253 on final decel initial results: dx= 0.000753,dt = 0.010017, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.010017 dt = 0.010017, not at end yet tc id = 205, canon_type = 3, mot type = 2 time: 7.874000 primary movement = 1.577549256785e-04 time: 7.874000000001e+00 total movement = 1.577549256785e-04 vel = 1.502575730713e-01 ------------------- tc state : vr = 0.451919, vf = 0.000000, maxvel = 0.451919, current_vel = 0.135258, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.135258, acc = -15.000000,T = 0.003005, P = 0.002396 on final decel initial results: dx= 0.000610,dt = 0.009017, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.009017 dt = 0.009017, not at end yet tc id = 205, canon_type = 3, mot type = 2 time: 7.875000 primary movement = 1.427556113125e-04 time: 7.875000000001e+00 total movement = 1.427556113125e-04 vel = 1.352575730713e-01 ------------------- tc state : vr = 0.451919, vf = 0.000000, maxvel = 0.451919, current_vel = 0.120258, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.120258, acc = -15.000000,T = 0.003005, P = 0.002523 on final decel initial results: dx= 0.000482,dt = 0.008017, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.008017 dt = 0.008017, not at end yet tc id = 205, canon_type = 3, mot type = 2 time: 7.876000 primary movement = 1.277561669964e-04 time: 7.876000000001e+00 total movement = 1.277561669964e-04 vel = 1.202575730713e-01 ------------------- tc state : vr = 0.451919, vf = 0.000000, maxvel = 0.451919, current_vel = 0.105258, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.105258, acc = -15.000000,T = 0.003005, P = 0.002636 on final decel initial results: dx= 0.000369,dt = 0.007017, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.007017 dt = 0.007017, not at end yet tc id = 205, canon_type = 3, mot type = 2 time: 7.877000 primary movement = 1.127566063841e-04 time: 7.877000000001e+00 total movement = 1.127566063841e-04 vel = 1.052575730713e-01 ------------------- tc state : vr = 0.451919, vf = 0.000000, maxvel = 0.451919, current_vel = 0.090258, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.090258, acc = -15.000000,T = 0.003005, P = 0.002734 on final decel initial results: dx= 0.000272,dt = 0.006017, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.006017 dt = 0.006017, not at end yet tc id = 205, canon_type = 3, mot type = 2 time: 7.878000 primary movement = 9.775694312971e-05 time: 7.878000000001e+00 total movement = 9.775694312971e-05 vel = 9.025757307134e-02 ------------------- tc state : vr = 0.451919, vf = 0.000000, maxvel = 0.451919, current_vel = 0.075258, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.075258, acc = -15.000000,T = 0.003005, P = 0.002817 on final decel initial results: dx= 0.000189,dt = 0.005017, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.005017 dt = 0.005017, not at end yet tc id = 205, canon_type = 3, mot type = 2 time: 7.879000 primary movement = 8.275719088729e-05 time: 7.879000000001e+00 total movement = 8.275719088729e-05 vel = 7.525757307134e-02 ------------------- tc state : vr = 0.451919, vf = 0.000000, maxvel = 0.451919, current_vel = 0.060258, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.060258, acc = -15.000000,T = 0.003005, P = 0.002884 on final decel initial results: dx= 0.000121,dt = 0.004017, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.004017 dt = 0.004017, not at end yet tc id = 205, canon_type = 3, mot type = 2 time: 7.880000 primary movement = 6.775736331109e-05 time: 7.880000000001e+00 total movement = 6.775736331109e-05 vel = 6.025757307134e-02 ------------------- tc state : vr = 0.451919, vf = 0.000000, maxvel = 0.451919, current_vel = 0.045258, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.045258, acc = -15.000000,T = 0.003005, P = 0.002937 on final decel initial results: dx= 0.000068,dt = 0.003017, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.003017 dt = 0.003017, not at end yet tc id = 205, canon_type = 3, mot type = 2 time: 7.881000 primary movement = 5.275747405566e-05 time: 7.881000000001e+00 total movement = 5.275747405566e-05 vel = 4.525757307134e-02 ------------------- tc state : vr = 0.451919, vf = 0.000000, maxvel = 0.451919, current_vel = 0.030258, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.030258, acc = -15.000000,T = 0.003005, P = 0.002975 on final decel initial results: dx= 0.000031,dt = 0.002017, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.002017 dt = 0.002017, not at end yet tc id = 205, canon_type = 3, mot type = 2 time: 7.882000 primary movement = 3.775753677505e-05 time: 7.882000000001e+00 total movement = 3.775753677505e-05 vel = 3.025757307134e-02 ------------------- tc state : vr = 0.451919, vf = 0.000000, maxvel = 0.451919, current_vel = 0.015258, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.015258, acc = -15.000000,T = 0.003005, P = 0.002998 on final decel initial results: dx= 0.000008,dt = 0.001017, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.001017 dt = 0.001017, not at end yet tc id = 205, canon_type = 3, mot type = 2 time: 7.883000 primary movement = 2.275756512390e-05 time: 7.883000000001e+00 total movement = 2.275756512390e-05 vel = 1.525757307134e-02 ------------------- tc state : vr = 0.451919, vf = 0.000000, maxvel = 0.451919, current_vel = 0.000258, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.000258, acc = -15.000000,T = 0.003005, P = 0.003005 on final decel initial results: dx= 0.000000,dt = 0.000017, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.000017 actual v_f = 0.000000, a = -15.000000 split time is 1.71711e-05 tc id = 205, canon_type = 3, mot type = 2 time: 7.884000 primary movement = 7.757572756523e-06 time: 7.884000000001e+00 total movement = 7.757572756523e-06 vel = 2.575730713396e-04 ------------------- tc id 205 done Finishing split-cycle on id 205 tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.018209, fs = 1.000000, tc = 0.000983, term = 2 tc result: v = 0.018209, acc = 18.527429,T = 0.003419, P = 0.000009 secondary movement = 0.000009 tc id = 205, canon_type = 2, mot type = 1 time: 7.885000 primary movement = 2.211462939635e-09 time: 7.885000000001e+00 total movement = 8.950527184843e-06 vel = 1.820929894987e-02 Finished tc id 205 ------------------- Activate tc id = 205 target_vel = 10.292975 final_vel = 0.000000 length = 0.003419 Activate nexttc id 206 tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.036737, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.036737, acc = 18.527429,T = 0.003419, P = 0.000036 tc id = 205, canon_type = 2, mot type = 1 time: 7.886000 primary movement = 2.747301344515e-05 time: 7.886000000001e+00 total movement = 2.747301344515e-05 vel = 3.673672794042e-02 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.055264, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.055264, acc = 18.527429,T = 0.003419, P = 0.000082 tc id = 205, canon_type = 2, mot type = 1 time: 7.887000 primary movement = 4.600044243571e-05 time: 7.887000000001e+00 total movement = 4.600044243571e-05 vel = 5.526415693097e-02 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.073792, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.073792, acc = 18.527429,T = 0.003419, P = 0.000147 tc id = 205, canon_type = 2, mot type = 1 time: 7.888000 primary movement = 6.452787142625e-05 time: 7.888000000001e+00 total movement = 6.452787142625e-05 vel = 7.379158592153e-02 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.092319, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.092319, acc = 18.527429,T = 0.003419, P = 0.000230 tc id = 205, canon_type = 2, mot type = 1 time: 7.889000 primary movement = 8.305530041679e-05 time: 7.889000000001e+00 total movement = 8.305530041679e-05 vel = 9.231901491208e-02 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.110846, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.110846, acc = 18.527429,T = 0.003419, P = 0.000332 tc id = 205, canon_type = 2, mot type = 1 time: 7.890000 primary movement = 1.015827294074e-04 time: 7.890000000001e+00 total movement = 1.015827294074e-04 vel = 1.108464439026e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.129374, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.129374, acc = 18.527429,T = 0.003419, P = 0.000452 tc id = 205, canon_type = 2, mot type = 1 time: 7.891000 primary movement = 1.201101583979e-04 time: 7.891000000001e+00 total movement = 1.201101583979e-04 vel = 1.293738728932e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.147901, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.147901, acc = 18.527429,T = 0.003419, P = 0.000590 tc id = 205, canon_type = 2, mot type = 1 time: 7.892000 primary movement = 1.386375873884e-04 time: 7.892000000001e+00 total movement = 1.386375873884e-04 vel = 1.479013018837e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.166429, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.166429, acc = 18.527429,T = 0.003419, P = 0.000748 tc id = 205, canon_type = 2, mot type = 1 time: 7.893000 primary movement = 1.571650163790e-04 time: 7.893000000001e+00 total movement = 1.571650163790e-04 vel = 1.664287308743e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.184956, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.184956, acc = 18.527429,T = 0.003419, P = 0.000923 tc id = 205, canon_type = 2, mot type = 1 time: 7.894000 primary movement = 1.756924453696e-04 time: 7.894000000001e+00 total movement = 1.756924453696e-04 vel = 1.849561598648e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.203484, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.203484, acc = 18.527429,T = 0.003419, P = 0.001117 tc id = 205, canon_type = 2, mot type = 1 time: 7.895000 primary movement = 1.942198743601e-04 time: 7.895000000001e+00 total movement = 1.942198743601e-04 vel = 2.034835888554e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.222011, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.222011, acc = 18.527429,T = 0.003419, P = 0.001330 tc id = 205, canon_type = 2, mot type = 1 time: 7.896000 primary movement = 2.127473033507e-04 time: 7.896000000001e+00 total movement = 2.127473033507e-04 vel = 2.220110178460e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.240538, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.240538, acc = 18.527429,T = 0.003419, P = 0.001561 tc id = 205, canon_type = 2, mot type = 1 time: 7.897000 primary movement = 2.312747323412e-04 time: 7.897000000001e+00 total movement = 2.312747323412e-04 vel = 2.405384468365e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.244654, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.244654, acc = 4.115512,T = 0.003419, P = 0.001804 tc id = 205, canon_type = 2, mot type = 1 time: 7.898000 primary movement = 2.425962029241e-04 time: 7.898000000001e+00 total movement = 2.425962029241e-04 vel = 2.446539590118e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.226127, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.226127, acc = -18.527429,T = 0.003419, P = 0.002039 on final decel tc id = 205, canon_type = 2, mot type = 1 tc state : vr = 0.018527, vf = 0.018527, maxvel = 8.762357, current_vel = 0.015772, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.015772, acc = 15.772306,T = 0.012180, P = 0.000008 initial results: dx= 0.012172,dt = 0.085833, a_f = 2.936940, v_f = 0.267859 dt = 0.085833, not at end yet tc id = 205, canon_type = 2, mot type = 1 secondary movement = 0.000008 time: 7.899000 primary movement = 2.353902445165e-04 time: 7.899000000001e+00 total movement = 2.432763973334e-04 vel = 2.418988356548e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.207599, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.207599, acc = -18.527429,T = 0.003419, P = 0.002256 on final decel tc id = 205, canon_type = 2, mot type = 1 tc state : vr = 0.037055, vf = 0.037055, maxvel = 8.762357, current_vel = 0.031545, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.031545, acc = 15.772306,T = 0.012180, P = 0.000032 initial results: dx= 0.012149,dt = 0.081153, a_f = 2.911944, v_f = 0.267859 dt = 0.081153, not at end yet tc id = 205, canon_type = 2, mot type = 1 secondary movement = 0.000024 time: 7.900000 primary movement = 2.168628155260e-04 time: 7.900000000001e+00 total movement = 2.405212739763e-04 vel = 2.391437122979e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.189072, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.189072, acc = -18.527429,T = 0.003419, P = 0.002455 on final decel tc id = 205, canon_type = 2, mot type = 1 tc state : vr = 0.055582, vf = 0.055582, maxvel = 8.762357, current_vel = 0.047317, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.047317, acc = 15.772306,T = 0.012180, P = 0.000071 initial results: dx= 0.012109,dt = 0.076842, a_f = 2.870068, v_f = 0.267859 dt = 0.076842, not at end yet tc id = 205, canon_type = 2, mot type = 1 secondary movement = 0.000039 time: 7.901000 primary movement = 1.983353865353e-04 time: 7.901000000001e+00 total movement = 2.377661506194e-04 vel = 2.363885889409e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.170544, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.170544, acc = -18.527429,T = 0.003419, P = 0.002634 on final decel tc id = 205, canon_type = 2, mot type = 1 tc state : vr = 0.074110, vf = 0.074110, maxvel = 8.762357, current_vel = 0.063089, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.063089, acc = 15.772306,T = 0.012180, P = 0.000126 initial results: dx= 0.012054,dt = 0.072846, a_f = 2.810981, v_f = 0.267859 dt = 0.072846, not at end yet tc id = 205, canon_type = 2, mot type = 1 secondary movement = 0.000055 time: 7.902000 primary movement = 1.798079575449e-04 time: 7.902000000001e+00 total movement = 2.350110272625e-04 vel = 2.336334655840e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.152017, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.152017, acc = -18.527429,T = 0.003419, P = 0.002796 on final decel tc id = 205, canon_type = 2, mot type = 1 tc state : vr = 0.092637, vf = 0.092637, maxvel = 8.762357, current_vel = 0.078862, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.078862, acc = 15.772306,T = 0.012180, P = 0.000197 initial results: dx= 0.011983,dt = 0.069123, a_f = 2.734213, v_f = 0.267859 dt = 0.069123, not at end yet tc id = 205, canon_type = 2, mot type = 1 secondary movement = 0.000071 time: 7.903000 primary movement = 1.612805285542e-04 time: 7.903000000001e+00 total movement = 2.322559039055e-04 vel = 2.308783422271e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.133489, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.133489, acc = -18.527429,T = 0.003419, P = 0.002938 on final decel tc id = 205, canon_type = 2, mot type = 1 tc state : vr = 0.111165, vf = 0.111165, maxvel = 8.762357, current_vel = 0.094634, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.094634, acc = 15.772306,T = 0.012180, P = 0.000284 initial results: dx= 0.011896,dt = 0.065637, a_f = 2.639140, v_f = 0.267859 dt = 0.065637, not at end yet tc id = 205, canon_type = 2, mot type = 1 secondary movement = 0.000087 time: 7.904000 primary movement = 1.427530995637e-04 time: 7.904000000001e+00 total movement = 2.295007805486e-04 vel = 2.281232188701e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.114962, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.114962, acc = -18.527429,T = 0.003419, P = 0.003063 on final decel tc id = 205, canon_type = 2, mot type = 1 tc state : vr = 0.129692, vf = 0.129692, maxvel = 8.762357, current_vel = 0.110406, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.110406, acc = 15.772306,T = 0.012180, P = 0.000386 initial results: dx= 0.011794,dt = 0.062358, a_f = 2.524979, v_f = 0.267859 dt = 0.062358, not at end yet tc id = 205, canon_type = 2, mot type = 1 secondary movement = 0.000103 time: 7.905000 primary movement = 1.242256705732e-04 time: 7.905000000001e+00 total movement = 2.267456571917e-04 vel = 2.253680955132e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.096435, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.096435, acc = -18.527429,T = 0.003419, P = 0.003168 on final decel tc id = 205, canon_type = 2, mot type = 1 tc state : vr = 0.148219, vf = 0.148219, maxvel = 8.762357, current_vel = 0.126178, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.126178, acc = 15.772306,T = 0.012180, P = 0.000505 initial results: dx= 0.011676,dt = 0.059262, a_f = 2.390763, v_f = 0.267859 dt = 0.059262, not at end yet tc id = 206, canon_type = 2, mot type = 1 secondary movement = 0.000118 time: 7.906000 primary movement = 1.056982415826e-04 time: 7.906000000001e+00 total movement = 2.239905338348e-04 vel = 2.226129721562e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.077907, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.077907, acc = -18.527429,T = 0.003419, P = 0.003256 on final decel tc id = 205, canon_type = 2, mot type = 1 tc state : vr = 0.166747, vf = 0.166747, maxvel = 8.762357, current_vel = 0.141951, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.141951, acc = 15.772306,T = 0.012180, P = 0.000639 initial results: dx= 0.011542,dt = 0.056327, a_f = 2.235325, v_f = 0.267859 dt = 0.056327, not at end yet tc id = 206, canon_type = 2, mot type = 1 secondary movement = 0.000134 time: 7.907000 primary movement = 8.717081259199e-05 time: 7.907000000001e+00 total movement = 2.212354104776e-04 vel = 2.198578487993e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.059380, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.059380, acc = -18.527429,T = 0.003419, P = 0.003324 on final decel tc id = 205, canon_type = 2, mot type = 1 tc state : vr = 0.185274, vf = 0.185274, maxvel = 8.762357, current_vel = 0.157723, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.157723, acc = 15.772306,T = 0.012180, P = 0.000789 initial results: dx= 0.011392,dt = 0.053535, a_f = 2.057272, v_f = 0.267859 dt = 0.053535, not at end yet tc id = 206, canon_type = 2, mot type = 1 secondary movement = 0.000150 time: 7.908000 primary movement = 6.864338360153e-05 time: 7.908000000001e+00 total movement = 2.184802871209e-04 vel = 2.171027254423e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.040852, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.040852, acc = -18.527429,T = 0.003419, P = 0.003374 on final decel tc id = 205, canon_type = 2, mot type = 1 tc state : vr = 0.203802, vf = 0.203802, maxvel = 8.762357, current_vel = 0.173495, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.173495, acc = 15.772306,T = 0.012180, P = 0.000954 initial results: dx= 0.011226,dt = 0.050871, a_f = 1.854946, v_f = 0.267859 dt = 0.050871, not at end yet tc id = 206, canon_type = 2, mot type = 1 secondary movement = 0.000166 time: 7.909000 primary movement = 5.011595461100e-05 time: 7.909000000001e+00 total movement = 2.157251637638e-04 vel = 2.143476020854e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.022325, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.022325, acc = -18.527429,T = 0.003419, P = 0.003406 on final decel tc id = 205, canon_type = 2, mot type = 1 tc state : vr = 0.222329, vf = 0.222329, maxvel = 8.762357, current_vel = 0.189268, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.189268, acc = 15.772306,T = 0.012180, P = 0.001136 initial results: dx= 0.011045,dt = 0.048322, a_f = 1.626389, v_f = 0.267859 dt = 0.048322, not at end yet tc id = 206, canon_type = 2, mot type = 1 secondary movement = 0.000181 time: 7.910000 primary movement = 3.158852562036e-05 time: 7.910000000001e+00 total movement = 2.129700404069e-04 vel = 2.115924787284e-01 ------------------- tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.003797, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.003797, acc = -18.527429,T = 0.003419, P = 0.003419 on final decel tc id = 205, canon_type = 2, mot type = 1 tc state : vr = 0.240857, vf = 0.240857, maxvel = 8.762357, current_vel = 0.205040, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.205040, acc = 15.772306,T = 0.012180, P = 0.001333 initial results: dx= 0.010848,dt = 0.045877, a_f = 1.369288, v_f = 0.267859 dt = 0.045877, not at end yet tc id = 206, canon_type = 2, mot type = 1 secondary movement = 0.000197 time: 7.911000 primary movement = 1.306109662989e-05 time: 7.911000000001e+00 total movement = 2.102149170500e-04 vel = 2.088373553715e-01 ------------------- Found newvel = -0.003797, assuming segment is done segment 205 at target in runcycle tc state : vr = 10.292975, vf = 0.000000, maxvel = 10.292975, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.003419, P = 0.003419 tc id = 205, canon_type = 2, mot type = 1 tc state : vr = 0.244654, vf = 0.244654, maxvel = 8.762357, current_vel = 0.220812, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.220812, acc = 15.772306,T = 0.012180, P = 0.001546 initial results: dx= 0.010635,dt = 0.043525, a_f = 1.080913, v_f = 0.267859 dt = 0.043525, not at end yet tc id = 206, canon_type = 2, mot type = 1 secondary movement = 0.000213 time: 7.912000 primary movement = 3.891557507298e-07 time: 7.912000000001e+00 total movement = 2.133152818045e-04 vel = 2.208122788705e-01 Finished tc id 205 ------------------- tc state : vr = 5.800166, vf = 0.267859, maxvel = 8.762357, current_vel = 0.236585, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.236585, acc = 15.772306,T = 0.012180, P = 0.001774 initial results: dx= 0.010406,dt = 0.041257, a_f = 0.758031, v_f = 0.267859 dt = 0.041257, not at end yet tc id = 206, canon_type = 2, mot type = 1 time: 7.913000 primary movement = 2.286984316873e-04 time: 7.913000000001e+00 total movement = 2.286984316873e-04 vel = 2.365845845041e-01 ------------------- tc state : vr = 5.800166, vf = 0.267859, maxvel = 8.762357, current_vel = 0.252357, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.252357, acc = 15.772306,T = 0.012180, P = 0.002019 initial results: dx= 0.010161,dt = 0.039066, a_f = 0.396809, v_f = 0.267859 dt = 0.039066, not at end yet tc id = 206, canon_type = 2, mot type = 1 time: 7.914000 primary movement = 2.444707373210e-04 time: 7.914000000001e+00 total movement = 2.444707373210e-04 vel = 2.523568901378e-01 ------------------- tc state : vr = 5.800166, vf = 0.267859, maxvel = 8.762357, current_vel = 0.268129, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.268129, acc = 15.772306,T = 0.012180, P = 0.002279 initial results: dx= 0.009901,dt = 0.036946, a_f = -0.007318, v_f = 0.267859 dt = 0.036946, not at end yet tc id = 206, canon_type = 2, mot type = 1 time: 7.915000 primary movement = 2.602430429545e-04 time: 7.915000000001e+00 total movement = 2.602430429545e-04 vel = 2.681291957714e-01 ------------------- tc state : vr = 5.800166, vf = 0.267859, maxvel = 8.762357, current_vel = 0.283902, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.283902, acc = 15.772306,T = 0.012180, P = 0.002555 initial results: dx= 0.009625,dt = 0.034889, a_f = -0.459818, v_f = 0.267859 dt = 0.034889, not at end yet tc id = 206, canon_type = 2, mot type = 1 time: 7.916000 primary movement = 2.760153485882e-04 time: 7.916000000001e+00 total movement = 2.760153485882e-04 vel = 2.839015014050e-01 ------------------- tc state : vr = 5.800166, vf = 0.267859, maxvel = 8.762357, current_vel = 0.299674, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.299674, acc = 15.772306,T = 0.012180, P = 0.002847 initial results: dx= 0.009333,dt = 0.032891, a_f = -0.967276, v_f = 0.267859 dt = 0.032891, not at end yet tc id = 206, canon_type = 2, mot type = 1 time: 7.917000 primary movement = 2.917876542217e-04 time: 7.917000000001e+00 total movement = 2.917876542217e-04 vel = 2.996738070386e-01 ------------------- tc state : vr = 5.800166, vf = 0.267859, maxvel = 8.762357, current_vel = 0.315446, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.315446, acc = 15.772306,T = 0.012180, P = 0.003154 initial results: dx= 0.009026,dt = 0.030947, a_f = -1.537683, v_f = 0.267859 dt = 0.030947, not at end yet tc id = 206, canon_type = 2, mot type = 1 time: 7.918000 primary movement = 3.075599598554e-04 time: 7.918000000001e+00 total movement = 3.075599598554e-04 vel = 3.154461126722e-01 ------------------- tc state : vr = 5.800166, vf = 0.267859, maxvel = 8.762357, current_vel = 0.331218, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.331218, acc = 15.772306,T = 0.012180, P = 0.003478 initial results: dx= 0.008703,dt = 0.029053, a_f = -2.180813, v_f = 0.267859 dt = 0.029053, not at end yet tc id = 206, canon_type = 2, mot type = 1 time: 7.919000 primary movement = 3.233322654890e-04 time: 7.919000000001e+00 total movement = 3.233322654890e-04 vel = 3.312184183058e-01 ------------------- tc state : vr = 5.800166, vf = 0.267859, maxvel = 8.762357, current_vel = 0.346991, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.346991, acc = 15.772306,T = 0.012180, P = 0.003817 initial results: dx= 0.008363,dt = 0.027205, a_f = -2.908741, v_f = 0.267859 dt = 0.027205, not at end yet tc id = 206, canon_type = 2, mot type = 1 time: 7.920000 primary movement = 3.391045711226e-04 time: 7.920000000001e+00 total movement = 3.391045711226e-04 vel = 3.469907239394e-01 ------------------- tc state : vr = 5.800166, vf = 0.267859, maxvel = 8.762357, current_vel = 0.362763, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.362763, acc = 15.772306,T = 0.012180, P = 0.004172 initial results: dx= 0.008009,dt = 0.025399, a_f = -3.736538, v_f = 0.267859 dt = 0.025399, not at end yet tc id = 206, canon_type = 2, mot type = 1 time: 7.921000 primary movement = 3.548768767562e-04 time: 7.921000000001e+00 total movement = 3.548768767562e-04 vel = 3.627630295730e-01 ------------------- tc state : vr = 5.800166, vf = 0.267859, maxvel = 8.762357, current_vel = 0.378535, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.378535, acc = 15.772306,T = 0.012180, P = 0.004542 initial results: dx= 0.007638,dt = 0.023632, a_f = -4.683253, v_f = 0.267859 dt = 0.023632, not at end yet tc id = 206, canon_type = 2, mot type = 1 time: 7.922000 primary movement = 3.706491823898e-04 time: 7.922000000001e+00 total movement = 3.706491823898e-04 vel = 3.785353352066e-01 ------------------- tc state : vr = 5.800166, vf = 0.267859, maxvel = 8.762357, current_vel = 0.394308, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.394308, acc = 15.772306,T = 0.012180, P = 0.004929 initial results: dx= 0.007252,dt = 0.021902, a_f = -5.773298, v_f = 0.267859 dt = 0.021902, not at end yet tc id = 206, canon_type = 2, mot type = 1 time: 7.923000 primary movement = 3.864214880234e-04 time: 7.923000000001e+00 total movement = 3.864214880234e-04 vel = 3.943076408402e-01 ------------------- tc state : vr = 5.800166, vf = 0.267859, maxvel = 8.762357, current_vel = 0.410080, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.410080, acc = 15.772306,T = 0.012180, P = 0.005331 initial results: dx= 0.006849,dt = 0.020206, a_f = -7.038464, v_f = 0.267859 dt = 0.020206, not at end yet tc id = 206, canon_type = 2, mot type = 1 time: 7.924000 primary movement = 4.021937936571e-04 time: 7.924000000001e+00 total movement = 4.021937936571e-04 vel = 4.100799464739e-01 ------------------- tc state : vr = 5.800166, vf = 0.267859, maxvel = 8.762357, current_vel = 0.425852, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.425852, acc = 15.772306,T = 0.012180, P = 0.005749 initial results: dx= 0.006431,dt = 0.018542, a_f = -8.520911, v_f = 0.267859 dt = 0.018542, not at end yet tc id = 206, canon_type = 2, mot type = 1 time: 7.925000 primary movement = 4.179660992906e-04 time: 7.925000000001e+00 total movement = 4.179660992906e-04 vel = 4.258522521075e-01 ------------------- tc state : vr = 5.800166, vf = 0.267859, maxvel = 8.762357, current_vel = 0.441625, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.441625, acc = 15.772306,T = 0.012180, P = 0.006183 initial results: dx= 0.005998,dt = 0.016907, a_f = -10.277763, v_f = 0.267859 dt = 0.016907, not at end yet tc id = 206, canon_type = 2, mot type = 1 time: 7.926000 primary movement = 4.337384049243e-04 time: 7.926000000001e+00 total movement = 4.337384049243e-04 vel = 4.416245577411e-01 ------------------- tc state : vr = 5.800166, vf = 0.267859, maxvel = 8.762357, current_vel = 0.457397, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.457397, acc = 15.772306,T = 0.012180, P = 0.006632 initial results: dx= 0.005548,dt = 0.015300, a_f = -12.388359, v_f = 0.267859 dt = 0.015300, not at end yet tc id = 206, canon_type = 2, mot type = 1 time: 7.927000 primary movement = 4.495107105579e-04 time: 7.927000000001e+00 total movement = 4.495107105579e-04 vel = 4.573968633747e-01 ------------------- tc state : vr = 5.800166, vf = 0.267859, maxvel = 8.762357, current_vel = 0.473169, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.473169, acc = 15.772306,T = 0.012180, P = 0.007098 initial results: dx= 0.005083,dt = 0.013718, a_f = -14.966200, v_f = 0.267859 dt = 0.013718, not at end yet tc id = 206, canon_type = 2, mot type = 1 time: 7.928000 primary movement = 4.652830161915e-04 time: 7.928000000001e+00 total movement = 4.652830161915e-04 vel = 4.731691690083e-01 ------------------- tc state : vr = 5.800166, vf = 0.267859, maxvel = 8.762357, current_vel = 0.466121, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.466121, acc = -7.048099,T = 0.012180, P = 0.007567 on final decel initial results: dx= 0.004613,dt = 0.012570, a_f = -15.772306, v_f = 0.267859 dt = 0.012570, not at end yet tc id = 206, canon_type = 2, mot type = 1 time: 7.929000 primary movement = 4.696451193572e-04 time: 7.929000000001e+00 total movement = 4.696451193572e-04 vel = 4.661210697060e-01 ------------------- tc state : vr = 5.800166, vf = 0.267859, maxvel = 8.762357, current_vel = 0.450349, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.450349, acc = -15.772306,T = 0.012180, P = 0.008025 on final decel initial results: dx= 0.004155,dt = 0.011570, a_f = -15.772306, v_f = 0.267859 dt = 0.011570, not at end yet tc id = 206, canon_type = 2, mot type = 1 time: 7.930000 primary movement = 4.582349168892e-04 time: 7.930000000001e+00 total movement = 4.582349168892e-04 vel = 4.503487640724e-01 ------------------- tc state : vr = 5.800166, vf = 0.267859, maxvel = 8.762357, current_vel = 0.434576, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.434576, acc = -15.772306,T = 0.012180, P = 0.008468 on final decel initial results: dx= 0.003712,dt = 0.010570, a_f = -15.772306, v_f = 0.267859 recalculating with a_f = -15.772306, a = -15.772306 revised dt = 0.010570 dt = 0.010570, not at end yet tc id = 206, canon_type = 2, mot type = 1 time: 7.931000 primary movement = 4.424626112557e-04 time: 7.931000000001e+00 total movement = 4.424626112557e-04 vel = 4.345764584388e-01 ------------------- tc state : vr = 5.800166, vf = 0.267859, maxvel = 8.762357, current_vel = 0.418804, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.418804, acc = -15.772306,T = 0.012180, P = 0.008895 on final decel initial results: dx= 0.003286,dt = 0.009570, a_f = -15.772306, v_f = 0.267859 recalculating with a_f = -15.772306, a = -15.772306 revised dt = 0.009570 dt = 0.009570, not at end yet tc id = 206, canon_type = 2, mot type = 1 time: 7.932000 primary movement = 4.266903056220e-04 time: 7.932000000001e+00 total movement = 4.266903056220e-04 vel = 4.188041528052e-01 ------------------- tc state : vr = 5.800166, vf = 0.267859, maxvel = 8.762357, current_vel = 0.403032, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.403032, acc = -15.772306,T = 0.012180, P = 0.009305 on final decel initial results: dx= 0.002875,dt = 0.008570, a_f = -15.772306, v_f = 0.267859 recalculating with a_f = -15.772306, a = -15.772306 revised dt = 0.008570 dt = 0.008570, not at end yet tc id = 206, canon_type = 2, mot type = 1 time: 7.933000 primary movement = 4.109179999885e-04 time: 7.933000000001e+00 total movement = 4.109179999885e-04 vel = 4.030318471716e-01 ------------------- tc state : vr = 5.800166, vf = 0.267859, maxvel = 8.762357, current_vel = 0.387260, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.387260, acc = -15.772306,T = 0.012180, P = 0.009701 on final decel initial results: dx= 0.002480,dt = 0.007570, a_f = -15.772306, v_f = 0.267859 recalculating with a_f = -15.772306, a = -15.772306 revised dt = 0.007570 dt = 0.007570, not at end yet tc id = 206, canon_type = 2, mot type = 1 time: 7.934000 primary movement = 3.951456943548e-04 time: 7.934000000001e+00 total movement = 3.951456943548e-04 vel = 3.872595415380e-01 ------------------- tc state : vr = 5.800166, vf = 0.267859, maxvel = 8.762357, current_vel = 0.371487, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.371487, acc = -15.772306,T = 0.012180, P = 0.010080 on final decel initial results: dx= 0.002100,dt = 0.006570, a_f = -15.772306, v_f = 0.267859 recalculating with a_f = -15.772306, a = -15.772306 revised dt = 0.006570 dt = 0.006570, not at end yet tc id = 206, canon_type = 2, mot type = 1 time: 7.935000 primary movement = 3.793733887212e-04 time: 7.935000000001e+00 total movement = 3.793733887212e-04 vel = 3.714872359044e-01 ------------------- tc state : vr = 5.800166, vf = 0.267859, maxvel = 8.762357, current_vel = 0.355715, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.355715, acc = -15.772306,T = 0.012180, P = 0.010444 on final decel initial results: dx= 0.001737,dt = 0.005570, a_f = -15.772306, v_f = 0.267859 dt = 0.005570, not at end yet tc id = 206, canon_type = 2, mot type = 1 time: 7.936000 primary movement = 3.636010830876e-04 time: 7.936000000001e+00 total movement = 3.636010830876e-04 vel = 3.557149302708e-01 ------------------- tc state : vr = 5.800166, vf = 0.267859, maxvel = 8.762357, current_vel = 0.339943, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.339943, acc = -15.772306,T = 0.012180, P = 0.010791 on final decel initial results: dx= 0.001389,dt = 0.004570, a_f = -15.772306, v_f = 0.267859 dt = 0.004570, not at end yet tc id = 206, canon_type = 2, mot type = 1 time: 7.937000 primary movement = 3.478287774540e-04 time: 7.937000000001e+00 total movement = 3.478287774540e-04 vel = 3.399426246372e-01 ------------------- tc state : vr = 5.800166, vf = 0.267859, maxvel = 8.762357, current_vel = 0.324170, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.324170, acc = -15.772306,T = 0.012180, P = 0.011123 on final decel initial results: dx= 0.001057,dt = 0.003570, a_f = -15.772306, v_f = 0.267859 dt = 0.003570, not at end yet tc id = 206, canon_type = 2, mot type = 1 time: 7.938000 primary movement = 3.320564718204e-04 time: 7.938000000001e+00 total movement = 3.320564718204e-04 vel = 3.241703190035e-01 ------------------- tc state : vr = 5.800166, vf = 0.267859, maxvel = 8.762357, current_vel = 0.308398, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.308398, acc = -15.772306,T = 0.012180, P = 0.011440 on final decel initial results: dx= 0.000741,dt = 0.002570, a_f = -15.772306, v_f = 0.267859 recalculating with a_f = -15.772306, a = -15.772306 revised dt = 0.002570 dt = 0.002570, not at end yet tc id = 206, canon_type = 2, mot type = 1 time: 7.939000 primary movement = 3.162841661867e-04 time: 7.939000000001e+00 total movement = 3.162841661867e-04 vel = 3.083980133699e-01 ------------------- tc state : vr = 5.800166, vf = 0.267859, maxvel = 8.762357, current_vel = 0.292626, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.292626, acc = -15.772306,T = 0.012180, P = 0.011740 on final decel initial results: dx= 0.000440,dt = 0.001570, a_f = -15.772306, v_f = 0.267859 recalculating with a_f = -15.772306, a = -15.772306 revised dt = 0.001570 dt = 0.001570, not at end yet tc id = 206, canon_type = 2, mot type = 1 time: 7.940000 primary movement = 3.005118605532e-04 time: 7.940000000001e+00 total movement = 3.005118605532e-04 vel = 2.926257077363e-01 ------------------- tc state : vr = 5.800166, vf = 0.267859, maxvel = 8.762357, current_vel = 0.276853, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.276853, acc = -15.772306,T = 0.012180, P = 0.012025 on final decel initial results: dx= 0.000155,dt = 0.000570, a_f = -15.772306, v_f = 0.267859 recalculating with a_f = -15.772306, a = -15.772306 revised dt = 0.000570 actual v_f = 0.267859, a = -15.772306 split time is 0.000570277 tc id = 206, canon_type = 2, mot type = 1 time: 7.941000 primary movement = 2.847395549195e-04 time: 7.941000000001e+00 total movement = 2.847395549195e-04 vel = 2.768534021027e-01 ------------------- tc id 206 done Finishing split-cycle on id 207 tc state : vr = 0.267859, vf = 0.267859, maxvel = 0.267859, current_vel = 0.267859, fs = 1.000000, tc = 0.000430, term = 3 tc result: v = 0.267859, acc = -0.000000,T = 0.000868, P = 0.000115 initial results: dx= 0.000753,dt = 0.002810, a_f = 0.000000, v_f = 0.267859 dt = 0.002810, not at end yet secondary movement = 0.000115 tc id = 207, canon_type = 3, mot type = 2 time: 7.942000 primary movement = 1.553185286404e-04 time: 7.942000000001e+00 total movement = 2.704151864448e-04 vel = 2.678588128983e-01 Finished tc id 206 ------------------- Activate tc id = 207 target_vel = 0.267859 final_vel = 0.267859 length = 0.000868 tc state : vr = 0.267859, vf = 0.267859, maxvel = 0.267859, current_vel = 0.267859, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.267859, acc = 0.000000,T = 0.000868, P = 0.000383 initial results: dx= 0.000485,dt = 0.001810, a_f = 0.000000, v_f = 0.267859 dt = 0.001810, not at end yet tc id = 207, canon_type = 3, mot type = 2 time: 7.943000 primary movement = 2.677538259000e-04 time: 7.943000000001e+00 total movement = 2.677538259000e-04 vel = 2.678588128983e-01 ------------------- tc state : vr = 0.267859, vf = 0.267859, maxvel = 0.267859, current_vel = 0.267859, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.267859, acc = 0.000000,T = 0.000868, P = 0.000651 initial results: dx= 0.000217,dt = 0.000810, a_f = 0.000000, v_f = 0.267859 actual v_f = 0.267859, a = 0.000000 split time is 0.000809974 tc id = 207, canon_type = 3, mot type = 2 time: 7.944000 primary movement = 2.677538259001e-04 time: 7.944000000001e+00 total movement = 2.677538259001e-04 vel = 2.678588128983e-01 ------------------- tc id 207 done Finishing split-cycle on id 207 tc state : vr = 0.267859, vf = 0.224363, maxvel = 8.333300, current_vel = 0.267859, fs = 1.000000, tc = 0.000190, term = 3 tc result: v = 0.267859, acc = 0.000000,T = 0.000471, P = 0.000051 initial results: dx= 0.000420,dt = 0.001708, a_f = -25.471503, v_f = 0.224363 dt = 0.001708, not at end yet secondary movement = 0.000051 tc id = 207, canon_type = 2, mot type = 1 time: 7.945000 primary movement = 2.169028455093e-04 time: 7.945000000001e+00 total movement = 2.678030216479e-04 vel = 2.678588128983e-01 Finished tc id 207 ------------------- Activate tc id = 207 target_vel = 0.267859 final_vel = 0.224363 length = 0.000471 tc state : vr = 0.267859, vf = 0.224363, maxvel = 8.333300, current_vel = 0.245277, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.245277, acc = -22.582236,T = 0.000471, P = 0.000307 on final decel initial results: dx= 0.000164,dt = 0.000697, a_f = -30.000000, v_f = 0.224363 actual v_f = 0.224363, a = -30.000000 split time is 0.000697109 tc id = 207, canon_type = 2, mot type = 1 time: 7.946000 primary movement = 2.565676949071e-04 time: 7.946000000001e+00 total movement = 2.565676949071e-04 vel = 2.452765769160e-01 ------------------- tc id 207 done Finishing split-cycle on id 208 tc state : vr = 0.224363, vf = 0.224363, maxvel = 0.224363, current_vel = 0.224363, fs = 1.000000, tc = 0.000303, term = 3 tc result: v = 0.224363, acc = 0.000000,T = 0.001988, P = 0.000068 initial results: dx= 0.001920,dt = 0.008557, a_f = 0.000000, v_f = 0.224363 dt = 0.008557, not at end yet secondary movement = 0.000068 tc id = 208, canon_type = 3, mot type = 2 time: 7.947000 primary movement = 1.636950781718e-04 time: 7.947000000001e+00 total movement = 2.316492386406e-04 vel = 2.243633091512e-01 Finished tc id 207 ------------------- Activate tc id = 208 target_vel = 0.224363 final_vel = 0.224363 length = 0.001988 tc state : vr = 0.224363, vf = 0.224363, maxvel = 0.224363, current_vel = 0.224363, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.224363, acc = 0.000000,T = 0.001988, P = 0.000292 initial results: dx= 0.001695,dt = 0.007557, a_f = 0.000000, v_f = 0.224363 dt = 0.007557, not at end yet tc id = 208, canon_type = 3, mot type = 2 time: 7.948000 primary movement = 2.242379754399e-04 time: 7.948000000001e+00 total movement = 2.242379754399e-04 vel = 2.243633091512e-01 ------------------- tc state : vr = 0.224363, vf = 0.224363, maxvel = 0.224363, current_vel = 0.224363, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.224363, acc = 0.000000,T = 0.001988, P = 0.000517 initial results: dx= 0.001471,dt = 0.006557, a_f = 0.000000, v_f = 0.224363 dt = 0.006557, not at end yet tc id = 208, canon_type = 3, mot type = 2 time: 7.949000 primary movement = 2.242379754399e-04 time: 7.949000000001e+00 total movement = 2.242379754399e-04 vel = 2.243633091512e-01 ------------------- tc state : vr = 0.224363, vf = 0.224363, maxvel = 0.224363, current_vel = 0.224363, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.224363, acc = 0.000000,T = 0.001988, P = 0.000741 initial results: dx= 0.001247,dt = 0.005557, a_f = 0.000000, v_f = 0.224363 dt = 0.005557, not at end yet tc id = 208, canon_type = 3, mot type = 2 time: 7.950000 primary movement = 2.242379754398e-04 time: 7.950000000001e+00 total movement = 2.242379754398e-04 vel = 2.243633091512e-01 ------------------- tc state : vr = 0.224363, vf = 0.224363, maxvel = 0.224363, current_vel = 0.224363, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.224363, acc = 0.000000,T = 0.001988, P = 0.000965 initial results: dx= 0.001022,dt = 0.004557, a_f = 0.000000, v_f = 0.224363 dt = 0.004557, not at end yet tc id = 208, canon_type = 3, mot type = 2 time: 7.951000 primary movement = 2.242379754398e-04 time: 7.951000000001e+00 total movement = 2.242379754398e-04 vel = 2.243633091512e-01 ------------------- tc state : vr = 0.224363, vf = 0.224363, maxvel = 0.224363, current_vel = 0.224363, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.224363, acc = 0.000000,T = 0.001988, P = 0.001190 initial results: dx= 0.000798,dt = 0.003557, a_f = 0.000000, v_f = 0.224363 dt = 0.003557, not at end yet tc id = 208, canon_type = 3, mot type = 2 time: 7.952000 primary movement = 2.242379754399e-04 time: 7.952000000001e+00 total movement = 2.242379754399e-04 vel = 2.243633091512e-01 ------------------- tc state : vr = 0.224363, vf = 0.224363, maxvel = 0.224363, current_vel = 0.224363, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.224363, acc = 0.000000,T = 0.001988, P = 0.001414 initial results: dx= 0.000574,dt = 0.002557, a_f = 0.000000, v_f = 0.224363 dt = 0.002557, not at end yet tc id = 208, canon_type = 3, mot type = 2 time: 7.953000 primary movement = 2.242379754399e-04 time: 7.953000000001e+00 total movement = 2.242379754399e-04 vel = 2.243633091512e-01 ------------------- tc state : vr = 0.224363, vf = 0.224363, maxvel = 0.224363, current_vel = 0.224363, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.224363, acc = 0.000000,T = 0.001988, P = 0.001639 initial results: dx= 0.000349,dt = 0.001557, a_f = 0.000000, v_f = 0.224363 dt = 0.001557, not at end yet tc id = 208, canon_type = 3, mot type = 2 time: 7.954000 primary movement = 2.242379754399e-04 time: 7.954000000001e+00 total movement = 2.242379754399e-04 vel = 2.243633091512e-01 ------------------- tc state : vr = 0.224363, vf = 0.224363, maxvel = 0.224363, current_vel = 0.224363, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.224363, acc = 0.000000,T = 0.001988, P = 0.001863 initial results: dx= 0.000125,dt = 0.000557, a_f = 0.000000, v_f = 0.224363 actual v_f = 0.224363, a = 0.000000 split time is 0.000556802 tc id = 208, canon_type = 3, mot type = 2 time: 7.955000 primary movement = 2.242379754398e-04 time: 7.955000000001e+00 total movement = 2.242379754398e-04 vel = 2.243633091512e-01 ------------------- tc id 208 done Finishing split-cycle on id 208 tc state : vr = 0.281568, vf = 0.281568, maxvel = 9.744334, current_vel = 0.239911, fs = 1.000000, tc = 0.000443, term = 3 tc result: v = 0.239911, acc = 35.079603,T = 0.001336, P = 0.000103 initial results: dx= 0.001233,dt = 0.004731, a_f = 8.805972, v_f = 0.281568 dt = 0.004731, not at end yet secondary movement = 0.000103 tc id = 208, canon_type = 2, mot type = 1 time: 7.956000 primary movement = 1.249044099064e-04 time: 7.956000000001e+00 total movement = 2.277869094993e-04 vel = 2.399105018035e-01 Finished tc id 208 ------------------- Activate tc id = 208 target_vel = 0.281568 final_vel = 0.281568 length = 0.001336 tc state : vr = 0.281568, vf = 0.281568, maxvel = 9.744334, current_vel = 0.274990, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.274990, acc = 35.079603,T = 0.001336, P = 0.000360 initial results: dx= 0.000976,dt = 0.003507, a_f = 1.875492, v_f = 0.281568 dt = 0.003507, not at end yet tc id = 208, canon_type = 2, mot type = 1 time: 7.957000 primary movement = 2.574503030595e-04 time: 7.957000000001e+00 total movement = 2.574503030595e-04 vel = 2.749901043155e-01 ------------------- tc state : vr = 0.281568, vf = 0.281568, maxvel = 9.744334, current_vel = 0.281568, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.281568, acc = 6.577865,T = 0.001336, P = 0.000639 initial results: dx= 0.000698,dt = 0.002478, a_f = 0.000000, v_f = 0.281568 dt = 0.002478, not at end yet tc id = 208, canon_type = 2, mot type = 1 time: 7.958000 primary movement = 2.782790367365e-04 time: 7.958000000001e+00 total movement = 2.782790367365e-04 vel = 2.815679691574e-01 ------------------- tc state : vr = 0.281568, vf = 0.281568, maxvel = 9.744334, current_vel = 0.281568, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.281568, acc = 0.000000,T = 0.001336, P = 0.000920 initial results: dx= 0.000416,dt = 0.001478, a_f = 0.000000, v_f = 0.281568 dt = 0.001478, not at end yet tc id = 208, canon_type = 2, mot type = 1 time: 7.959000 primary movement = 2.815679691573e-04 time: 7.959000000001e+00 total movement = 2.815679691573e-04 vel = 2.815679691574e-01 ------------------- tc state : vr = 0.281568, vf = 0.281568, maxvel = 9.744334, current_vel = 0.281568, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.281568, acc = 0.000000,T = 0.001336, P = 0.001202 initial results: dx= 0.000135,dt = 0.000478, a_f = 0.000000, v_f = 0.281568 actual v_f = 0.281568, a = 0.000000 split time is 0.000477987 tc id = 208, canon_type = 2, mot type = 1 time: 7.960000 primary movement = 2.815679691573e-04 time: 7.960000000001e+00 total movement = 2.815679691573e-04 vel = 2.815679691574e-01 ------------------- tc id 208 done Finishing split-cycle on id 209 tc state : vr = 0.281568, vf = 0.000000, maxvel = 0.281568, current_vel = 0.275548, fs = 1.000000, tc = 0.000522, term = 3 tc result: v = 0.275548, acc = -11.532036,T = 0.002676, P = 0.000145 on final decel initial results: dx= 0.002531,dt = 0.018370, a_f = -15.000000, v_f = 0.000000 dt = 0.018370, not at end yet secondary movement = 0.000145 tc id = 209, canon_type = 3, mot type = 2 time: 7.961000 primary movement = 1.345858343575e-04 time: 7.961000000001e+00 total movement = 2.799829859244e-04 vel = 2.755480967246e-01 Finished tc id 208 ------------------- Activate tc id = 209 target_vel = 0.281568 final_vel = 0.000000 length = 0.002676 tc state : vr = 0.281568, vf = 0.000000, maxvel = 0.281568, current_vel = 0.260548, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.260548, acc = -15.000000,T = 0.002676, P = 0.000413 on final decel initial results: dx= 0.002263,dt = 0.017370, a_f = -15.000000, v_f = 0.000000 dt = 0.017370, not at end yet tc id = 209, canon_type = 3, mot type = 2 time: 7.962000 primary movement = 2.679619267762e-04 time: 7.962000000001e+00 total movement = 2.679619267762e-04 vel = 2.605480967246e-01 ------------------- tc state : vr = 0.281568, vf = 0.000000, maxvel = 0.281568, current_vel = 0.245548, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.245548, acc = -15.000000,T = 0.002676, P = 0.000667 on final decel initial results: dx= 0.002010,dt = 0.016370, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.016370 dt = 0.016370, not at end yet tc id = 209, canon_type = 3, mot type = 2 time: 7.963000 primary movement = 2.529755978222e-04 time: 7.963000000001e+00 total movement = 2.529755978222e-04 vel = 2.455480967246e-01 ------------------- tc state : vr = 0.281568, vf = 0.000000, maxvel = 0.281568, current_vel = 0.230548, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.230548, acc = -15.000000,T = 0.002676, P = 0.000905 on final decel initial results: dx= 0.001772,dt = 0.015370, a_f = -15.000000, v_f = 0.000000 dt = 0.015370, not at end yet tc id = 209, canon_type = 3, mot type = 2 time: 7.964000 primary movement = 2.379877406979e-04 time: 7.964000000001e+00 total movement = 2.379877406979e-04 vel = 2.305480967246e-01 ------------------- tc state : vr = 0.281568, vf = 0.000000, maxvel = 0.281568, current_vel = 0.215548, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.215548, acc = -15.000000,T = 0.002676, P = 0.001128 on final decel initial results: dx= 0.001549,dt = 0.014370, a_f = -15.000000, v_f = 0.000000 dt = 0.014370, not at end yet tc id = 209, canon_type = 3, mot type = 2 time: 7.965000 primary movement = 2.229984459420e-04 time: 7.965000000001e+00 total movement = 2.229984459420e-04 vel = 2.155480967246e-01 ------------------- tc state : vr = 0.281568, vf = 0.000000, maxvel = 0.281568, current_vel = 0.200548, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.200548, acc = -15.000000,T = 0.002676, P = 0.001336 on final decel initial results: dx= 0.001341,dt = 0.013370, a_f = -15.000000, v_f = 0.000000 dt = 0.013370, not at end yet tc id = 209, canon_type = 3, mot type = 2 time: 7.966000 primary movement = 2.080078041012e-04 time: 7.966000000001e+00 total movement = 2.080078041012e-04 vel = 2.005480967246e-01 ------------------- tc state : vr = 0.281568, vf = 0.000000, maxvel = 0.281568, current_vel = 0.185548, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.185548, acc = -15.000000,T = 0.002676, P = 0.001529 on final decel initial results: dx= 0.001148,dt = 0.012370, a_f = -15.000000, v_f = 0.000000 dt = 0.012370, not at end yet tc id = 209, canon_type = 3, mot type = 2 time: 7.967000 primary movement = 1.930159057309e-04 time: 7.967000000001e+00 total movement = 1.930159057309e-04 vel = 1.855480967246e-01 ------------------- tc state : vr = 0.281568, vf = 0.000000, maxvel = 0.281568, current_vel = 0.170548, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.170548, acc = -15.000000,T = 0.002676, P = 0.001707 on final decel initial results: dx= 0.000970,dt = 0.011370, a_f = -15.000000, v_f = 0.000000 dt = 0.011370, not at end yet tc id = 209, canon_type = 3, mot type = 2 time: 7.968000 primary movement = 1.780228413936e-04 time: 7.968000000001e+00 total movement = 1.780228413936e-04 vel = 1.705480967246e-01 ------------------- tc state : vr = 0.281568, vf = 0.000000, maxvel = 0.281568, current_vel = 0.155548, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.155548, acc = -15.000000,T = 0.002676, P = 0.001870 on final decel initial results: dx= 0.000807,dt = 0.010370, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.010370 dt = 0.010370, not at end yet tc id = 209, canon_type = 3, mot type = 2 time: 7.969000 primary movement = 1.630287016596e-04 time: 7.969000000001e+00 total movement = 1.630287016596e-04 vel = 1.555480967246e-01 ------------------- tc state : vr = 0.281568, vf = 0.000000, maxvel = 0.281568, current_vel = 0.140548, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.140548, acc = -15.000000,T = 0.002676, P = 0.002018 on final decel initial results: dx= 0.000658,dt = 0.009370, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.009370 dt = 0.009370, not at end yet tc id = 209, canon_type = 3, mot type = 2 time: 7.970000 primary movement = 1.480335771048e-04 time: 7.970000000001e+00 total movement = 1.480335771048e-04 vel = 1.405480967246e-01 ------------------- tc state : vr = 0.281568, vf = 0.000000, maxvel = 0.281568, current_vel = 0.125548, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.125548, acc = -15.000000,T = 0.002676, P = 0.002151 on final decel initial results: dx= 0.000525,dt = 0.008370, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.008370 dt = 0.008370, not at end yet tc id = 209, canon_type = 3, mot type = 2 time: 7.971000 primary movement = 1.330375583115e-04 time: 7.971000000001e+00 total movement = 1.330375583115e-04 vel = 1.255480967246e-01 ------------------- tc state : vr = 0.281568, vf = 0.000000, maxvel = 0.281568, current_vel = 0.110548, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.110548, acc = -15.000000,T = 0.002676, P = 0.002269 on final decel initial results: dx= 0.000407,dt = 0.007370, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.007370 dt = 0.007370, not at end yet tc id = 209, canon_type = 3, mot type = 2 time: 7.972000 primary movement = 1.180407358676e-04 time: 7.972000000001e+00 total movement = 1.180407358676e-04 vel = 1.105480967246e-01 ------------------- tc state : vr = 0.281568, vf = 0.000000, maxvel = 0.281568, current_vel = 0.095548, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.095548, acc = -15.000000,T = 0.002676, P = 0.002372 on final decel initial results: dx= 0.000304,dt = 0.006370, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.006370 dt = 0.006370, not at end yet tc id = 209, canon_type = 3, mot type = 2 time: 7.973000 primary movement = 1.030432003654e-04 time: 7.973000000001e+00 total movement = 1.030432003654e-04 vel = 9.554809672456e-02 ------------------- tc state : vr = 0.281568, vf = 0.000000, maxvel = 0.281568, current_vel = 0.080548, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.080548, acc = -15.000000,T = 0.002676, P = 0.002460 on final decel initial results: dx= 0.000216,dt = 0.005370, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.005370 dt = 0.005370, not at end yet tc id = 209, canon_type = 3, mot type = 2 time: 7.974000 primary movement = 8.804504240174e-05 time: 7.974000000001e+00 total movement = 8.804504240174e-05 vel = 8.054809672456e-02 ------------------- tc state : vr = 0.281568, vf = 0.000000, maxvel = 0.281568, current_vel = 0.065548, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.065548, acc = -15.000000,T = 0.002676, P = 0.002533 on final decel initial results: dx= 0.000143,dt = 0.004370, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.004370 dt = 0.004370, not at end yet tc id = 209, canon_type = 3, mot type = 2 time: 7.975000 primary movement = 7.304635257733e-05 time: 7.975000000001e+00 total movement = 7.304635257733e-05 vel = 6.554809672456e-02 ------------------- tc state : vr = 0.281568, vf = 0.000000, maxvel = 0.281568, current_vel = 0.050548, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.050548, acc = -15.000000,T = 0.002676, P = 0.002591 on final decel initial results: dx= 0.000085,dt = 0.003370, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.003370 dt = 0.003370, not at end yet tc id = 209, canon_type = 3, mot type = 2 time: 7.976000 primary movement = 5.804722149593e-05 time: 7.976000000001e+00 total movement = 5.804722149593e-05 vel = 5.054809672456e-02 ------------------- tc state : vr = 0.281568, vf = 0.000000, maxvel = 0.281568, current_vel = 0.035548, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.035548, acc = -15.000000,T = 0.002676, P = 0.002634 on final decel initial results: dx= 0.000042,dt = 0.002370, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.002370 dt = 0.002370, not at end yet tc id = 209, canon_type = 3, mot type = 2 time: 7.977000 primary movement = 4.304773976387e-05 time: 7.977000000001e+00 total movement = 4.304773976387e-05 vel = 3.554809672456e-02 ------------------- tc state : vr = 0.281568, vf = 0.000000, maxvel = 0.281568, current_vel = 0.020548, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.020548, acc = -15.000000,T = 0.002676, P = 0.002662 on final decel initial results: dx= 0.000014,dt = 0.001370, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.001370 dt = 0.001370, not at end yet tc id = 209, canon_type = 3, mot type = 2 time: 7.978000 primary movement = 2.804799798999e-05 time: 7.978000000001e+00 total movement = 2.804799798999e-05 vel = 2.054809672456e-02 ------------------- tc state : vr = 0.281568, vf = 0.000000, maxvel = 0.281568, current_vel = 0.005548, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.005548, acc = -15.000000,T = 0.002676, P = 0.002675 on final decel initial results: dx= 0.000001,dt = 0.000370, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.000370 actual v_f = 0.000000, a = -15.000000 split time is 0.000369873 tc id = 209, canon_type = 3, mot type = 2 time: 7.979000 primary movement = 1.304808678427e-05 time: 7.979000000001e+00 total movement = 1.304808678427e-05 vel = 5.548096724561e-03 ------------------- tc id 209 done Finishing split-cycle on id 209 tc state : vr = 8.426528, vf = 0.000000, maxvel = 8.426528, current_vel = 0.009558, fs = 1.000000, tc = 0.000630, term = 2 tc result: v = 0.009558, acc = 15.167811,T = 0.002614, P = 0.000003 secondary movement = 0.000003 tc id = 209, canon_type = 2, mot type = 1 time: 7.980000 primary movement = 1.026045903999e-06 time: 7.980000000001e+00 total movement = 4.037312778466e-06 vel = 9.557649058388e-03 Finished tc id 209 ------------------- Activate tc id = 209 target_vel = 8.426528 final_vel = 0.000000 length = 0.002614 Activate nexttc id 210 tc state : vr = 8.426528, vf = 0.000000, maxvel = 8.426528, current_vel = 0.024725, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.024725, acc = 15.167811,T = 0.002614, P = 0.000020 tc id = 209, canon_type = 2, mot type = 1 time: 7.981000 primary movement = 1.714155471443e-05 time: 7.981000000001e+00 total movement = 1.714155471443e-05 vel = 2.472546037051e-02 ------------------- tc state : vr = 8.426528, vf = 0.000000, maxvel = 8.426528, current_vel = 0.039893, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.039893, acc = 15.167811,T = 0.002614, P = 0.000052 tc id = 209, canon_type = 2, mot type = 1 time: 7.982000 primary movement = 3.230936602653e-05 time: 7.982000000001e+00 total movement = 3.230936602653e-05 vel = 3.989327168262e-02 ------------------- tc state : vr = 8.426528, vf = 0.000000, maxvel = 8.426528, current_vel = 0.055061, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.055061, acc = 15.167811,T = 0.002614, P = 0.000100 tc id = 209, canon_type = 2, mot type = 1 time: 7.983000 primary movement = 4.747717733864e-05 time: 7.983000000001e+00 total movement = 4.747717733864e-05 vel = 5.506108299474e-02 ------------------- tc state : vr = 8.426528, vf = 0.000000, maxvel = 8.426528, current_vel = 0.070229, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.070229, acc = 15.167811,T = 0.002614, P = 0.000163 tc id = 209, canon_type = 2, mot type = 1 time: 7.984000 primary movement = 6.264498865085e-05 time: 7.984000000001e+00 total movement = 6.264498865085e-05 vel = 7.022889430686e-02 ------------------- tc state : vr = 8.426528, vf = 0.000000, maxvel = 8.426528, current_vel = 0.085397, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.085397, acc = 15.167811,T = 0.002614, P = 0.000240 tc id = 209, canon_type = 2, mot type = 1 time: 7.985000 primary movement = 7.781279996285e-05 time: 7.985000000001e+00 total movement = 7.781279996285e-05 vel = 8.539670561898e-02 ------------------- tc state : vr = 8.426528, vf = 0.000000, maxvel = 8.426528, current_vel = 0.100565, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.100565, acc = 15.167811,T = 0.002614, P = 0.000333 tc id = 209, canon_type = 2, mot type = 1 time: 7.986000 primary movement = 9.298061127506e-05 time: 7.986000000001e+00 total movement = 9.298061127506e-05 vel = 1.005645169311e-01 ------------------- tc state : vr = 8.426528, vf = 0.000000, maxvel = 8.426528, current_vel = 0.115732, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.115732, acc = 15.167811,T = 0.002614, P = 0.000442 tc id = 209, canon_type = 2, mot type = 1 time: 7.987000 primary movement = 1.081484225872e-04 time: 7.987000000001e+00 total movement = 1.081484225872e-04 vel = 1.157323282432e-01 ------------------- tc state : vr = 8.426528, vf = 0.000000, maxvel = 8.426528, current_vel = 0.130900, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.130900, acc = 15.167811,T = 0.002614, P = 0.000565 tc id = 209, canon_type = 2, mot type = 1 time: 7.988000 primary movement = 1.233162338993e-04 time: 7.988000000001e+00 total movement = 1.233162338993e-04 vel = 1.309001395553e-01 ------------------- tc state : vr = 8.426528, vf = 0.000000, maxvel = 8.426528, current_vel = 0.146068, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.146068, acc = 15.167811,T = 0.002614, P = 0.000703 tc id = 209, canon_type = 2, mot type = 1 time: 7.989000 primary movement = 1.384840452114e-04 time: 7.989000000001e+00 total movement = 1.384840452114e-04 vel = 1.460679508674e-01 ------------------- tc state : vr = 8.426528, vf = 0.000000, maxvel = 8.426528, current_vel = 0.161236, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.161236, acc = 15.167811,T = 0.002614, P = 0.000857 tc id = 209, canon_type = 2, mot type = 1 time: 7.990000 primary movement = 1.536518565235e-04 time: 7.990000000001e+00 total movement = 1.536518565235e-04 vel = 1.612357621796e-01 ------------------- tc state : vr = 8.426528, vf = 0.000000, maxvel = 8.426528, current_vel = 0.176404, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.176404, acc = 15.167811,T = 0.002614, P = 0.001026 tc id = 209, canon_type = 2, mot type = 1 time: 7.991000 primary movement = 1.688196678357e-04 time: 7.991000000001e+00 total movement = 1.688196678357e-04 vel = 1.764035734917e-01 ------------------- tc state : vr = 8.426528, vf = 0.000000, maxvel = 8.426528, current_vel = 0.191571, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.191571, acc = 15.167811,T = 0.002614, P = 0.001210 tc id = 209, canon_type = 2, mot type = 1 time: 7.992000 primary movement = 1.839874791477e-04 time: 7.992000000001e+00 total movement = 1.839874791477e-04 vel = 1.915713848038e-01 ------------------- tc state : vr = 8.426528, vf = 0.000000, maxvel = 8.426528, current_vel = 0.191764, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.191764, acc = 0.192232,T = 0.002614, P = 0.001401 tc id = 209, canon_type = 2, mot type = 1 time: 7.993000 primary movement = 1.916675009259e-04 time: 7.993000000001e+00 total movement = 1.916675009259e-04 vel = 1.917636170480e-01 ------------------- tc state : vr = 8.426528, vf = 0.000000, maxvel = 8.426528, current_vel = 0.176596, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.176596, acc = -15.167811,T = 0.002614, P = 0.001586 on final decel tc id = 209, canon_type = 2, mot type = 1 tc state : vr = 0.015168, vf = 0.015168, maxvel = 10.936960, current_vel = 0.015168, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.015168, acc = 15.167811,T = 0.009923, P = 0.000008 initial results: dx= 0.009916,dt = 0.100573, a_f = 1.658990, v_f = 0.182017 dt = 0.100573, not at end yet tc id = 209, canon_type = 2, mot type = 1 secondary movement = 0.000008 time: 7.994000 primary movement = 1.841797113919e-04 time: 7.994000000001e+00 total movement = 1.917636170480e-04 vel = 1.917636170480e-01 ------------------- tc state : vr = 8.426528, vf = 0.000000, maxvel = 8.426528, current_vel = 0.161428, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.161428, acc = -15.167811,T = 0.002614, P = 0.001755 on final decel tc id = 209, canon_type = 2, mot type = 1 tc state : vr = 0.030336, vf = 0.030336, maxvel = 10.936960, current_vel = 0.030336, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.030336, acc = 15.167811,T = 0.009923, P = 0.000030 initial results: dx= 0.009893,dt = 0.093175, a_f = 1.627923, v_f = 0.182017 dt = 0.093175, not at end yet tc id = 209, canon_type = 2, mot type = 1 secondary movement = 0.000023 time: 7.995000 primary movement = 1.690119000799e-04 time: 7.995000000001e+00 total movement = 1.917636170481e-04 vel = 1.917636170480e-01 ------------------- tc state : vr = 8.426528, vf = 0.000000, maxvel = 8.426528, current_vel = 0.146260, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.146260, acc = -15.167811,T = 0.002614, P = 0.001908 on final decel tc id = 209, canon_type = 2, mot type = 1 tc state : vr = 0.045503, vf = 0.045503, maxvel = 10.936960, current_vel = 0.045503, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.045503, acc = 15.167811,T = 0.009923, P = 0.000068 initial results: dx= 0.009855,dt = 0.086630, a_f = 1.575825, v_f = 0.182017 dt = 0.086630, not at end yet tc id = 209, canon_type = 2, mot type = 1 secondary movement = 0.000038 time: 7.996000 primary movement = 1.538440887677e-04 time: 7.996000000001e+00 total movement = 1.917636170480e-04 vel = 1.917636170480e-01 ------------------- tc state : vr = 8.426528, vf = 0.000000, maxvel = 8.426528, current_vel = 0.131092, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.131092, acc = -15.167811,T = 0.002614, P = 0.002047 on final decel tc id = 209, canon_type = 2, mot type = 1 tc state : vr = 0.060671, vf = 0.060671, maxvel = 10.936960, current_vel = 0.060671, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.060671, acc = 15.167811,T = 0.009923, P = 0.000121 initial results: dx= 0.009802,dt = 0.080778, a_f = 1.502211, v_f = 0.182017 dt = 0.080778, not at end yet tc id = 209, canon_type = 2, mot type = 1 secondary movement = 0.000053 time: 7.997000 primary movement = 1.386762774556e-04 time: 7.997000000001e+00 total movement = 1.917636170480e-04 vel = 1.917636170480e-01 ------------------- tc state : vr = 8.426528, vf = 0.000000, maxvel = 8.426528, current_vel = 0.115925, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.115925, acc = -15.167811,T = 0.002614, P = 0.002171 on final decel tc id = 209, canon_type = 2, mot type = 1 tc state : vr = 0.075839, vf = 0.075839, maxvel = 10.936960, current_vel = 0.075839, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.075839, acc = 15.167811,T = 0.009923, P = 0.000190 initial results: dx= 0.009734,dt = 0.075497, a_f = 1.406385, v_f = 0.182017 dt = 0.075497, not at end yet tc id = 209, canon_type = 2, mot type = 1 secondary movement = 0.000068 time: 7.998000 primary movement = 1.235084661435e-04 time: 7.998000000001e+00 total movement = 1.917636170480e-04 vel = 1.917636170480e-01 ------------------- tc state : vr = 8.426528, vf = 0.000000, maxvel = 8.426528, current_vel = 0.100757, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.100757, acc = -15.167811,T = 0.002614, P = 0.002279 on final decel tc id = 209, canon_type = 2, mot type = 1 tc state : vr = 0.091007, vf = 0.091007, maxvel = 10.936960, current_vel = 0.091007, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.091007, acc = 15.167811,T = 0.009923, P = 0.000273 initial results: dx= 0.009650,dt = 0.070692, a_f = 1.287423, v_f = 0.182017 dt = 0.070692, not at end yet tc id = 209, canon_type = 2, mot type = 1 secondary movement = 0.000083 time: 7.999000 primary movement = 1.083406548314e-04 time: 7.999000000001e+00 total movement = 1.917636170480e-04 vel = 1.917636170480e-01 ------------------- tc state : vr = 8.426528, vf = 0.000000, maxvel = 8.426528, current_vel = 0.085589, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.085589, acc = -15.167811,T = 0.002614, P = 0.002372 on final decel tc id = 209, canon_type = 2, mot type = 1 tc state : vr = 0.106175, vf = 0.106175, maxvel = 10.936960, current_vel = 0.106175, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.106175, acc = 15.167811,T = 0.009923, P = 0.000372 initial results: dx= 0.009552,dt = 0.066287, a_f = 1.144153, v_f = 0.182017 dt = 0.066287, not at end yet tc id = 210, canon_type = 2, mot type = 1 secondary movement = 0.000099 time: 8.000000 primary movement = 9.317284351927e-05 time: 8.000000000001e+00 total movement = 1.917636170480e-04 vel = 1.917636170480e-01 ------------------- tc state : vr = 8.426528, vf = 0.000000, maxvel = 8.426528, current_vel = 0.070421, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.070421, acc = -15.167811,T = 0.002614, P = 0.002450 on final decel tc id = 209, canon_type = 2, mot type = 1 tc state : vr = 0.121342, vf = 0.121342, maxvel = 10.936960, current_vel = 0.121342, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.121342, acc = 15.167811,T = 0.009923, P = 0.000485 initial results: dx= 0.009438,dt = 0.062223, a_f = 0.975121, v_f = 0.182017 dt = 0.062223, not at end yet tc id = 210, canon_type = 2, mot type = 1 secondary movement = 0.000114 time: 8.001000 primary movement = 7.800503220717e-05 time: 8.001000000001e+00 total movement = 1.917636170481e-04 vel = 1.917636170480e-01 ------------------- tc state : vr = 8.426528, vf = 0.000000, maxvel = 8.426528, current_vel = 0.055253, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.055253, acc = -15.167811,T = 0.002614, P = 0.002513 on final decel tc id = 209, canon_type = 2, mot type = 1 tc state : vr = 0.136510, vf = 0.136510, maxvel = 10.936960, current_vel = 0.136510, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.136510, acc = 15.167811,T = 0.009923, P = 0.000614 initial results: dx= 0.009309,dt = 0.058450, a_f = 0.778558, v_f = 0.182017 dt = 0.058450, not at end yet tc id = 210, canon_type = 2, mot type = 1 secondary movement = 0.000129 time: 8.002000 primary movement = 6.283722089495e-05 time: 8.002000000001e+00 total movement = 1.917636170479e-04 vel = 1.917636170480e-01 ------------------- tc state : vr = 8.426528, vf = 0.000000, maxvel = 8.426528, current_vel = 0.040086, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.040086, acc = -15.167811,T = 0.002614, P = 0.002561 on final decel tc id = 209, canon_type = 2, mot type = 1 tc state : vr = 0.151678, vf = 0.151678, maxvel = 10.936960, current_vel = 0.151678, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.151678, acc = 15.167811,T = 0.009923, P = 0.000758 initial results: dx= 0.009165,dt = 0.054930, a_f = 0.552325, v_f = 0.182017 dt = 0.054930, not at end yet tc id = 210, canon_type = 2, mot type = 1 secondary movement = 0.000144 time: 8.003000 primary movement = 4.766940958296e-05 time: 8.003000000001e+00 total movement = 1.917636170482e-04 vel = 1.917636170480e-01 ------------------- tc state : vr = 8.426528, vf = 0.000000, maxvel = 8.426528, current_vel = 0.024918, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.024918, acc = -15.167811,T = 0.002614, P = 0.002593 on final decel tc id = 209, canon_type = 2, mot type = 1 tc state : vr = 0.166846, vf = 0.166846, maxvel = 10.936960, current_vel = 0.166846, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.166846, acc = 15.167811,T = 0.009923, P = 0.000918 initial results: dx= 0.009006,dt = 0.051629, a_f = 0.293855, v_f = 0.182017 dt = 0.051629, not at end yet tc id = 210, canon_type = 2, mot type = 1 secondary movement = 0.000159 time: 8.004000 primary movement = 3.250159827074e-05 time: 8.004000000001e+00 total movement = 1.917636170479e-04 vel = 1.917636170480e-01 ------------------- tc state : vr = 8.426528, vf = 0.000000, maxvel = 8.426528, current_vel = 0.009750, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.009750, acc = -15.167811,T = 0.002614, P = 0.002611 on final decel tc id = 209, canon_type = 2, mot type = 1 tc state : vr = 0.182014, vf = 0.182014, maxvel = 10.936960, current_vel = 0.182014, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.182014, acc = 15.167811,T = 0.009923, P = 0.001092 initial results: dx= 0.008831,dt = 0.048519, a_f = 0.000073, v_f = 0.182017 dt = 0.048519, not at end yet tc id = 210, canon_type = 2, mot type = 1 secondary movement = 0.000174 time: 8.005000 primary movement = 1.733378695864e-05 time: 8.005000000001e+00 total movement = 1.917636170480e-04 vel = 1.917636170480e-01 ------------------- Found newvel = -0.005418, assuming segment is done segment 209 at target in runcycle tc state : vr = 8.426528, vf = 0.000000, maxvel = 8.426528, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.002614, P = 0.002614 tc id = 209, canon_type = 2, mot type = 1 tc state : vr = 0.191764, vf = 0.182017, maxvel = 10.936960, current_vel = 0.191764, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.191764, acc = 9.749881,T = 0.009923, P = 0.001279 initial results: dx= 0.008644,dt = 0.046254, a_f = -0.210715, v_f = 0.182017 dt = 0.046254, not at end yet tc id = 210, canon_type = 2, mot type = 1 secondary movement = 0.000187 time: 8.006000 primary movement = 3.133615768930e-06 time: 8.006000000001e+00 total movement = 1.900222921656e-04 vel = 1.917636170480e-01 Finished tc id 209 ------------------- tc state : vr = 4.725391, vf = 0.182017, maxvel = 10.936960, current_vel = 0.211450, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.211450, acc = 19.686607,T = 0.009923, P = 0.001481 initial results: dx= 0.008443,dt = 0.042915, a_f = -0.685850, v_f = 0.182017 dt = 0.042915, not at end yet tc id = 210, canon_type = 2, mot type = 1 time: 8.007000 primary movement = 2.016069206093e-04 time: 8.007000000001e+00 total movement = 2.016069206093e-04 vel = 2.114502241706e-01 ------------------- tc state : vr = 4.725391, vf = 0.182017, maxvel = 10.936960, current_vel = 0.231137, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.231137, acc = 19.686607,T = 0.009923, P = 0.001702 initial results: dx= 0.008221,dt = 0.039798, a_f = -1.234207, v_f = 0.182017 dt = 0.039798, not at end yet tc id = 210, canon_type = 2, mot type = 1 time: 8.008000 primary movement = 2.212935277319e-04 time: 8.008000000001e+00 total movement = 2.212935277319e-04 vel = 2.311368312932e-01 ------------------- tc state : vr = 4.725391, vf = 0.182017, maxvel = 10.936960, current_vel = 0.250823, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.250823, acc = 19.686607,T = 0.009923, P = 0.001943 initial results: dx= 0.007980,dt = 0.036875, a_f = -1.865937, v_f = 0.182017 dt = 0.036875, not at end yet tc id = 210, canon_type = 2, mot type = 1 time: 8.009000 primary movement = 2.409801348546e-04 time: 8.009000000001e+00 total movement = 2.409801348546e-04 vel = 2.508234384158e-01 ------------------- tc state : vr = 4.725391, vf = 0.182017, maxvel = 10.936960, current_vel = 0.270510, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.270510, acc = 19.686607,T = 0.009923, P = 0.002204 initial results: dx= 0.007720,dt = 0.034119, a_f = -2.593680, v_f = 0.182017 dt = 0.034119, not at end yet tc id = 210, canon_type = 2, mot type = 1 time: 8.010000 primary movement = 2.606667419772e-04 time: 8.010000000001e+00 total movement = 2.606667419772e-04 vel = 2.705100455385e-01 ------------------- tc state : vr = 4.725391, vf = 0.182017, maxvel = 10.936960, current_vel = 0.290197, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.290197, acc = 19.686607,T = 0.009923, P = 0.002484 initial results: dx= 0.007439,dt = 0.031509, a_f = -3.433305, v_f = 0.182017 dt = 0.031509, not at end yet tc id = 210, canon_type = 2, mot type = 1 time: 8.011000 primary movement = 2.803533490997e-04 time: 8.011000000001e+00 total movement = 2.803533490997e-04 vel = 2.901966526611e-01 ------------------- tc state : vr = 4.725391, vf = 0.182017, maxvel = 10.936960, current_vel = 0.309883, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.309883, acc = 19.686607,T = 0.009923, P = 0.002784 initial results: dx= 0.007139,dt = 0.029028, a_f = -4.404940, v_f = 0.182017 dt = 0.029028, not at end yet tc id = 210, canon_type = 2, mot type = 1 time: 8.012000 primary movement = 3.000399562224e-04 time: 8.012000000001e+00 total movement = 3.000399562224e-04 vel = 3.098832597837e-01 ------------------- tc state : vr = 4.725391, vf = 0.182017, maxvel = 10.936960, current_vel = 0.329570, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.329570, acc = 19.686607,T = 0.009923, P = 0.003104 initial results: dx= 0.006820,dt = 0.026661, a_f = -5.534422, v_f = 0.182017 dt = 0.026661, not at end yet tc id = 210, canon_type = 2, mot type = 1 time: 8.013000 primary movement = 3.197265633450e-04 time: 8.013000000001e+00 total movement = 3.197265633450e-04 vel = 3.295698669063e-01 ------------------- tc state : vr = 4.725391, vf = 0.182017, maxvel = 10.936960, current_vel = 0.349256, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.349256, acc = 19.686607,T = 0.009923, P = 0.003443 initial results: dx= 0.006480,dt = 0.024395, a_f = -6.855408, v_f = 0.182017 dt = 0.024395, not at end yet tc id = 210, canon_type = 2, mot type = 1 time: 8.014000 primary movement = 3.394131704675e-04 time: 8.014000000001e+00 total movement = 3.394131704675e-04 vel = 3.492564740289e-01 ------------------- tc state : vr = 4.725391, vf = 0.182017, maxvel = 10.936960, current_vel = 0.368943, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.368943, acc = 19.686607,T = 0.009923, P = 0.003802 initial results: dx= 0.006121,dt = 0.022220, a_f = -8.412501, v_f = 0.182017 dt = 0.022220, not at end yet tc id = 210, canon_type = 2, mot type = 1 time: 8.015000 primary movement = 3.590997775902e-04 time: 8.015000000001e+00 total movement = 3.590997775902e-04 vel = 3.689430811515e-01 ------------------- tc state : vr = 4.725391, vf = 0.182017, maxvel = 10.936960, current_vel = 0.388630, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.388630, acc = 19.686607,T = 0.009923, P = 0.004181 initial results: dx= 0.005742,dt = 0.020126, a_f = -10.266010, v_f = 0.182017 dt = 0.020126, not at end yet tc id = 210, canon_type = 2, mot type = 1 time: 8.016000 primary movement = 3.787863847128e-04 time: 8.016000000001e+00 total movement = 3.787863847128e-04 vel = 3.886296882741e-01 ------------------- tc state : vr = 4.725391, vf = 0.182017, maxvel = 10.936960, current_vel = 0.408316, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.408316, acc = 19.686607,T = 0.009923, P = 0.004579 initial results: dx= 0.005344,dt = 0.018105, a_f = -12.499451, v_f = 0.182017 dt = 0.018105, not at end yet tc id = 210, canon_type = 2, mot type = 1 time: 8.017000 primary movement = 3.984729918354e-04 time: 8.017000000001e+00 total movement = 3.984729918354e-04 vel = 4.083162953967e-01 ------------------- tc state : vr = 4.725391, vf = 0.182017, maxvel = 10.936960, current_vel = 0.428003, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.428003, acc = 19.686607,T = 0.009923, P = 0.004998 initial results: dx= 0.004926,dt = 0.016149, a_f = -15.231808, v_f = 0.182017 dt = 0.016149, not at end yet tc id = 210, canon_type = 2, mot type = 1 time: 8.018000 primary movement = 4.181595989580e-04 time: 8.018000000001e+00 total movement = 4.181595989580e-04 vel = 4.280029025193e-01 ------------------- tc state : vr = 4.725391, vf = 0.182017, maxvel = 10.936960, current_vel = 0.447690, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.447690, acc = 19.686607,T = 0.009923, P = 0.005435 initial results: dx= 0.004488,dt = 0.014254, a_f = -18.638497, v_f = 0.182017 dt = 0.014254, not at end yet tc id = 210, canon_type = 2, mot type = 1 time: 8.019000 primary movement = 4.378462060806e-04 time: 8.019000000001e+00 total movement = 4.378462060806e-04 vel = 4.476895096419e-01 ------------------- tc state : vr = 4.725391, vf = 0.182017, maxvel = 10.936960, current_vel = 0.438617, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.438617, acc = -9.072179,T = 0.009923, P = 0.005879 on final decel initial results: dx= 0.004045,dt = 0.013034, a_f = -19.686607, v_f = 0.182017 dt = 0.013034, not at end yet tc id = 210, canon_type = 2, mot type = 1 time: 8.020000 primary movement = 4.431534202197e-04 time: 8.020000000001e+00 total movement = 4.431534202197e-04 vel = 4.386173307973e-01 ------------------- tc state : vr = 4.725391, vf = 0.182017, maxvel = 10.936960, current_vel = 0.418931, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.418931, acc = -19.686607,T = 0.009923, P = 0.006307 on final decel initial results: dx= 0.003616,dt = 0.012034, a_f = -19.686607, v_f = 0.182017 recalculating with a_f = -19.686607, a = -19.686607 revised dt = 0.012034 dt = 0.012034, not at end yet tc id = 210, canon_type = 2, mot type = 1 time: 8.021000 primary movement = 4.287740272360e-04 time: 8.021000000001e+00 total movement = 4.287740272360e-04 vel = 4.189307236747e-01 ------------------- tc state : vr = 4.725391, vf = 0.182017, maxvel = 10.936960, current_vel = 0.399244, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.399244, acc = -19.686607,T = 0.009923, P = 0.006716 on final decel initial results: dx= 0.003207,dt = 0.011034, a_f = -19.686607, v_f = 0.182017 recalculating with a_f = -19.686607, a = -19.686607 revised dt = 0.011034 dt = 0.011034, not at end yet tc id = 210, canon_type = 2, mot type = 1 time: 8.022000 primary movement = 4.090874201133e-04 time: 8.022000000001e+00 total movement = 4.090874201133e-04 vel = 3.992441165521e-01 ------------------- tc state : vr = 4.725391, vf = 0.182017, maxvel = 10.936960, current_vel = 0.379558, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.379558, acc = -19.686607,T = 0.009923, P = 0.007106 on final decel initial results: dx= 0.002817,dt = 0.010034, a_f = -19.686607, v_f = 0.182017 recalculating with a_f = -19.686607, a = -19.686607 revised dt = 0.010034 dt = 0.010034, not at end yet tc id = 210, canon_type = 2, mot type = 1 time: 8.023000 primary movement = 3.894008129908e-04 time: 8.023000000001e+00 total movement = 3.894008129908e-04 vel = 3.795575094295e-01 ------------------- tc state : vr = 4.725391, vf = 0.182017, maxvel = 10.936960, current_vel = 0.359871, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.359871, acc = -19.686607,T = 0.009923, P = 0.007476 on final decel initial results: dx= 0.002448,dt = 0.009034, a_f = -19.686607, v_f = 0.182017 recalculating with a_f = -19.686607, a = -19.686607 revised dt = 0.009034 dt = 0.009034, not at end yet tc id = 210, canon_type = 2, mot type = 1 time: 8.024000 primary movement = 3.697142058682e-04 time: 8.024000000001e+00 total movement = 3.697142058682e-04 vel = 3.598709023068e-01 ------------------- tc state : vr = 4.725391, vf = 0.182017, maxvel = 10.936960, current_vel = 0.340184, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.340184, acc = -19.686607,T = 0.009923, P = 0.007826 on final decel initial results: dx= 0.002098,dt = 0.008034, a_f = -19.686607, v_f = 0.182017 recalculating with a_f = -19.686607, a = -19.686607 revised dt = 0.008034 dt = 0.008034, not at end yet tc id = 210, canon_type = 2, mot type = 1 time: 8.025000 primary movement = 3.500275987455e-04 time: 8.025000000001e+00 total movement = 3.500275987455e-04 vel = 3.401842951842e-01 ------------------- tc state : vr = 4.725391, vf = 0.182017, maxvel = 10.936960, current_vel = 0.320498, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.320498, acc = -19.686607,T = 0.009923, P = 0.008156 on final decel initial results: dx= 0.001767,dt = 0.007034, a_f = -19.686607, v_f = 0.182017 recalculating with a_f = -19.686607, a = -19.686607 revised dt = 0.007034 dt = 0.007034, not at end yet tc id = 210, canon_type = 2, mot type = 1 time: 8.026000 primary movement = 3.303409916230e-04 time: 8.026000000001e+00 total movement = 3.303409916230e-04 vel = 3.204976880616e-01 ------------------- tc state : vr = 4.725391, vf = 0.182017, maxvel = 10.936960, current_vel = 0.300811, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.300811, acc = -19.686607,T = 0.009923, P = 0.008467 on final decel initial results: dx= 0.001457,dt = 0.006034, a_f = -19.686607, v_f = 0.182017 recalculating with a_f = -19.686607, a = -19.686607 revised dt = 0.006034 dt = 0.006034, not at end yet tc id = 210, canon_type = 2, mot type = 1 time: 8.027000 primary movement = 3.106543845003e-04 time: 8.027000000001e+00 total movement = 3.106543845003e-04 vel = 3.008110809390e-01 ------------------- tc state : vr = 4.725391, vf = 0.182017, maxvel = 10.936960, current_vel = 0.281124, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.281124, acc = -19.686607,T = 0.009923, P = 0.008758 on final decel initial results: dx= 0.001166,dt = 0.005034, a_f = -19.686607, v_f = 0.182017 recalculating with a_f = -19.686607, a = -19.686607 revised dt = 0.005034 dt = 0.005034, not at end yet tc id = 210, canon_type = 2, mot type = 1 time: 8.028000 primary movement = 2.909677773777e-04 time: 8.028000000001e+00 total movement = 2.909677773777e-04 vel = 2.811244738164e-01 ------------------- tc state : vr = 4.725391, vf = 0.182017, maxvel = 10.936960, current_vel = 0.261438, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.261438, acc = -19.686607,T = 0.009923, P = 0.009029 on final decel initial results: dx= 0.000895,dt = 0.004034, a_f = -19.686607, v_f = 0.182017 recalculating with a_f = -19.686607, a = -19.686607 revised dt = 0.004034 dt = 0.004034, not at end yet tc id = 210, canon_type = 2, mot type = 1 time: 8.029000 primary movement = 2.712811702551e-04 time: 8.029000000001e+00 total movement = 2.712811702551e-04 vel = 2.614378666938e-01 ------------------- tc state : vr = 4.725391, vf = 0.182017, maxvel = 10.936960, current_vel = 0.241751, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.241751, acc = -19.686607,T = 0.009923, P = 0.009280 on final decel initial results: dx= 0.000643,dt = 0.003034, a_f = -19.686607, v_f = 0.182017 recalculating with a_f = -19.686607, a = -19.686607 revised dt = 0.003034 dt = 0.003034, not at end yet tc id = 210, canon_type = 2, mot type = 1 time: 8.030000 primary movement = 2.515945631325e-04 time: 8.030000000001e+00 total movement = 2.515945631325e-04 vel = 2.417512595712e-01 ------------------- tc state : vr = 4.725391, vf = 0.182017, maxvel = 10.936960, current_vel = 0.222065, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.222065, acc = -19.686607,T = 0.009923, P = 0.009512 on final decel initial results: dx= 0.000411,dt = 0.002034, a_f = -19.686607, v_f = 0.182017 recalculating with a_f = -19.686607, a = -19.686607 revised dt = 0.002034 dt = 0.002034, not at end yet tc id = 210, canon_type = 2, mot type = 1 time: 8.031000 primary movement = 2.319079560099e-04 time: 8.031000000001e+00 total movement = 2.319079560099e-04 vel = 2.220646524486e-01 ------------------- tc state : vr = 4.725391, vf = 0.182017, maxvel = 10.936960, current_vel = 0.202378, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.202378, acc = -19.686607,T = 0.009923, P = 0.009725 on final decel initial results: dx= 0.000199,dt = 0.001034, a_f = -19.686607, v_f = 0.182017 recalculating with a_f = -19.686607, a = -19.686607 revised dt = 0.001034 dt = 0.001034, not at end yet tc id = 210, canon_type = 2, mot type = 1 time: 8.032000 primary movement = 2.122213488872e-04 time: 8.032000000001e+00 total movement = 2.122213488872e-04 vel = 2.023780453260e-01 ------------------- tc state : vr = 4.725391, vf = 0.182017, maxvel = 10.936960, current_vel = 0.182691, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.182691, acc = -19.686607,T = 0.009923, P = 0.009917 on final decel initial results: dx= 0.000006,dt = 0.000034, a_f = -19.686607, v_f = 0.182017 recalculating with a_f = -19.686607, a = -19.686607 revised dt = 0.000034 actual v_f = 0.182017, a = -19.686607 split time is 3.42445e-05 tc id = 210, canon_type = 2, mot type = 1 time: 8.033000 primary movement = 1.925347417647e-04 time: 8.033000000001e+00 total movement = 1.925347417647e-04 vel = 1.826914382034e-01 ------------------- tc id 210 done Finishing split-cycle on id 211 tc state : vr = 0.201808, vf = 0.000000, maxvel = 0.201808, current_vel = 0.167531, fs = 1.000000, tc = 0.000966, term = 3 tc result: v = 0.167531, acc = -15.000000,T = 0.001104, P = 0.000169 on final decel initial results: dx= 0.000936,dt = 0.011169, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.011169 dt = 0.011169, not at end yet secondary movement = 0.000169 tc id = 211, canon_type = 3, mot type = 2 time: 8.034000 primary movement = 6.244633222609e-06 time: 8.034000000001e+00 total movement = 1.749521679165e-04 vel = 1.675309477020e-01 Finished tc id 210 ------------------- Activate tc id = 211 target_vel = 0.201808 final_vel = 0.000000 length = 0.001104 tc state : vr = 0.201808, vf = 0.000000, maxvel = 0.201808, current_vel = 0.152531, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.152531, acc = -15.000000,T = 0.001104, P = 0.000329 on final decel initial results: dx= 0.000776,dt = 0.010169, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.010169 dt = 0.010169, not at end yet tc id = 211, canon_type = 3, mot type = 2 time: 8.035000 primary movement = 1.599614627415e-04 time: 8.035000000001e+00 total movement = 1.599614627415e-04 vel = 1.525309477020e-01 ------------------- tc state : vr = 0.201808, vf = 0.000000, maxvel = 0.201808, current_vel = 0.137531, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.137531, acc = -15.000000,T = 0.001104, P = 0.000474 on final decel initial results: dx= 0.000630,dt = 0.009169, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.009169 dt = 0.009169, not at end yet tc id = 211, canon_type = 3, mot type = 2 time: 8.036000 primary movement = 1.449792262097e-04 time: 8.036000000001e+00 total movement = 1.449792262097e-04 vel = 1.375309477020e-01 ------------------- tc state : vr = 0.201808, vf = 0.000000, maxvel = 0.201808, current_vel = 0.122531, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.122531, acc = -15.000000,T = 0.001104, P = 0.000604 on final decel initial results: dx= 0.000500,dt = 0.008169, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.008169 dt = 0.008169, not at end yet tc id = 211, canon_type = 3, mot type = 2 time: 8.037000 primary movement = 1.299936709306e-04 time: 8.037000000001e+00 total movement = 1.299936709306e-04 vel = 1.225309477020e-01 ------------------- tc state : vr = 0.201808, vf = 0.000000, maxvel = 0.201808, current_vel = 0.107531, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.107531, acc = -15.000000,T = 0.001104, P = 0.000719 on final decel initial results: dx= 0.000385,dt = 0.007169, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.007169 dt = 0.007169, not at end yet tc id = 211, canon_type = 3, mot type = 2 time: 8.038000 primary movement = 1.150051399413e-04 time: 8.038000000001e+00 total movement = 1.150051399413e-04 vel = 1.075309477020e-01 ------------------- tc state : vr = 0.201808, vf = 0.000000, maxvel = 0.201808, current_vel = 0.092531, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.092531, acc = -15.000000,T = 0.001104, P = 0.000819 on final decel initial results: dx= 0.000285,dt = 0.006169, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.006169 dt = 0.006169, not at end yet tc id = 211, canon_type = 3, mot type = 2 time: 8.039000 primary movement = 1.000139763474e-04 time: 8.039000000001e+00 total movement = 1.000139763474e-04 vel = 9.253094770199e-02 ------------------- tc state : vr = 0.201808, vf = 0.000000, maxvel = 0.201808, current_vel = 0.077531, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.077531, acc = -15.000000,T = 0.001104, P = 0.000904 on final decel initial results: dx= 0.000200,dt = 0.005169, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.005169 dt = 0.005169, not at end yet tc id = 211, canon_type = 3, mot type = 2 time: 8.040000 primary movement = 8.502052331454e-05 time: 8.040000000001e+00 total movement = 8.502052331454e-05 vel = 7.753094770199e-02 ------------------- tc state : vr = 0.201808, vf = 0.000000, maxvel = 0.201808, current_vel = 0.062531, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.062531, acc = -15.000000,T = 0.001104, P = 0.000974 on final decel initial results: dx= 0.000130,dt = 0.004169, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.004169 dt = 0.004169, not at end yet tc id = 211, canon_type = 3, mot type = 2 time: 8.041000 primary movement = 7.002512406037e-05 time: 8.041000000001e+00 total movement = 7.002512406037e-05 vel = 6.253094770199e-02 ------------------- tc state : vr = 0.201808, vf = 0.000000, maxvel = 0.201808, current_vel = 0.047531, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.047531, acc = -15.000000,T = 0.001104, P = 0.001029 on final decel initial results: dx= 0.000075,dt = 0.003169, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.003169 dt = 0.003169, not at end yet tc id = 211, canon_type = 3, mot type = 2 time: 8.042000 primary movement = 5.502812184785e-05 time: 8.042000000001e+00 total movement = 5.502812184785e-05 vel = 4.753094770199e-02 ------------------- tc state : vr = 0.201808, vf = 0.000000, maxvel = 0.201808, current_vel = 0.032531, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.032531, acc = -15.000000,T = 0.001104, P = 0.001069 on final decel initial results: dx= 0.000035,dt = 0.002169, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.002169 dt = 0.002169, not at end yet tc id = 211, canon_type = 3, mot type = 2 time: 8.043000 primary movement = 4.002985997590e-05 time: 8.043000000001e+00 total movement = 4.002985997590e-05 vel = 3.253094770199e-02 ------------------- tc state : vr = 0.201808, vf = 0.000000, maxvel = 0.201808, current_vel = 0.017531, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.017531, acc = -15.000000,T = 0.001104, P = 0.001094 on final decel initial results: dx= 0.000010,dt = 0.001169, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.001169 dt = 0.001169, not at end yet tc id = 211, canon_type = 3, mot type = 2 time: 8.044000 primary movement = 2.503068177285e-05 time: 8.044000000001e+00 total movement = 2.503068177285e-05 vel = 1.753094770199e-02 ------------------- tc state : vr = 0.201808, vf = 0.000000, maxvel = 0.201808, current_vel = 0.002531, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.002531, acc = -15.000000,T = 0.001104, P = 0.001104 on final decel initial results: dx= 0.000000,dt = 0.000169, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.000169 actual v_f = 0.000000, a = -15.000000 split time is 0.000168729 tc id = 211, canon_type = 3, mot type = 2 time: 8.045000 primary movement = 1.003093058764e-05 time: 8.045000000001e+00 total movement = 1.003093058764e-05 vel = 2.530947701991e-03 ------------------- tc id 211 done Finishing split-cycle on id 211 tc state : vr = 8.333300, vf = 0.000000, maxvel = 8.333300, current_vel = 0.012469, fs = 1.000000, tc = 0.000831, term = 2 tc result: v = 0.012469, acc = 15.000000,T = 0.001424, P = 0.000005 secondary movement = 0.000005 tc id = 211, canon_type = 2, mot type = 1 time: 8.046000 primary movement = 2.135232088319e-07 time: 8.046000000001e+00 total movement = 5.396116668550e-06 vel = 1.246907389474e-02 Finished tc id 211 ------------------- Activate tc id = 211 target_vel = 8.333300 final_vel = 0.000000 length = 0.001424 Activate nexttc id 212 tc state : vr = 8.333300, vf = 0.000000, maxvel = 8.333300, current_vel = 0.027469, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.027469, acc = 15.000000,T = 0.001424, P = 0.000025 tc id = 211, canon_type = 2, mot type = 1 time: 8.047000 primary movement = 1.996907389479e-05 time: 8.047000000001e+00 total movement = 1.996907389479e-05 vel = 2.746907389474e-02 ------------------- tc state : vr = 8.333300, vf = 0.000000, maxvel = 8.333300, current_vel = 0.042469, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.042469, acc = 15.000000,T = 0.001424, P = 0.000060 tc id = 211, canon_type = 2, mot type = 1 time: 8.048000 primary movement = 3.496907389466e-05 time: 8.048000000001e+00 total movement = 3.496907389466e-05 vel = 4.246907389474e-02 ------------------- tc state : vr = 8.333300, vf = 0.000000, maxvel = 8.333300, current_vel = 0.057469, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.057469, acc = 15.000000,T = 0.001424, P = 0.000110 tc id = 211, canon_type = 2, mot type = 1 time: 8.049000 primary movement = 4.996907389476e-05 time: 8.049000000001e+00 total movement = 4.996907389476e-05 vel = 5.746907389474e-02 ------------------- tc state : vr = 8.333300, vf = 0.000000, maxvel = 8.333300, current_vel = 0.072469, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.072469, acc = 15.000000,T = 0.001424, P = 0.000175 tc id = 211, canon_type = 2, mot type = 1 time: 8.050000 primary movement = 6.496907389475e-05 time: 8.050000000001e+00 total movement = 6.496907389475e-05 vel = 7.246907389474e-02 ------------------- tc state : vr = 8.333300, vf = 0.000000, maxvel = 8.333300, current_vel = 0.087469, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.087469, acc = 15.000000,T = 0.001424, P = 0.000255 tc id = 211, canon_type = 2, mot type = 1 time: 8.051000 primary movement = 7.996907389474e-05 time: 8.051000000001e+00 total movement = 7.996907389474e-05 vel = 8.746907389474e-02 ------------------- tc state : vr = 8.333300, vf = 0.000000, maxvel = 8.333300, current_vel = 0.102469, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.102469, acc = 15.000000,T = 0.001424, P = 0.000350 tc id = 211, canon_type = 2, mot type = 1 time: 8.052000 primary movement = 9.496907389472e-05 time: 8.052000000001e+00 total movement = 9.496907389472e-05 vel = 1.024690738947e-01 ------------------- tc state : vr = 8.333300, vf = 0.000000, maxvel = 8.333300, current_vel = 0.117469, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.117469, acc = 15.000000,T = 0.001424, P = 0.000460 tc id = 211, canon_type = 2, mot type = 1 time: 8.053000 primary movement = 1.099690738947e-04 time: 8.053000000001e+00 total movement = 1.099690738947e-04 vel = 1.174690738947e-01 ------------------- tc state : vr = 8.333300, vf = 0.000000, maxvel = 8.333300, current_vel = 0.132469, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.132469, acc = 15.000000,T = 0.001424, P = 0.000585 tc id = 211, canon_type = 2, mot type = 1 time: 8.054000 primary movement = 1.249690738948e-04 time: 8.054000000001e+00 total movement = 1.249690738948e-04 vel = 1.324690738947e-01 ------------------- tc state : vr = 8.333300, vf = 0.000000, maxvel = 8.333300, current_vel = 0.144931, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.144931, acc = 12.461528,T = 0.001424, P = 0.000724 tc id = 211, canon_type = 2, mot type = 1 time: 8.055000 primary movement = 1.386998378723e-04 time: 8.055000000001e+00 total movement = 1.386998378723e-04 vel = 1.449306018498e-01 ------------------- tc state : vr = 8.333300, vf = 0.000000, maxvel = 8.333300, current_vel = 0.129931, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.129931, acc = -15.000000,T = 0.001424, P = 0.000861 on final decel tc id = 211, canon_type = 2, mot type = 1 tc state : vr = 0.015000, vf = 0.000000, maxvel = 0.711079, current_vel = 0.007500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.007500, acc = 7.500000,T = 0.016819, P = 0.000004 tc id = 211, canon_type = 2, mot type = 1 secondary movement = 0.000004 time: 8.056000 primary movement = 1.374306018498e-04 time: 8.056000000001e+00 total movement = 1.411806388608e-04 vel = 1.374306018498e-01 ------------------- tc state : vr = 8.333300, vf = 0.000000, maxvel = 8.333300, current_vel = 0.114931, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.114931, acc = -15.000000,T = 0.001424, P = 0.000983 on final decel tc id = 211, canon_type = 2, mot type = 1 tc state : vr = 0.030000, vf = 0.000000, maxvel = 0.711079, current_vel = 0.015000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.015000, acc = 7.500000,T = 0.016819, P = 0.000015 tc id = 211, canon_type = 2, mot type = 1 secondary movement = 0.000011 time: 8.057000 primary movement = 1.224306018499e-04 time: 8.057000000001e+00 total movement = 1.336807223753e-04 vel = 1.299306018498e-01 ------------------- tc state : vr = 8.333300, vf = 0.000000, maxvel = 8.333300, current_vel = 0.099931, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.099931, acc = -15.000000,T = 0.001424, P = 0.001091 on final decel tc id = 211, canon_type = 2, mot type = 1 tc state : vr = 0.045000, vf = 0.000000, maxvel = 0.711079, current_vel = 0.022500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.022500, acc = 7.500000,T = 0.016819, P = 0.000034 tc id = 211, canon_type = 2, mot type = 1 secondary movement = 0.000019 time: 8.058000 primary movement = 1.074306018498e-04 time: 8.058000000001e+00 total movement = 1.261808343665e-04 vel = 1.224306018498e-01 ------------------- tc state : vr = 8.333300, vf = 0.000000, maxvel = 8.333300, current_vel = 0.084931, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.084931, acc = -15.000000,T = 0.001424, P = 0.001183 on final decel tc id = 211, canon_type = 2, mot type = 1 tc state : vr = 0.060000, vf = 0.000000, maxvel = 0.711079, current_vel = 0.030000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.030000, acc = 7.500000,T = 0.016819, P = 0.000060 tc id = 211, canon_type = 2, mot type = 1 secondary movement = 0.000026 time: 8.059000 primary movement = 9.243060184982e-05 time: 8.059000000001e+00 total movement = 1.186809938194e-04 vel = 1.149306018498e-01 ------------------- tc state : vr = 8.333300, vf = 0.000000, maxvel = 8.333300, current_vel = 0.069931, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.069931, acc = -15.000000,T = 0.001424, P = 0.001261 on final decel tc id = 211, canon_type = 2, mot type = 1 tc state : vr = 0.075000, vf = 0.000000, maxvel = 0.711079, current_vel = 0.037500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.037500, acc = 7.500000,T = 0.016819, P = 0.000094 tc id = 211, canon_type = 2, mot type = 1 secondary movement = 0.000034 time: 8.060000 primary movement = 7.743060184984e-05 time: 8.060000000001e+00 total movement = 1.111812197186e-04 vel = 1.074306018498e-01 ------------------- tc state : vr = 8.333300, vf = 0.000000, maxvel = 8.333300, current_vel = 0.054931, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.054931, acc = -15.000000,T = 0.001424, P = 0.001323 on final decel tc id = 211, canon_type = 2, mot type = 1 tc state : vr = 0.090000, vf = 0.000000, maxvel = 0.711079, current_vel = 0.045000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.045000, acc = 7.500000,T = 0.016819, P = 0.000135 tc id = 211, canon_type = 2, mot type = 1 secondary movement = 0.000041 time: 8.061000 primary movement = 6.243060184985e-05 time: 8.061000000001e+00 total movement = 1.036815310485e-04 vel = 9.993060184984e-02 ------------------- tc state : vr = 8.333300, vf = 0.000000, maxvel = 8.333300, current_vel = 0.039931, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.039931, acc = -15.000000,T = 0.001424, P = 0.001371 on final decel tc id = 211, canon_type = 2, mot type = 1 tc state : vr = 0.105000, vf = 0.000000, maxvel = 0.711079, current_vel = 0.052500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.052500, acc = 7.500000,T = 0.016819, P = 0.000184 tc id = 212, canon_type = 3, mot type = 2 secondary movement = 0.000049 time: 8.062000 primary movement = 4.743060184986e-05 time: 8.062000000001e+00 total movement = 9.618194679400e-05 vel = 9.243060184984e-02 ------------------- tc state : vr = 8.333300, vf = 0.000000, maxvel = 8.333300, current_vel = 0.024931, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.024931, acc = -15.000000,T = 0.001424, P = 0.001403 on final decel tc id = 211, canon_type = 2, mot type = 1 tc state : vr = 0.120000, vf = 0.000000, maxvel = 0.711079, current_vel = 0.060000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.060000, acc = 7.500000,T = 0.016819, P = 0.000240 tc id = 212, canon_type = 3, mot type = 2 secondary movement = 0.000056 time: 8.063000 primary movement = 3.243060184988e-05 time: 8.063000000001e+00 total movement = 8.868248593961e-05 vel = 8.493060184984e-02 ------------------- tc state : vr = 8.333300, vf = 0.000000, maxvel = 8.333300, current_vel = 0.009931, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.009931, acc = -15.000000,T = 0.001424, P = 0.001421 on final decel tc id = 211, canon_type = 2, mot type = 1 tc state : vr = 0.135000, vf = 0.000000, maxvel = 0.711079, current_vel = 0.067500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.067500, acc = 7.500000,T = 0.016819, P = 0.000304 tc id = 212, canon_type = 3, mot type = 2 secondary movement = 0.000064 time: 8.064000 primary movement = 1.743060184978e-05 time: 8.064000000001e+00 total movement = 8.118316746990e-05 vel = 7.743060184984e-02 ------------------- Found newvel = -0.005069, assuming segment is done segment 211 at target in runcycle tc state : vr = 8.333300, vf = 0.000000, maxvel = 8.333300, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.001424, P = 0.001424 tc id = 211, canon_type = 2, mot type = 1 tc state : vr = 0.144931, vf = 0.000000, maxvel = 0.711079, current_vel = 0.075000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.075000, acc = 7.500000,T = 0.016819, P = 0.000375 tc id = 212, canon_type = 3, mot type = 2 secondary movement = 0.000071 time: 8.065000 primary movement = 3.287228436677e-06 time: 8.065000000001e+00 total movement = 7.454063695640e-05 vel = 7.500000000000e-02 Finished tc id 211 ------------------- Activate nexttc id 213 tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.082500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.082500, acc = 7.500000,T = 0.016819, P = 0.000454 tc id = 212, canon_type = 3, mot type = 2 time: 8.066000 primary movement = 7.875443177353e-05 time: 8.066000000001e+00 total movement = 7.875443177353e-05 vel = 8.250000000000e-02 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.090000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.090000, acc = 7.500000,T = 0.016819, P = 0.000540 tc id = 212, canon_type = 3, mot type = 2 time: 8.067000 primary movement = 8.625565436561e-05 time: 8.067000000001e+00 total movement = 8.625565436561e-05 vel = 9.000000000000e-02 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.097500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.097500, acc = 7.500000,T = 0.016819, P = 0.000634 tc id = 212, canon_type = 3, mot type = 2 time: 8.068000 primary movement = 9.375709528119e-05 time: 8.068000000001e+00 total movement = 9.375709528119e-05 vel = 9.750000000000e-02 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.105000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.105000, acc = 7.500000,T = 0.016819, P = 0.000735 tc id = 212, canon_type = 3, mot type = 2 time: 8.069000 primary movement = 1.012587735043e-04 time: 8.069000000001e+00 total movement = 1.012587735043e-04 vel = 1.050000000000e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.112500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.112500, acc = 7.500000,T = 0.016819, P = 0.000844 tc id = 212, canon_type = 3, mot type = 2 time: 8.070000 primary movement = 1.087607080199e-04 time: 8.070000000001e+00 total movement = 1.087607080199e-04 vel = 1.125000000000e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.120000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.120000, acc = 7.500000,T = 0.016819, P = 0.000960 tc id = 212, canon_type = 3, mot type = 2 time: 8.071000 primary movement = 1.162629178125e-04 time: 8.071000000001e+00 total movement = 1.162629178125e-04 vel = 1.200000000000e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.127500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.127500, acc = 7.500000,T = 0.016819, P = 0.001084 tc id = 212, canon_type = 3, mot type = 2 time: 8.072000 primary movement = 1.237654218664e-04 time: 8.072000000001e+00 total movement = 1.237654218664e-04 vel = 1.275000000000e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.135000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.135000, acc = 7.500000,T = 0.016819, P = 0.001215 tc id = 212, canon_type = 3, mot type = 2 time: 8.073000 primary movement = 1.312682391666e-04 time: 8.073000000001e+00 total movement = 1.312682391666e-04 vel = 1.350000000000e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.142500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.142500, acc = 7.500000,T = 0.016819, P = 0.001354 tc id = 212, canon_type = 3, mot type = 2 time: 8.074000 primary movement = 1.387713886974e-04 time: 8.074000000001e+00 total movement = 1.387713886974e-04 vel = 1.425000000000e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.150000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.150000, acc = 7.500000,T = 0.016819, P = 0.001500 tc id = 212, canon_type = 3, mot type = 2 time: 8.075000 primary movement = 1.462748894433e-04 time: 8.075000000001e+00 total movement = 1.462748894433e-04 vel = 1.500000000000e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.157500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.157500, acc = 7.500000,T = 0.016819, P = 0.001654 tc id = 212, canon_type = 3, mot type = 2 time: 8.076000 primary movement = 1.537787603889e-04 time: 8.076000000001e+00 total movement = 1.537787603889e-04 vel = 1.575000000000e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.165000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.165000, acc = 7.500000,T = 0.016819, P = 0.001815 tc id = 212, canon_type = 3, mot type = 2 time: 8.077000 primary movement = 1.612830205188e-04 time: 8.077000000001e+00 total movement = 1.612830205188e-04 vel = 1.650000000000e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.172500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.172500, acc = 7.500000,T = 0.016819, P = 0.001984 tc id = 212, canon_type = 3, mot type = 2 time: 8.078000 primary movement = 1.687876888174e-04 time: 8.078000000001e+00 total movement = 1.687876888174e-04 vel = 1.725000000000e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.180000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.180000, acc = 7.500000,T = 0.016819, P = 0.002160 tc id = 212, canon_type = 3, mot type = 2 time: 8.079000 primary movement = 1.762927842692e-04 time: 8.079000000001e+00 total movement = 1.762927842692e-04 vel = 1.800000000000e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.187500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.187500, acc = 7.500000,T = 0.016819, P = 0.002344 tc id = 212, canon_type = 3, mot type = 2 time: 8.080000 primary movement = 1.837983258587e-04 time: 8.080000000001e+00 total movement = 1.837983258587e-04 vel = 1.875000000000e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.195000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.195000, acc = 7.500000,T = 0.016819, P = 0.002535 tc id = 212, canon_type = 3, mot type = 2 time: 8.081000 primary movement = 1.913043325705e-04 time: 8.081000000001e+00 total movement = 1.913043325705e-04 vel = 1.950000000000e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.202500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.202500, acc = 7.500000,T = 0.016819, P = 0.002734 tc id = 212, canon_type = 3, mot type = 2 time: 8.082000 primary movement = 1.988108233889e-04 time: 8.082000000001e+00 total movement = 1.988108233889e-04 vel = 2.025000000000e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.210000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.210000, acc = 7.500000,T = 0.016819, P = 0.002940 tc id = 212, canon_type = 3, mot type = 2 time: 8.083000 primary movement = 2.063178172983e-04 time: 8.083000000001e+00 total movement = 2.063178172983e-04 vel = 2.100000000000e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.217500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.217500, acc = 7.500000,T = 0.016819, P = 0.003154 tc id = 212, canon_type = 3, mot type = 2 time: 8.084000 primary movement = 2.138253332833e-04 time: 8.084000000001e+00 total movement = 2.138253332833e-04 vel = 2.175000000000e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.225000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.225000, acc = 7.500000,T = 0.016819, P = 0.003375 tc id = 212, canon_type = 3, mot type = 2 time: 8.085000 primary movement = 2.213333903281e-04 time: 8.085000000001e+00 total movement = 2.213333903281e-04 vel = 2.250000000000e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.232500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.232500, acc = 7.500000,T = 0.016819, P = 0.003604 tc id = 212, canon_type = 3, mot type = 2 time: 8.086000 primary movement = 2.288420074172e-04 time: 8.086000000001e+00 total movement = 2.288420074172e-04 vel = 2.325000000000e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.240000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.240000, acc = 7.500000,T = 0.016819, P = 0.003840 tc id = 212, canon_type = 3, mot type = 2 time: 8.087000 primary movement = 2.363512035351e-04 time: 8.087000000001e+00 total movement = 2.363512035351e-04 vel = 2.400000000000e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.247500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.247500, acc = 7.500000,T = 0.016819, P = 0.004084 tc id = 212, canon_type = 3, mot type = 2 time: 8.088000 primary movement = 2.438609976659e-04 time: 8.088000000001e+00 total movement = 2.438609976659e-04 vel = 2.475000000000e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.255000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.255000, acc = 7.500000,T = 0.016819, P = 0.004335 tc id = 212, canon_type = 3, mot type = 2 time: 8.089000 primary movement = 2.513714087940e-04 time: 8.089000000001e+00 total movement = 2.513714087940e-04 vel = 2.550000000000e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.262500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.262500, acc = 7.500000,T = 0.016819, P = 0.004594 tc id = 212, canon_type = 3, mot type = 2 time: 8.090000 primary movement = 2.588824559040e-04 time: 8.090000000001e+00 total movement = 2.588824559040e-04 vel = 2.625000000000e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.270000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.270000, acc = 7.500000,T = 0.016819, P = 0.004860 tc id = 212, canon_type = 3, mot type = 2 time: 8.091000 primary movement = 2.663941579797e-04 time: 8.091000000001e+00 total movement = 2.663941579797e-04 vel = 2.700000000000e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.277500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.277500, acc = 7.500000,T = 0.016819, P = 0.005134 tc id = 212, canon_type = 3, mot type = 2 time: 8.092000 primary movement = 2.739065340060e-04 time: 8.092000000001e+00 total movement = 2.739065340060e-04 vel = 2.775000000000e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.285000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.285000, acc = 7.500000,T = 0.016819, P = 0.005415 tc id = 212, canon_type = 3, mot type = 2 time: 8.093000 primary movement = 2.814196029665e-04 time: 8.093000000001e+00 total movement = 2.814196029665e-04 vel = 2.850000000000e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.292500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.292500, acc = 7.500000,T = 0.016819, P = 0.005704 tc id = 212, canon_type = 3, mot type = 2 time: 8.094000 primary movement = 2.889333838459e-04 time: 8.094000000001e+00 total movement = 2.889333838459e-04 vel = 2.925000000000e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.300000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.300000, acc = 7.500000,T = 0.016819, P = 0.006000 tc id = 212, canon_type = 3, mot type = 2 time: 8.095000 primary movement = 2.964478956283e-04 time: 8.095000000001e+00 total movement = 2.964478956283e-04 vel = 3.000000000000e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.307500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.307500, acc = 7.500000,T = 0.016819, P = 0.006304 tc id = 212, canon_type = 3, mot type = 2 time: 8.096000 primary movement = 3.039631572977e-04 time: 8.096000000001e+00 total movement = 3.039631572977e-04 vel = 3.075000000000e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.315000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.315000, acc = 7.500000,T = 0.016819, P = 0.006615 tc id = 212, canon_type = 3, mot type = 2 time: 8.097000 primary movement = 3.114791878386e-04 time: 8.097000000001e+00 total movement = 3.114791878386e-04 vel = 3.150000000000e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.322500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.322500, acc = 7.500000,T = 0.016819, P = 0.006934 tc id = 212, canon_type = 3, mot type = 2 time: 8.098000 primary movement = 3.189960062348e-04 time: 8.098000000001e+00 total movement = 3.189960062348e-04 vel = 3.225000000000e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.330000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.330000, acc = 7.500000,T = 0.016819, P = 0.007260 tc id = 212, canon_type = 3, mot type = 2 time: 8.099000 primary movement = 3.265136314707e-04 time: 8.099000000001e+00 total movement = 3.265136314707e-04 vel = 3.300000000000e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.337500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.337500, acc = 7.500000,T = 0.016819, P = 0.007594 tc id = 212, canon_type = 3, mot type = 2 time: 8.100000 primary movement = 3.340320825302e-04 time: 8.100000000001e+00 total movement = 3.340320825302e-04 vel = 3.375000000000e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.345000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.345000, acc = 7.500000,T = 0.016819, P = 0.007935 tc id = 212, canon_type = 3, mot type = 2 time: 8.101000 primary movement = 3.415513783976e-04 time: 8.101000000001e+00 total movement = 3.415513783976e-04 vel = 3.450000000000e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.352500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.352500, acc = 7.500000,T = 0.016819, P = 0.008284 tc id = 212, canon_type = 3, mot type = 2 time: 8.102000 primary movement = 3.490715380565e-04 time: 8.102000000001e+00 total movement = 3.490715380565e-04 vel = 3.525000000000e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.350368, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.350368, acc = -2.132068,T = 0.016819, P = 0.008635 on final decel tc id = 212, canon_type = 3, mot type = 2 time: 8.103000 primary movement = 3.517718527615e-04 time: 8.103000000001e+00 total movement = 3.517718527615e-04 vel = 3.503679321810e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.342868, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.342868, acc = -7.500000,T = 0.016819, P = 0.008982 on final decel tc id = 212, canon_type = 3, mot type = 2 time: 8.104000 primary movement = 3.469648807001e-04 time: 8.104000000001e+00 total movement = 3.469648807001e-04 vel = 3.428679321810e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.335368, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.335368, acc = -7.500000,T = 0.016819, P = 0.009321 on final decel tc id = 212, canon_type = 3, mot type = 2 time: 8.105000 primary movement = 3.394705503450e-04 time: 8.105000000001e+00 total movement = 3.394705503450e-04 vel = 3.353679321810e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.327868, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.327868, acc = -7.500000,T = 0.016819, P = 0.009653 on final decel tc id = 212, canon_type = 3, mot type = 2 time: 8.106000 primary movement = 3.319753552934e-04 time: 8.106000000001e+00 total movement = 3.319753552934e-04 vel = 3.278679321810e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.320368, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.320368, acc = -7.500000,T = 0.016819, P = 0.009977 on final decel tc id = 212, canon_type = 3, mot type = 2 time: 8.107000 primary movement = 3.244793146684e-04 time: 8.107000000001e+00 total movement = 3.244793146684e-04 vel = 3.203679321810e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.312868, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.312868, acc = -7.500000,T = 0.016819, P = 0.010293 on final decel tc id = 212, canon_type = 3, mot type = 2 time: 8.108000 primary movement = 3.169824475937e-04 time: 8.108000000001e+00 total movement = 3.169824475937e-04 vel = 3.128679321810e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.305368, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.305368, acc = -7.500000,T = 0.016819, P = 0.010602 on final decel tc id = 212, canon_type = 3, mot type = 2 time: 8.109000 primary movement = 3.094847731927e-04 time: 8.109000000001e+00 total movement = 3.094847731927e-04 vel = 3.053679321810e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.297868, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.297868, acc = -7.500000,T = 0.016819, P = 0.010904 on final decel tc id = 212, canon_type = 3, mot type = 2 time: 8.110000 primary movement = 3.019863105888e-04 time: 8.110000000001e+00 total movement = 3.019863105888e-04 vel = 2.978679321810e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.290368, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.290368, acc = -7.500000,T = 0.016819, P = 0.011198 on final decel tc id = 212, canon_type = 3, mot type = 2 time: 8.111000 primary movement = 2.944870789057e-04 time: 8.111000000001e+00 total movement = 2.944870789057e-04 vel = 2.903679321810e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.282868, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.282868, acc = -7.500000,T = 0.016819, P = 0.011485 on final decel tc id = 212, canon_type = 3, mot type = 2 time: 8.112000 primary movement = 2.869870972667e-04 time: 8.112000000001e+00 total movement = 2.869870972667e-04 vel = 2.828679321810e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.275368, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.275368, acc = -7.500000,T = 0.016819, P = 0.011764 on final decel tc id = 212, canon_type = 3, mot type = 2 time: 8.113000 primary movement = 2.794863847956e-04 time: 8.113000000001e+00 total movement = 2.794863847956e-04 vel = 2.753679321810e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.267868, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.267868, acc = -7.500000,T = 0.016819, P = 0.012035 on final decel tc id = 212, canon_type = 3, mot type = 2 time: 8.114000 primary movement = 2.719849606159e-04 time: 8.114000000001e+00 total movement = 2.719849606159e-04 vel = 2.678679321810e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.260368, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.260368, acc = -7.500000,T = 0.016819, P = 0.012300 on final decel tc id = 212, canon_type = 3, mot type = 2 time: 8.115000 primary movement = 2.644828438510e-04 time: 8.115000000001e+00 total movement = 2.644828438510e-04 vel = 2.603679321810e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.252868, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.252868, acc = -7.500000,T = 0.016819, P = 0.012556 on final decel tc id = 212, canon_type = 3, mot type = 2 time: 8.116000 primary movement = 2.569800536248e-04 time: 8.116000000001e+00 total movement = 2.569800536248e-04 vel = 2.528679321810e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.245368, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.245368, acc = -7.500000,T = 0.016819, P = 0.012805 on final decel tc id = 212, canon_type = 3, mot type = 2 time: 8.117000 primary movement = 2.494766090610e-04 time: 8.117000000001e+00 total movement = 2.494766090610e-04 vel = 2.453679321810e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.237868, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.237868, acc = -7.500000,T = 0.016819, P = 0.013047 on final decel tc id = 212, canon_type = 3, mot type = 2 time: 8.118000 primary movement = 2.419725292829e-04 time: 8.118000000001e+00 total movement = 2.419725292829e-04 vel = 2.378679321810e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.230368, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.230368, acc = -7.500000,T = 0.016819, P = 0.013281 on final decel tc id = 212, canon_type = 3, mot type = 2 time: 8.119000 primary movement = 2.344678334146e-04 time: 8.119000000001e+00 total movement = 2.344678334146e-04 vel = 2.303679321810e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.222868, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.222868, acc = -7.500000,T = 0.016819, P = 0.013508 on final decel tc id = 212, canon_type = 3, mot type = 2 time: 8.120000 primary movement = 2.269625405795e-04 time: 8.120000000001e+00 total movement = 2.269625405795e-04 vel = 2.228679321810e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.215368, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.215368, acc = -7.500000,T = 0.016819, P = 0.013727 on final decel tc id = 212, canon_type = 3, mot type = 2 time: 8.121000 primary movement = 2.194566699016e-04 time: 8.121000000001e+00 total movement = 2.194566699016e-04 vel = 2.153679321810e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.207868, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.207868, acc = -7.500000,T = 0.016819, P = 0.013938 on final decel tc id = 212, canon_type = 3, mot type = 2 time: 8.122000 primary movement = 2.119502405042e-04 time: 8.122000000001e+00 total movement = 2.119502405042e-04 vel = 2.078679321810e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.200368, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.200368, acc = -7.500000,T = 0.016819, P = 0.014143 on final decel tc id = 212, canon_type = 3, mot type = 2 time: 8.123000 primary movement = 2.044432715116e-04 time: 8.123000000001e+00 total movement = 2.044432715116e-04 vel = 2.003679321810e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.192868, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.192868, acc = -7.500000,T = 0.016819, P = 0.014339 on final decel tc id = 212, canon_type = 3, mot type = 2 time: 8.124000 primary movement = 1.969357820473e-04 time: 8.124000000001e+00 total movement = 1.969357820473e-04 vel = 1.928679321810e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.185368, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.185368, acc = -7.500000,T = 0.016819, P = 0.014528 on final decel tc id = 212, canon_type = 3, mot type = 2 time: 8.125000 primary movement = 1.894277912351e-04 time: 8.125000000001e+00 total movement = 1.894277912351e-04 vel = 1.853679321810e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.177868, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.177868, acc = -7.500000,T = 0.016819, P = 0.014710 on final decel tc id = 212, canon_type = 3, mot type = 2 time: 8.126000 primary movement = 1.819193181988e-04 time: 8.126000000001e+00 total movement = 1.819193181988e-04 vel = 1.778679321810e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.170368, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.170368, acc = -7.500000,T = 0.016819, P = 0.014884 on final decel tc id = 212, canon_type = 3, mot type = 2 time: 8.127000 primary movement = 1.744103820624e-04 time: 8.127000000001e+00 total movement = 1.744103820624e-04 vel = 1.703679321810e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.162868, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.162868, acc = -7.500000,T = 0.016819, P = 0.015051 on final decel tc id = 212, canon_type = 3, mot type = 2 time: 8.128000 primary movement = 1.669010019494e-04 time: 8.128000000001e+00 total movement = 1.669010019494e-04 vel = 1.628679321810e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.155368, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.155368, acc = -7.500000,T = 0.016819, P = 0.015210 on final decel tc id = 212, canon_type = 3, mot type = 2 time: 8.129000 primary movement = 1.593911969840e-04 time: 8.129000000001e+00 total movement = 1.593911969840e-04 vel = 1.553679321810e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.147868, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.147868, acc = -7.500000,T = 0.016819, P = 0.015361 on final decel tc id = 212, canon_type = 3, mot type = 2 time: 8.130000 primary movement = 1.518809862899e-04 time: 8.130000000001e+00 total movement = 1.518809862899e-04 vel = 1.478679321810e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.140368, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.140368, acc = -7.500000,T = 0.016819, P = 0.015505 on final decel tc id = 212, canon_type = 3, mot type = 2 time: 8.131000 primary movement = 1.443703889908e-04 time: 8.131000000001e+00 total movement = 1.443703889908e-04 vel = 1.403679321810e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.132868, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.132868, acc = -7.500000,T = 0.016819, P = 0.015642 on final decel tc id = 212, canon_type = 3, mot type = 2 tc state : vr = 0.007500, vf = 0.007500, maxvel = 8.385868, current_vel = 0.007500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.007500, acc = 7.500000,T = 0.005015, P = 0.000004 initial results: dx= 0.005011,dt = 0.025271, a_f = 15.100307, v_f = 0.389094 recalculating with a_f = 15.100307, a = 15.094623 revised dt = 0.025275 dt = 0.025275, not at end yet tc id = 212, canon_type = 3, mot type = 2 secondary movement = 0.000004 time: 8.132000 primary movement = 1.368594242110e-04 time: 8.132000000001e+00 total movement = 1.406094242111e-04 vel = 1.403679321810e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.125368, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.125368, acc = -7.500000,T = 0.016819, P = 0.015771 on final decel tc id = 212, canon_type = 3, mot type = 2 tc state : vr = 0.015000, vf = 0.015000, maxvel = 8.385868, current_vel = 0.015000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.015000, acc = 7.500000,T = 0.005015, P = 0.000015 initial results: dx= 0.005000,dt = 0.024746, a_f = 15.117408, v_f = 0.389094 recalculating with a_f = 15.117408, a = 15.094623 revised dt = 0.024764 dt = 0.024764, not at end yet tc id = 212, canon_type = 3, mot type = 2 secondary movement = 0.000011 time: 8.133000 primary movement = 1.293481110742e-04 time: 8.133000000001e+00 total movement = 1.405981110742e-04 vel = 1.403679321810e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.117868, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.117868, acc = -7.500000,T = 0.016819, P = 0.015893 on final decel tc id = 212, canon_type = 3, mot type = 2 tc state : vr = 0.022500, vf = 0.022500, maxvel = 8.385868, current_vel = 0.022500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.022500, acc = 7.500000,T = 0.005015, P = 0.000034 initial results: dx= 0.004981,dt = 0.024204, a_f = 15.146082, v_f = 0.389094 recalculating with a_f = 15.146082, a = 15.094623 revised dt = 0.024243 dt = 0.024243, not at end yet tc id = 212, canon_type = 3, mot type = 2 secondary movement = 0.000019 time: 8.134000 primary movement = 1.218364687042e-04 time: 8.134000000001e+00 total movement = 1.405864687042e-04 vel = 1.403679321810e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.110368, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.110368, acc = -7.500000,T = 0.016819, P = 0.016007 on final decel tc id = 212, canon_type = 3, mot type = 2 tc state : vr = 0.030000, vf = 0.030000, maxvel = 8.385868, current_vel = 0.030000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.030000, acc = 7.500000,T = 0.005015, P = 0.000060 initial results: dx= 0.004955,dt = 0.023645, a_f = 15.186590, v_f = 0.389094 recalculating with a_f = 15.186590, a = 15.094623 revised dt = 0.023712 dt = 0.023712, not at end yet tc id = 212, canon_type = 3, mot type = 2 secondary movement = 0.000026 time: 8.135000 primary movement = 1.143245162250e-04 time: 8.135000000001e+00 total movement = 1.405745162251e-04 vel = 1.403679321810e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.102868, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.102868, acc = -7.500000,T = 0.016819, P = 0.016114 on final decel tc id = 212, canon_type = 3, mot type = 2 tc state : vr = 0.037500, vf = 0.037500, maxvel = 8.385868, current_vel = 0.037500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.037500, acc = 7.500000,T = 0.005015, P = 0.000094 initial results: dx= 0.004921,dt = 0.023072, a_f = 15.239306, v_f = 0.389094 recalculating with a_f = 15.239306, a = 15.094623 revised dt = 0.023171 dt = 0.023171, not at end yet tc id = 212, canon_type = 3, mot type = 2 secondary movement = 0.000034 time: 8.136000 primary movement = 1.068122727607e-04 time: 8.136000000001e+00 total movement = 1.405622727607e-04 vel = 1.403679321810e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.095368, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.095368, acc = -7.500000,T = 0.016819, P = 0.016213 on final decel tc id = 212, canon_type = 3, mot type = 2 tc state : vr = 0.045000, vf = 0.045000, maxvel = 8.385868, current_vel = 0.045000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.045000, acc = 7.500000,T = 0.005015, P = 0.000135 initial results: dx= 0.004880,dt = 0.022483, a_f = 15.304728, v_f = 0.389094 recalculating with a_f = 15.304728, a = 15.094623 revised dt = 0.022621 dt = 0.022621, not at end yet tc id = 212, canon_type = 3, mot type = 2 secondary movement = 0.000041 time: 8.137000 primary movement = 9.929975743500e-05 time: 8.137000000001e+00 total movement = 1.405497574350e-04 vel = 1.403679321810e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.087868, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.087868, acc = -7.500000,T = 0.016819, P = 0.016304 on final decel tc id = 212, canon_type = 3, mot type = 2 tc state : vr = 0.052500, vf = 0.052500, maxvel = 8.385868, current_vel = 0.052500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.052500, acc = 7.500000,T = 0.005015, P = 0.000184 initial results: dx= 0.004831,dt = 0.021880, a_f = 15.383485, v_f = 0.389094 recalculating with a_f = 15.383485, a = 15.094623 revised dt = 0.022060 dt = 0.022060, not at end yet tc id = 212, canon_type = 3, mot type = 2 secondary movement = 0.000049 time: 8.138000 primary movement = 9.178698937191e-05 time: 8.138000000001e+00 total movement = 1.405369893719e-04 vel = 1.403679321810e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.080368, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.080368, acc = -7.500000,T = 0.016819, P = 0.016388 on final decel tc id = 212, canon_type = 3, mot type = 2 tc state : vr = 0.060000, vf = 0.060000, maxvel = 8.385868, current_vel = 0.060000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.060000, acc = 7.500000,T = 0.005015, P = 0.000240 initial results: dx= 0.004775,dt = 0.021264, a_f = 15.476356, v_f = 0.389094 recalculating with a_f = 15.476356, a = 15.094623 revised dt = 0.021490 dt = 0.021490, not at end yet tc id = 212, canon_type = 3, mot type = 2 secondary movement = 0.000056 time: 8.139000 primary movement = 8.427398769558e-05 time: 8.139000000001e+00 total movement = 1.405239876955e-04 vel = 1.403679321810e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.072868, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.072868, acc = -7.500000,T = 0.016819, P = 0.016465 on final decel tc id = 212, canon_type = 3, mot type = 2 tc state : vr = 0.067500, vf = 0.067500, maxvel = 8.385868, current_vel = 0.067500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.067500, acc = 7.500000,T = 0.005015, P = 0.000304 initial results: dx= 0.004711,dt = 0.020636, a_f = 15.584291, v_f = 0.389094 recalculating with a_f = 15.584291, a = 15.094623 revised dt = 0.020909 dt = 0.020909, not at end yet tc id = 212, canon_type = 3, mot type = 2 secondary movement = 0.000064 time: 8.140000 primary movement = 7.676077152964e-05 time: 8.140000000001e+00 total movement = 1.405107715297e-04 vel = 1.403679321810e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.065368, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.065368, acc = -7.500000,T = 0.016819, P = 0.016534 on final decel tc id = 212, canon_type = 3, mot type = 2 tc state : vr = 0.075000, vf = 0.075000, maxvel = 8.385868, current_vel = 0.075000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.075000, acc = 7.500000,T = 0.005015, P = 0.000375 initial results: dx= 0.004640,dt = 0.019995, a_f = 15.708435, v_f = 0.389094 recalculating with a_f = 15.708435, a = 15.094623 revised dt = 0.020319 dt = 0.020319, not at end yet tc id = 213, canon_type = 2, mot type = 1 secondary movement = 0.000071 time: 8.141000 primary movement = 6.924735999832e-05 time: 8.141000000001e+00 total movement = 1.404973599983e-04 vel = 1.403679321810e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.057868, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.057868, acc = -7.500000,T = 0.016819, P = 0.016596 on final decel tc id = 212, canon_type = 3, mot type = 2 tc state : vr = 0.082500, vf = 0.082500, maxvel = 8.385868, current_vel = 0.082500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.082500, acc = 7.500000,T = 0.005015, P = 0.000454 initial results: dx= 0.004561,dt = 0.019343, a_f = 15.850159, v_f = 0.389094 recalculating with a_f = 15.850159, a = 15.094623 revised dt = 0.019718 dt = 0.019718, not at end yet tc id = 213, canon_type = 2, mot type = 1 secondary movement = 0.000079 time: 8.142000 primary movement = 6.173377222545e-05 time: 8.142000000001e+00 total movement = 1.404837722255e-04 vel = 1.403679321810e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.050368, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.050368, acc = -7.500000,T = 0.016819, P = 0.016650 on final decel tc id = 212, canon_type = 3, mot type = 2 tc state : vr = 0.090000, vf = 0.090000, maxvel = 8.385868, current_vel = 0.090000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.090000, acc = 7.500000,T = 0.005015, P = 0.000540 initial results: dx= 0.004475,dt = 0.018680, a_f = 16.011104, v_f = 0.389094 recalculating with a_f = 16.011104, a = 15.094623 revised dt = 0.019107 dt = 0.019107, not at end yet tc id = 213, canon_type = 2, mot type = 1 secondary movement = 0.000086 time: 8.143000 primary movement = 5.422002733524e-05 time: 8.143000000001e+00 total movement = 1.404700273352e-04 vel = 1.403679321810e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.042868, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.042868, acc = -7.500000,T = 0.016819, P = 0.016697 on final decel tc id = 212, canon_type = 3, mot type = 2 tc state : vr = 0.097500, vf = 0.097500, maxvel = 8.385868, current_vel = 0.097500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.097500, acc = 7.500000,T = 0.005015, P = 0.000634 initial results: dx= 0.004381,dt = 0.018007, a_f = 16.193231, v_f = 0.389094 recalculating with a_f = 16.193231, a = 15.094623 revised dt = 0.018485 dt = 0.018485, not at end yet tc id = 213, canon_type = 2, mot type = 1 secondary movement = 0.000094 time: 8.144000 primary movement = 4.670614445134e-05 time: 8.144000000001e+00 total movement = 1.404561444513e-04 vel = 1.403679321810e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.035368, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.035368, acc = -7.500000,T = 0.016819, P = 0.016736 on final decel tc id = 212, canon_type = 3, mot type = 2 tc state : vr = 0.105000, vf = 0.105000, maxvel = 8.385868, current_vel = 0.105000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.105000, acc = 7.500000,T = 0.005015, P = 0.000735 initial results: dx= 0.004280,dt = 0.017324, a_f = 16.398891, v_f = 0.389094 recalculating with a_f = 16.398891, a = 15.094623 revised dt = 0.017852 dt = 0.017852, not at end yet tc id = 213, canon_type = 2, mot type = 1 secondary movement = 0.000101 time: 8.145000 primary movement = 3.919214269801e-05 time: 8.145000000001e+00 total movement = 1.404421426980e-04 vel = 1.403679321810e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.027868, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.027868, acc = -7.500000,T = 0.016819, P = 0.016767 on final decel tc id = 212, canon_type = 3, mot type = 2 tc state : vr = 0.112500, vf = 0.112500, maxvel = 8.385868, current_vel = 0.112500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.112500, acc = 7.500000,T = 0.005015, P = 0.000844 initial results: dx= 0.004171,dt = 0.016631, a_f = 16.630906, v_f = 0.389094 recalculating with a_f = 16.630906, a = 15.094623 revised dt = 0.017209 dt = 0.017209, not at end yet tc id = 213, canon_type = 2, mot type = 1 secondary movement = 0.000109 time: 8.146000 primary movement = 3.167804119921e-05 time: 8.146000000001e+00 total movement = 1.404280411992e-04 vel = 1.403679321810e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.020368, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.020368, acc = -7.500000,T = 0.016819, P = 0.016791 on final decel tc id = 212, canon_type = 3, mot type = 2 tc state : vr = 0.120000, vf = 0.120000, maxvel = 8.385868, current_vel = 0.120000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.120000, acc = 7.500000,T = 0.005015, P = 0.000960 initial results: dx= 0.004055,dt = 0.015930, a_f = 16.892685, v_f = 0.389094 recalculating with a_f = 16.892685, a = 15.094623 revised dt = 0.016554 dt = 0.016554, not at end yet tc id = 213, canon_type = 2, mot type = 1 secondary movement = 0.000116 time: 8.147000 primary movement = 2.416385907871e-05 time: 8.147000000001e+00 total movement = 1.404138590788e-04 vel = 1.403679321810e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.012868, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.012868, acc = -7.500000,T = 0.016819, P = 0.016808 on final decel tc id = 212, canon_type = 3, mot type = 2 tc state : vr = 0.127500, vf = 0.127500, maxvel = 8.385868, current_vel = 0.127500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.127500, acc = 7.500000,T = 0.005015, P = 0.001084 initial results: dx= 0.003931,dt = 0.015219, a_f = 17.188365, v_f = 0.389094 recalculating with a_f = 17.188365, a = 15.094623 revised dt = 0.015889 dt = 0.015889, not at end yet tc id = 213, canon_type = 2, mot type = 1 secondary movement = 0.000124 time: 8.148000 primary movement = 1.664961546083e-05 time: 8.148000000001e+00 total movement = 1.403996154607e-04 vel = 1.403679321810e-01 ------------------- tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.005368, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.005368, acc = -7.500000,T = 0.016819, P = 0.016817 on final decel tc id = 212, canon_type = 3, mot type = 2 tc state : vr = 0.135000, vf = 0.135000, maxvel = 8.385868, current_vel = 0.135000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.135000, acc = 7.500000,T = 0.005015, P = 0.001215 initial results: dx= 0.003800,dt = 0.014501, a_f = 17.523011, v_f = 0.389094 recalculating with a_f = 17.523011, a = 15.094623 revised dt = 0.015211 dt = 0.015211, not at end yet tc id = 213, canon_type = 2, mot type = 1 secondary movement = 0.000131 time: 8.149000 primary movement = 9.135329469370e-06 time: 8.149000000001e+00 total movement = 1.403853294694e-04 vel = 1.403679321810e-01 ------------------- Found newvel = -0.002132, assuming segment is done segment 212 at target in runcycle tc state : vr = 0.711079, vf = 0.000000, maxvel = 0.711079, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.016819, P = 0.016819 tc id = 212, canon_type = 3, mot type = 2 tc state : vr = 0.140368, vf = 0.140368, maxvel = 8.385868, current_vel = 0.140368, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.140368, acc = 5.367932,T = 0.005015, P = 0.001353 initial results: dx= 0.003662,dt = 0.013833, a_f = 17.979999, v_f = 0.389094 recalculating with a_f = 17.979999, a = 15.094623 revised dt = 0.014611 dt = 0.014611, not at end yet tc id = 213, canon_type = 2, mot type = 1 secondary movement = 0.000138 time: 8.150000 primary movement = 1.924646215094e-06 time: 8.150000000001e+00 total movement = 1.396086123056e-04 vel = 1.403679321810e-01 Finished tc id 212 ------------------- tc state : vr = 2.388016, vf = 0.389094, maxvel = 8.385868, current_vel = 0.155463, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.155463, acc = 15.094623,T = 0.005015, P = 0.001501 initial results: dx= 0.003514,dt = 0.012907, a_f = 18.101446, v_f = 0.389094 recalculating with a_f = 18.101446, a = 15.094623 revised dt = 0.013611 dt = 0.013611, not at end yet tc id = 213, canon_type = 2, mot type = 1 time: 8.151000 primary movement = 1.479152438919e-04 time: 8.151000000001e+00 total movement = 1.479152438919e-04 vel = 1.554625556029e-01 ------------------- tc state : vr = 2.388016, vf = 0.389094, maxvel = 8.385868, current_vel = 0.170557, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.170557, acc = 15.094623,T = 0.005015, P = 0.001664 initial results: dx= 0.003351,dt = 0.011976, a_f = 18.247703, v_f = 0.389094 recalculating with a_f = 18.247703, a = 15.094623 revised dt = 0.012611 dt = 0.012611, not at end yet tc id = 213, canon_type = 2, mot type = 1 time: 8.152000 primary movement = 1.630098673140e-04 time: 8.152000000001e+00 total movement = 1.630098673140e-04 vel = 1.705571790249e-01 ------------------- tc state : vr = 2.388016, vf = 0.389094, maxvel = 8.385868, current_vel = 0.185652, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.185652, acc = 15.094623,T = 0.005015, P = 0.001842 initial results: dx= 0.003173,dt = 0.011042, a_f = 18.424683, v_f = 0.389094 recalculating with a_f = 18.424683, a = 15.094623 revised dt = 0.011611 dt = 0.011611, not at end yet tc id = 213, canon_type = 2, mot type = 1 time: 8.153000 primary movement = 1.781044907358e-04 time: 8.153000000001e+00 total movement = 1.781044907358e-04 vel = 1.856518024468e-01 ------------------- tc state : vr = 2.388016, vf = 0.389094, maxvel = 8.385868, current_vel = 0.200746, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.200746, acc = 15.094623,T = 0.005015, P = 0.002035 initial results: dx= 0.002980,dt = 0.010104, a_f = 18.640583, v_f = 0.389094 recalculating with a_f = 18.640583, a = 15.094623 revised dt = 0.010611 dt = 0.010611, not at end yet tc id = 213, canon_type = 2, mot type = 1 time: 8.154000 primary movement = 1.931991141578e-04 time: 8.154000000001e+00 total movement = 1.931991141578e-04 vel = 2.007464258687e-01 ------------------- tc state : vr = 2.388016, vf = 0.389094, maxvel = 8.385868, current_vel = 0.215841, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.215841, acc = 15.094623,T = 0.005015, P = 0.002243 initial results: dx= 0.002772,dt = 0.009163, a_f = 18.907070, v_f = 0.389094 recalculating with a_f = 18.907070, a = 15.094623 revised dt = 0.009611 dt = 0.009611, not at end yet tc id = 213, canon_type = 2, mot type = 1 time: 8.155000 primary movement = 2.082937375796e-04 time: 8.155000000001e+00 total movement = 2.082937375796e-04 vel = 2.158410492907e-01 ------------------- tc state : vr = 2.388016, vf = 0.389094, maxvel = 8.385868, current_vel = 0.230936, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.230936, acc = 15.094623,T = 0.005015, P = 0.002467 initial results: dx= 0.002548,dt = 0.008220, a_f = 19.241283, v_f = 0.389094 recalculating with a_f = 19.241283, a = 15.094623 revised dt = 0.008611 dt = 0.008611, not at end yet tc id = 213, canon_type = 2, mot type = 1 time: 8.156000 primary movement = 2.233883610017e-04 time: 8.156000000001e+00 total movement = 2.233883610017e-04 vel = 2.309356727126e-01 ------------------- tc state : vr = 2.388016, vf = 0.389094, maxvel = 8.385868, current_vel = 0.246030, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.246030, acc = 15.094623,T = 0.005015, P = 0.002705 initial results: dx= 0.002310,dt = 0.007273, a_f = 19.669427, v_f = 0.389094 recalculating with a_f = 19.669427, a = 15.094623 revised dt = 0.007611 dt = 0.007611, not at end yet tc id = 213, canon_type = 2, mot type = 1 time: 8.157000 primary movement = 2.384829844236e-04 time: 8.157000000001e+00 total movement = 2.384829844236e-04 vel = 2.460302961345e-01 ------------------- tc state : vr = 2.388016, vf = 0.389094, maxvel = 8.385868, current_vel = 0.261125, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.261125, acc = 15.094623,T = 0.005015, P = 0.002959 initial results: dx= 0.002056,dt = 0.006325, a_f = 20.233614, v_f = 0.389094 recalculating with a_f = 20.233614, a = 15.094623 revised dt = 0.006611 dt = 0.006611, not at end yet tc id = 213, canon_type = 2, mot type = 1 time: 8.158000 primary movement = 2.535776078455e-04 time: 8.158000000001e+00 total movement = 2.535776078455e-04 vel = 2.611249195565e-01 ------------------- tc state : vr = 2.388016, vf = 0.389094, maxvel = 8.385868, current_vel = 0.276220, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.276220, acc = 15.094623,T = 0.005015, P = 0.003227 initial results: dx= 0.001788,dt = 0.005373, a_f = 21.006034, v_f = 0.389094 recalculating with a_f = 21.006034, a = 15.094623 revised dt = 0.005611 dt = 0.005611, not at end yet tc id = 213, canon_type = 2, mot type = 1 time: 8.159000 primary movement = 2.686722312674e-04 time: 8.159000000001e+00 total movement = 2.686722312674e-04 vel = 2.762195429784e-01 ------------------- tc state : vr = 2.388016, vf = 0.389094, maxvel = 8.385868, current_vel = 0.291314, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.291314, acc = 15.094623,T = 0.005015, P = 0.003511 initial results: dx= 0.001504,dt = 0.004420, a_f = 22.121562, v_f = 0.389094 recalculating with a_f = 22.121562, a = 15.094623 revised dt = 0.004611 dt = 0.004611, not at end yet tc id = 213, canon_type = 2, mot type = 1 time: 8.160000 primary movement = 2.837668546893e-04 time: 8.160000000001e+00 total movement = 2.837668546893e-04 vel = 2.913141664003e-01 ------------------- tc state : vr = 2.388016, vf = 0.389094, maxvel = 8.385868, current_vel = 0.306409, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.306409, acc = 15.094623,T = 0.005015, P = 0.003810 initial results: dx= 0.001205,dt = 0.003465, a_f = 23.864545, v_f = 0.389094 recalculating with a_f = 23.864545, a = 15.094623 revised dt = 0.003611 dt = 0.003611, not at end yet tc id = 213, canon_type = 2, mot type = 1 time: 8.161000 primary movement = 2.988614781114e-04 time: 8.161000000001e+00 total movement = 2.988614781114e-04 vel = 3.064087898223e-01 ------------------- tc state : vr = 2.388016, vf = 0.389094, maxvel = 8.385868, current_vel = 0.321503, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.321503, acc = 15.094623,T = 0.005015, P = 0.004124 initial results: dx= 0.000891,dt = 0.002508, a_f = 26.955023, v_f = 0.389094 recalculating with a_f = 26.955023, a = 15.094623 revised dt = 0.002611 dt = 0.002611, not at end yet tc id = 213, canon_type = 2, mot type = 1 time: 8.162000 primary movement = 3.139561015332e-04 time: 8.162000000001e+00 total movement = 3.139561015332e-04 vel = 3.215034132442e-01 ------------------- tc state : vr = 2.388016, vf = 0.389094, maxvel = 8.385868, current_vel = 0.336598, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.336598, acc = 15.094623,T = 0.005015, P = 0.004453 initial results: dx= 0.000562,dt = 0.001549, a_f = 33.900885, v_f = 0.389094 recalculating with a_f = 33.900885, a = 15.094623 revised dt = 0.001611 dt = 0.001611, not at end yet tc id = 213, canon_type = 2, mot type = 1 time: 8.163000 primary movement = 3.290507249552e-04 time: 8.163000000001e+00 total movement = 3.290507249552e-04 vel = 3.365980366661e-01 ------------------- tc state : vr = 2.388016, vf = 0.389094, maxvel = 8.385868, current_vel = 0.351693, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.351693, acc = 15.094623,T = 0.005015, P = 0.004797 initial results: dx= 0.000218,dt = 0.000588, a_f = 63.626889, v_f = 0.389094 recalculating with a_f = 63.626889, a = 15.094623 revised dt = 0.000611 actual v_f = 0.360916, a = 15.094623 split time is 0.000611064 tc id = 213, canon_type = 2, mot type = 1 time: 8.164000 primary movement = 3.441453483770e-04 time: 8.164000000001e+00 total movement = 3.441453483770e-04 vel = 3.516926600881e-01 ------------------- tc id 213 done Finishing split-cycle on id 214 tc state : vr = 0.574728, vf = 0.574728, maxvel = 0.580510, current_vel = 0.366750, fs = 1.000000, tc = 0.000389, term = 3 tc result: v = 0.366750, acc = 15.000000,T = 0.005964, P = 0.000142 initial results: dx= 0.005822,dt = 0.012369, a_f = 16.814826, v_f = 0.574728 recalculating with a_f = 16.814826, a = 15.000000 revised dt = 0.012619 dt = 0.012619, not at end yet secondary movement = 0.000142 tc id = 214, canon_type = 3, mot type = 2 time: 8.165000 primary movement = 2.177247799053e-04 time: 8.165000000001e+00 total movement = 3.592321131146e-04 vel = 3.667504810275e-01 Finished tc id 213 ------------------- Activate tc id = 214 target_vel = 0.574728 final_vel = 0.574728 length = 0.005964 tc state : vr = 0.574728, vf = 0.574728, maxvel = 0.580510, current_vel = 0.381750, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.381750, acc = 15.000000,T = 0.005964, P = 0.000516 initial results: dx= 0.005448,dt = 0.011392, a_f = 16.939492, v_f = 0.574728 recalculating with a_f = 16.939492, a = 15.000000 revised dt = 0.011619 dt = 0.011619, not at end yet tc id = 214, canon_type = 3, mot type = 2 time: 8.166000 primary movement = 3.742374991585e-04 time: 8.166000000001e+00 total movement = 3.742374991585e-04 vel = 3.817504810275e-01 ------------------- tc state : vr = 0.574728, vf = 0.574728, maxvel = 0.580510, current_vel = 0.396750, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.396750, acc = 15.000000,T = 0.005964, P = 0.000905 initial results: dx= 0.005059,dt = 0.010415, a_f = 17.088723, v_f = 0.574728 recalculating with a_f = 17.088723, a = 15.000000 revised dt = 0.010619 dt = 0.010619, not at end yet tc id = 214, canon_type = 3, mot type = 2 time: 8.167000 primary movement = 3.892358748281e-04 time: 8.167000000001e+00 total movement = 3.892358748281e-04 vel = 3.967504810275e-01 ------------------- tc state : vr = 0.574728, vf = 0.574728, maxvel = 0.580510, current_vel = 0.411750, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.411750, acc = 15.000000,T = 0.005964, P = 0.001309 initial results: dx= 0.004655,dt = 0.009437, a_f = 17.270126, v_f = 0.574728 recalculating with a_f = 17.270126, a = 15.000000 revised dt = 0.009619 dt = 0.009619, not at end yet tc id = 214, canon_type = 3, mot type = 2 time: 8.168000 primary movement = 4.042341203606e-04 time: 8.168000000001e+00 total movement = 4.042341203606e-04 vel = 4.117504810275e-01 ------------------- tc state : vr = 0.574728, vf = 0.574728, maxvel = 0.580510, current_vel = 0.426750, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.426750, acc = 15.000000,T = 0.005964, P = 0.001729 initial results: dx= 0.004235,dt = 0.008458, a_f = 17.494838, v_f = 0.574728 recalculating with a_f = 17.494838, a = 15.000000 revised dt = 0.008619 dt = 0.008619, not at end yet tc id = 214, canon_type = 3, mot type = 2 time: 8.169000 primary movement = 4.192322307414e-04 time: 8.169000000001e+00 total movement = 4.192322307414e-04 vel = 4.267504810275e-01 ------------------- tc state : vr = 0.574728, vf = 0.574728, maxvel = 0.580510, current_vel = 0.441750, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.441750, acc = 15.000000,T = 0.005964, P = 0.002163 initial results: dx= 0.003801,dt = 0.007479, a_f = 17.779852, v_f = 0.574728 recalculating with a_f = 17.779852, a = 15.000000 revised dt = 0.007619 dt = 0.007619, not at end yet tc id = 214, canon_type = 3, mot type = 2 time: 8.170000 primary movement = 4.342302009561e-04 time: 8.170000000001e+00 total movement = 4.342302009561e-04 vel = 4.417504810275e-01 ------------------- tc state : vr = 0.574728, vf = 0.574728, maxvel = 0.580510, current_vel = 0.456750, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.456750, acc = 15.000000,T = 0.005964, P = 0.002612 initial results: dx= 0.003352,dt = 0.006499, a_f = 18.152430, v_f = 0.574728 recalculating with a_f = 18.152430, a = 15.000000 revised dt = 0.006619 dt = 0.006619, not at end yet tc id = 214, canon_type = 3, mot type = 2 time: 8.171000 primary movement = 4.492280259902e-04 time: 8.171000000001e+00 total movement = 4.492280259902e-04 vel = 4.567504810275e-01 ------------------- tc state : vr = 0.574728, vf = 0.574728, maxvel = 0.580510, current_vel = 0.471750, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.471750, acc = 15.000000,T = 0.005964, P = 0.003076 initial results: dx= 0.002888,dt = 0.005519, a_f = 18.659247, v_f = 0.574728 recalculating with a_f = 18.659247, a = 15.000000 revised dt = 0.005619 dt = 0.005619, not at end yet tc id = 214, canon_type = 3, mot type = 2 time: 8.172000 primary movement = 4.642257008294e-04 time: 8.172000000001e+00 total movement = 4.642257008294e-04 vel = 4.717504810275e-01 ------------------- tc state : vr = 0.574728, vf = 0.574728, maxvel = 0.580510, current_vel = 0.486750, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.486750, acc = 15.000000,T = 0.005964, P = 0.003556 initial results: dx= 0.002408,dt = 0.004538, a_f = 19.387401, v_f = 0.574728 recalculating with a_f = 19.387401, a = 15.000000 revised dt = 0.004619 dt = 0.004619, not at end yet tc id = 214, canon_type = 3, mot type = 2 time: 8.173000 primary movement = 4.792232204594e-04 time: 8.173000000001e+00 total movement = 4.792232204594e-04 vel = 4.867504810275e-01 ------------------- tc state : vr = 0.574728, vf = 0.574728, maxvel = 0.580510, current_vel = 0.501750, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.501750, acc = 15.000000,T = 0.005964, P = 0.004050 initial results: dx= 0.001914,dt = 0.003556, a_f = 20.520260, v_f = 0.574728 recalculating with a_f = 20.520260, a = 15.000000 revised dt = 0.003619 dt = 0.003619, not at end yet tc id = 214, canon_type = 3, mot type = 2 time: 8.174000 primary movement = 4.942205798659e-04 time: 8.174000000001e+00 total movement = 4.942205798659e-04 vel = 5.017504810275e-01 ------------------- tc state : vr = 0.574728, vf = 0.574728, maxvel = 0.580510, current_vel = 0.516750, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.516750, acc = 15.000000,T = 0.005964, P = 0.004559 initial results: dx= 0.001405,dt = 0.002574, a_f = 22.521235, v_f = 0.574728 recalculating with a_f = 22.521235, a = 15.000000 revised dt = 0.002619 dt = 0.002619, not at end yet tc id = 214, canon_type = 3, mot type = 2 time: 8.175000 primary movement = 5.092177740346e-04 time: 8.175000000001e+00 total movement = 5.092177740346e-04 vel = 5.167504810275e-01 ------------------- tc state : vr = 0.574728, vf = 0.574728, maxvel = 0.580510, current_vel = 0.531750, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.531750, acc = 15.000000,T = 0.005964, P = 0.005083 initial results: dx= 0.000881,dt = 0.001592, a_f = 26.998560, v_f = 0.574728 recalculating with a_f = 26.998560, a = 15.000000 revised dt = 0.001619 dt = 0.001619, not at end yet tc id = 214, canon_type = 3, mot type = 2 time: 8.176000 primary movement = 5.242147979515e-04 time: 8.176000000001e+00 total movement = 5.242147979515e-04 vel = 5.317504810275e-01 ------------------- tc state : vr = 0.574728, vf = 0.574728, maxvel = 0.580510, current_vel = 0.546750, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.546750, acc = 15.000000,T = 0.005964, P = 0.005623 initial results: dx= 0.000341,dt = 0.000609, a_f = 45.949967, v_f = 0.574728 recalculating with a_f = 45.949967, a = 15.000000 revised dt = 0.000619 actual v_f = 0.556038, a = 15.000000 split time is 0.000619179 tc id = 214, canon_type = 3, mot type = 2 time: 8.177000 primary movement = 5.392116466024e-04 time: 8.177000000001e+00 total movement = 5.392116466024e-04 vel = 5.467504810275e-01 ------------------- tc id 214 done Finishing split-cycle on id 214 tc state : vr = 1.612955, vf = 0.454673, maxvel = 8.863930, current_vel = 0.568190, fs = 1.000000, tc = 0.000381, term = 3 tc result: v = 0.568190, acc = 31.910275,T = 0.003387, P = 0.000214 initial results: dx= 0.003173,dt = 0.006204, a_f = -18.296174, v_f = 0.454673 dt = 0.006204, not at end yet secondary movement = 0.000214 tc id = 214, canon_type = 2, mot type = 1 time: 8.178000 primary movement = 3.414017143885e-04 time: 8.178000000001e+00 total movement = 5.554668310624e-04 vel = 5.681902752737e-01 Finished tc id 214 ------------------- Activate tc id = 214 target_vel = 1.612955 final_vel = 0.454673 length = 0.003387 tc state : vr = 1.612955, vf = 0.454673, maxvel = 8.863930, current_vel = 0.600101, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.600101, acc = 31.910275,T = 0.003387, P = 0.000798 initial results: dx= 0.002589,dt = 0.004909, a_f = -29.624070, v_f = 0.454673 dt = 0.004909, not at end yet tc id = 214, canon_type = 2, mot type = 1 time: 8.179000 primary movement = 5.841454125732e-04 time: 8.179000000001e+00 total movement = 5.841454125732e-04 vel = 6.001005498729e-01 ------------------- tc state : vr = 1.612955, vf = 0.454673, maxvel = 8.863930, current_vel = 0.578237, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.578237, acc = -21.863959,T = 0.003387, P = 0.001387 on final decel initial results: dx= 0.002000,dt = 0.003872, a_f = -31.910275, v_f = 0.454673 dt = 0.003872, not at end yet tc id = 214, canon_type = 2, mot type = 1 time: 8.180000 primary movement = 5.891685705829e-04 time: 8.180000000001e+00 total movement = 5.891685705829e-04 vel = 5.782365912928e-01 ------------------- tc state : vr = 1.612955, vf = 0.454673, maxvel = 8.863930, current_vel = 0.546326, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.546326, acc = -31.910275,T = 0.003387, P = 0.001950 on final decel initial results: dx= 0.001438,dt = 0.002872, a_f = -31.910275, v_f = 0.454673 recalculating with a_f = -31.910275, a = -31.910275 revised dt = 0.002872 dt = 0.002872, not at end yet tc id = 214, canon_type = 2, mot type = 1 time: 8.181000 primary movement = 5.622814539931e-04 time: 8.181000000001e+00 total movement = 5.622814539931e-04 vel = 5.463263166935e-01 ------------------- tc state : vr = 1.612955, vf = 0.454673, maxvel = 8.863930, current_vel = 0.514416, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.514416, acc = -31.910275,T = 0.003387, P = 0.002480 on final decel initial results: dx= 0.000907,dt = 0.001872, a_f = -31.910275, v_f = 0.454673 dt = 0.001872, not at end yet tc id = 214, canon_type = 2, mot type = 1 time: 8.182000 primary movement = 5.303711793939e-04 time: 8.182000000001e+00 total movement = 5.303711793939e-04 vel = 5.144160420943e-01 ------------------- tc state : vr = 1.612955, vf = 0.454673, maxvel = 8.863930, current_vel = 0.482506, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.482506, acc = -31.910275,T = 0.003387, P = 0.002978 on final decel initial results: dx= 0.000409,dt = 0.000872, a_f = -31.910275, v_f = 0.454673 actual v_f = 0.454673, a = -31.910275 split time is 0.00087222 tc id = 214, canon_type = 2, mot type = 1 time: 8.183000 primary movement = 4.984609047946e-04 time: 8.183000000001e+00 total movement = 4.984609047946e-04 vel = 4.825057674950e-01 ------------------- tc id 214 done Finishing split-cycle on id 215 tc state : vr = 0.454673, vf = 0.454673, maxvel = 0.454673, current_vel = 0.454673, fs = 1.000000, tc = 0.000128, term = 3 tc result: v = 0.454673, acc = 0.000000,T = 0.004081, P = 0.000058 initial results: dx= 0.004023,dt = 0.008848, a_f = 0.000000, v_f = 0.454673 dt = 0.008848, not at end yet secondary movement = 0.000058 tc id = 215, canon_type = 3, mot type = 2 time: 8.184000 primary movement = 4.087130015770e-04 time: 8.184000000001e+00 total movement = 4.668110125143e-04 vel = 4.546729895658e-01 Finished tc id 214 ------------------- Activate tc id = 215 target_vel = 0.454673 final_vel = 0.454673 length = 0.004081 tc state : vr = 0.454673, vf = 0.454673, maxvel = 0.454673, current_vel = 0.454673, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.454673, acc = 0.000000,T = 0.004081, P = 0.000513 initial results: dx= 0.003568,dt = 0.007848, a_f = 0.000000, v_f = 0.454673 dt = 0.007848, not at end yet tc id = 215, canon_type = 3, mot type = 2 time: 8.185000 primary movement = 4.546111344463e-04 time: 8.185000000001e+00 total movement = 4.546111344463e-04 vel = 4.546729895658e-01 ------------------- tc state : vr = 0.454673, vf = 0.454673, maxvel = 0.454673, current_vel = 0.454673, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.454673, acc = 0.000000,T = 0.004081, P = 0.000967 initial results: dx= 0.003114,dt = 0.006848, a_f = 0.000000, v_f = 0.454673 dt = 0.006848, not at end yet tc id = 215, canon_type = 3, mot type = 2 time: 8.186000 primary movement = 4.546111344463e-04 time: 8.186000000001e+00 total movement = 4.546111344463e-04 vel = 4.546729895658e-01 ------------------- tc state : vr = 0.454673, vf = 0.454673, maxvel = 0.454673, current_vel = 0.454673, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.454673, acc = 0.000000,T = 0.004081, P = 0.001422 initial results: dx= 0.002659,dt = 0.005848, a_f = 0.000000, v_f = 0.454673 dt = 0.005848, not at end yet tc id = 215, canon_type = 3, mot type = 2 time: 8.187000 primary movement = 4.546111344463e-04 time: 8.187000000001e+00 total movement = 4.546111344463e-04 vel = 4.546729895658e-01 ------------------- tc state : vr = 0.454673, vf = 0.454673, maxvel = 0.454673, current_vel = 0.454673, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.454673, acc = 0.000000,T = 0.004081, P = 0.001877 initial results: dx= 0.002204,dt = 0.004848, a_f = 0.000000, v_f = 0.454673 dt = 0.004848, not at end yet tc id = 215, canon_type = 3, mot type = 2 time: 8.188000 primary movement = 4.546111344462e-04 time: 8.188000000001e+00 total movement = 4.546111344462e-04 vel = 4.546729895658e-01 ------------------- tc state : vr = 0.454673, vf = 0.454673, maxvel = 0.454673, current_vel = 0.454673, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.454673, acc = 0.000000,T = 0.004081, P = 0.002331 initial results: dx= 0.001750,dt = 0.003848, a_f = 0.000000, v_f = 0.454673 dt = 0.003848, not at end yet tc id = 215, canon_type = 3, mot type = 2 time: 8.189000 primary movement = 4.546111344463e-04 time: 8.189000000001e+00 total movement = 4.546111344463e-04 vel = 4.546729895658e-01 ------------------- tc state : vr = 0.454673, vf = 0.454673, maxvel = 0.454673, current_vel = 0.454673, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.454673, acc = 0.000000,T = 0.004081, P = 0.002786 initial results: dx= 0.001295,dt = 0.002848, a_f = 0.000000, v_f = 0.454673 dt = 0.002848, not at end yet tc id = 215, canon_type = 3, mot type = 2 time: 8.190000 primary movement = 4.546111344464e-04 time: 8.190000000001e+00 total movement = 4.546111344464e-04 vel = 4.546729895658e-01 ------------------- tc state : vr = 0.454673, vf = 0.454673, maxvel = 0.454673, current_vel = 0.454673, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.454673, acc = 0.000000,T = 0.004081, P = 0.003241 initial results: dx= 0.000840,dt = 0.001848, a_f = 0.000000, v_f = 0.454673 dt = 0.001848, not at end yet tc id = 215, canon_type = 3, mot type = 2 time: 8.191000 primary movement = 4.546111344462e-04 time: 8.191000000001e+00 total movement = 4.546111344462e-04 vel = 4.546729895658e-01 ------------------- tc state : vr = 0.454673, vf = 0.454673, maxvel = 0.454673, current_vel = 0.454673, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.454673, acc = 0.000000,T = 0.004081, P = 0.003695 initial results: dx= 0.000386,dt = 0.000848, a_f = 0.000000, v_f = 0.454673 actual v_f = 0.454673, a = 0.000000 split time is 0.000848435 tc id = 215, canon_type = 3, mot type = 2 time: 8.192000 primary movement = 4.546111344464e-04 time: 8.192000000001e+00 total movement = 4.546111344464e-04 vel = 4.546729895658e-01 ------------------- tc id 215 done Finishing split-cycle on id 215 tc state : vr = 0.454673, vf = 0.440529, maxvel = 8.448247, current_vel = 0.454673, fs = 1.000000, tc = 0.000152, term = 3 tc result: v = 0.454673, acc = 0.000000,T = 0.001567, P = 0.000069 initial results: dx= 0.001498,dt = 0.003347, a_f = -4.225406, v_f = 0.440529 dt = 0.003347, not at end yet secondary movement = 0.000069 tc id = 215, canon_type = 2, mot type = 1 time: 8.193000 primary movement = 3.857225405486e-04 time: 8.193000000001e+00 total movement = 4.546352118404e-04 vel = 4.546729895658e-01 Finished tc id 215 ------------------- Activate tc id = 215 target_vel = 0.454673 final_vel = 0.440529 length = 0.001567 tc state : vr = 0.454673, vf = 0.440529, maxvel = 8.448247, current_vel = 0.454673, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.454673, acc = 0.000000,T = 0.001567, P = 0.000524 initial results: dx= 0.001044,dt = 0.002332, a_f = -6.066289, v_f = 0.440529 dt = 0.002332, not at end yet tc id = 215, canon_type = 2, mot type = 1 time: 8.194000 primary movement = 4.546729895659e-04 time: 8.194000000001e+00 total movement = 4.546729895659e-04 vel = 4.546729895658e-01 ------------------- tc state : vr = 0.454673, vf = 0.440529, maxvel = 8.448247, current_vel = 0.454673, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.454673, acc = 0.000000,T = 0.001567, P = 0.000978 initial results: dx= 0.000589,dt = 0.001316, a_f = -10.749543, v_f = 0.440529 dt = 0.001316, not at end yet tc id = 215, canon_type = 2, mot type = 1 time: 8.195000 primary movement = 4.546729895659e-04 time: 8.195000000001e+00 total movement = 4.546729895659e-04 vel = 4.546729895658e-01 ------------------- tc state : vr = 0.454673, vf = 0.440529, maxvel = 8.448247, current_vel = 0.449866, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.449866, acc = -4.807027,T = 0.001567, P = 0.001431 on final decel initial results: dx= 0.000137,dt = 0.000307, a_f = -30.413813, v_f = 0.440529 actual v_f = 0.440529, a = -30.413813 split time is 0.000306999 tc id = 215, canon_type = 2, mot type = 1 time: 8.196000 primary movement = 4.522694760068e-04 time: 8.196000000001e+00 total movement = 4.522694760068e-04 vel = 4.498659624478e-01 ------------------- tc id 215 done Finishing split-cycle on id 216 tc state : vr = 0.440529, vf = 0.440529, maxvel = 0.440529, current_vel = 0.440529, fs = 1.000000, tc = 0.000693, term = 3 tc result: v = 0.440529, acc = 0.000000,T = 0.004697, P = 0.000305 initial results: dx= 0.004392,dt = 0.009969, a_f = 0.000000, v_f = 0.440529 dt = 0.009969, not at end yet secondary movement = 0.000305 tc id = 216, canon_type = 3, mot type = 2 time: 8.197000 primary movement = 1.366752408861e-04 time: 8.197000000001e+00 total movement = 4.419409279447e-04 vel = 4.405289477756e-01 Finished tc id 215 ------------------- Activate tc id = 216 target_vel = 0.440529 final_vel = 0.440529 length = 0.004697 tc state : vr = 0.440529, vf = 0.440529, maxvel = 0.440529, current_vel = 0.440529, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.440529, acc = 0.000000,T = 0.004697, P = 0.000746 initial results: dx= 0.003951,dt = 0.008969, a_f = 0.000000, v_f = 0.440529 dt = 0.008969, not at end yet tc id = 216, canon_type = 3, mot type = 2 time: 8.198000 primary movement = 4.404651068468e-04 time: 8.198000000001e+00 total movement = 4.404651068468e-04 vel = 4.405289477756e-01 ------------------- tc state : vr = 0.440529, vf = 0.440529, maxvel = 0.440529, current_vel = 0.440529, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.440529, acc = 0.000000,T = 0.004697, P = 0.001186 initial results: dx= 0.003511,dt = 0.007969, a_f = 0.000000, v_f = 0.440529 dt = 0.007969, not at end yet tc id = 216, canon_type = 3, mot type = 2 time: 8.199000 primary movement = 4.404651068467e-04 time: 8.199000000001e+00 total movement = 4.404651068467e-04 vel = 4.405289477756e-01 ------------------- tc state : vr = 0.440529, vf = 0.440529, maxvel = 0.440529, current_vel = 0.440529, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.440529, acc = 0.000000,T = 0.004697, P = 0.001627 initial results: dx= 0.003070,dt = 0.006969, a_f = 0.000000, v_f = 0.440529 dt = 0.006969, not at end yet tc id = 216, canon_type = 3, mot type = 2 time: 8.200000 primary movement = 4.404651068468e-04 time: 8.200000000001e+00 total movement = 4.404651068468e-04 vel = 4.405289477756e-01 ------------------- tc state : vr = 0.440529, vf = 0.440529, maxvel = 0.440529, current_vel = 0.440529, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.440529, acc = 0.000000,T = 0.004697, P = 0.002067 initial results: dx= 0.002629,dt = 0.005969, a_f = 0.000000, v_f = 0.440529 dt = 0.005969, not at end yet tc id = 216, canon_type = 3, mot type = 2 time: 8.201000 primary movement = 4.404651068467e-04 time: 8.201000000001e+00 total movement = 4.404651068467e-04 vel = 4.405289477756e-01 ------------------- tc state : vr = 0.440529, vf = 0.440529, maxvel = 0.440529, current_vel = 0.440529, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.440529, acc = 0.000000,T = 0.004697, P = 0.002508 initial results: dx= 0.002189,dt = 0.004969, a_f = 0.000000, v_f = 0.440529 dt = 0.004969, not at end yet tc id = 216, canon_type = 3, mot type = 2 time: 8.202000 primary movement = 4.404651068467e-04 time: 8.202000000001e+00 total movement = 4.404651068467e-04 vel = 4.405289477756e-01 ------------------- tc state : vr = 0.440529, vf = 0.440529, maxvel = 0.440529, current_vel = 0.440529, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.440529, acc = 0.000000,T = 0.004697, P = 0.002948 initial results: dx= 0.001748,dt = 0.003969, a_f = 0.000000, v_f = 0.440529 dt = 0.003969, not at end yet tc id = 216, canon_type = 3, mot type = 2 time: 8.203000 primary movement = 4.404651068468e-04 time: 8.203000000001e+00 total movement = 4.404651068468e-04 vel = 4.405289477756e-01 ------------------- tc state : vr = 0.440529, vf = 0.440529, maxvel = 0.440529, current_vel = 0.440529, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.440529, acc = 0.000000,T = 0.004697, P = 0.003389 initial results: dx= 0.001308,dt = 0.002969, a_f = 0.000000, v_f = 0.440529 dt = 0.002969, not at end yet tc id = 216, canon_type = 3, mot type = 2 time: 8.204000 primary movement = 4.404651068467e-04 time: 8.204000000001e+00 total movement = 4.404651068467e-04 vel = 4.405289477756e-01 ------------------- tc state : vr = 0.440529, vf = 0.440529, maxvel = 0.440529, current_vel = 0.440529, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.440529, acc = 0.000000,T = 0.004697, P = 0.003830 initial results: dx= 0.000867,dt = 0.001969, a_f = 0.000000, v_f = 0.440529 dt = 0.001969, not at end yet tc id = 216, canon_type = 3, mot type = 2 time: 8.205000 primary movement = 4.404651068467e-04 time: 8.205000000001e+00 total movement = 4.404651068467e-04 vel = 4.405289477756e-01 ------------------- tc state : vr = 0.440529, vf = 0.440529, maxvel = 0.440529, current_vel = 0.440529, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.440529, acc = 0.000000,T = 0.004697, P = 0.004270 initial results: dx= 0.000427,dt = 0.000969, a_f = 0.000000, v_f = 0.440529 actual v_f = 0.440529, a = 0.000000 split time is 0.000968848 tc id = 216, canon_type = 3, mot type = 2 time: 8.206000 primary movement = 4.404651068467e-04 time: 8.206000000001e+00 total movement = 4.404651068467e-04 vel = 4.405289477756e-01 ------------------- tc id 216 done Finishing split-cycle on id 216 tc state : vr = 0.481935, vf = 0.481935, maxvel = 9.316913, current_vel = 0.441574, fs = 1.000000, tc = 0.000031, term = 3 tc result: v = 0.441574, acc = 33.541020,T = 0.001012, P = 0.000014 initial results: dx= 0.000998,dt = 0.002162, a_f = 18.668189, v_f = 0.481935 dt = 0.002162, not at end yet secondary movement = 0.000014 tc id = 216, canon_type = 2, mot type = 1 time: 8.207000 primary movement = 4.267476633564e-04 time: 8.207000000001e+00 total movement = 4.404871636025e-04 vel = 4.415738075612e-01 Finished tc id 216 ------------------- Activate tc id = 216 target_vel = 0.481935 final_vel = 0.481935 length = 0.001012 tc state : vr = 0.481935, vf = 0.481935, maxvel = 9.316913, current_vel = 0.475115, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.475115, acc = 33.541020,T = 0.001012, P = 0.000472 initial results: dx= 0.000540,dt = 0.001128, a_f = 6.043860, v_f = 0.481935 dt = 0.001128, not at end yet tc id = 216, canon_type = 2, mot type = 1 time: 8.208000 primary movement = 4.583443173924e-04 time: 8.208000000001e+00 total movement = 4.583443173924e-04 vel = 4.751148272237e-01 ------------------- tc state : vr = 0.481935, vf = 0.481935, maxvel = 9.316913, current_vel = 0.481935, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.481935, acc = 6.820043,T = 0.001012, P = 0.000951 initial results: dx= 0.000061,dt = 0.000128, a_f = 0.000000, v_f = 0.481935 actual v_f = 0.481935, a = 0.000000 split time is 0.000127516 tc id = 216, canon_type = 2, mot type = 1 time: 8.209000 primary movement = 4.785248484848e-04 time: 8.209000000001e+00 total movement = 4.785248484848e-04 vel = 4.819348697461e-01 ------------------- tc id 216 done Finishing split-cycle on id 217 tc state : vr = 0.481935, vf = 0.481935, maxvel = 0.481935, current_vel = 0.481935, fs = 1.000000, tc = 0.000872, term = 3 tc result: v = 0.481935, acc = 0.000000,T = 0.006265, P = 0.000420 initial results: dx= 0.005844,dt = 0.012127, a_f = 0.000000, v_f = 0.481935 dt = 0.012127, not at end yet secondary movement = 0.000420 tc id = 217, canon_type = 3, mot type = 2 time: 8.210000 primary movement = 6.145456034343e-05 time: 8.210000000001e+00 total movement = 4.818961115006e-04 vel = 4.819348697461e-01 Finished tc id 216 ------------------- Activate tc id = 217 target_vel = 0.481935 final_vel = 0.481935 length = 0.006265 tc state : vr = 0.481935, vf = 0.481935, maxvel = 0.481935, current_vel = 0.481935, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.481935, acc = 0.000000,T = 0.006265, P = 0.000902 initial results: dx= 0.005362,dt = 0.011127, a_f = 0.000000, v_f = 0.481935 dt = 0.011127, not at end yet tc id = 217, canon_type = 3, mot type = 2 time: 8.211000 primary movement = 4.818765133579e-04 time: 8.211000000001e+00 total movement = 4.818765133579e-04 vel = 4.819348697461e-01 ------------------- tc state : vr = 0.481935, vf = 0.481935, maxvel = 0.481935, current_vel = 0.481935, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.481935, acc = 0.000000,T = 0.006265, P = 0.001384 initial results: dx= 0.004880,dt = 0.010127, a_f = 0.000000, v_f = 0.481935 dt = 0.010127, not at end yet tc id = 217, canon_type = 3, mot type = 2 time: 8.212000 primary movement = 4.818765133580e-04 time: 8.212000000001e+00 total movement = 4.818765133580e-04 vel = 4.819348697461e-01 ------------------- tc state : vr = 0.481935, vf = 0.481935, maxvel = 0.481935, current_vel = 0.481935, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.481935, acc = 0.000000,T = 0.006265, P = 0.001866 initial results: dx= 0.004398,dt = 0.009127, a_f = 0.000000, v_f = 0.481935 dt = 0.009127, not at end yet tc id = 217, canon_type = 3, mot type = 2 time: 8.213000 primary movement = 4.818765133580e-04 time: 8.213000000001e+00 total movement = 4.818765133580e-04 vel = 4.819348697461e-01 ------------------- tc state : vr = 0.481935, vf = 0.481935, maxvel = 0.481935, current_vel = 0.481935, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.481935, acc = 0.000000,T = 0.006265, P = 0.002348 initial results: dx= 0.003916,dt = 0.008127, a_f = 0.000000, v_f = 0.481935 dt = 0.008127, not at end yet tc id = 217, canon_type = 3, mot type = 2 time: 8.214000 primary movement = 4.818765133580e-04 time: 8.214000000001e+00 total movement = 4.818765133580e-04 vel = 4.819348697461e-01 ------------------- tc state : vr = 0.481935, vf = 0.481935, maxvel = 0.481935, current_vel = 0.481935, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.481935, acc = 0.000000,T = 0.006265, P = 0.002830 initial results: dx= 0.003435,dt = 0.007127, a_f = 0.000000, v_f = 0.481935 dt = 0.007127, not at end yet tc id = 217, canon_type = 3, mot type = 2 time: 8.215000 primary movement = 4.818765133579e-04 time: 8.215000000001e+00 total movement = 4.818765133579e-04 vel = 4.819348697461e-01 ------------------- tc state : vr = 0.481935, vf = 0.481935, maxvel = 0.481935, current_vel = 0.481935, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.481935, acc = 0.000000,T = 0.006265, P = 0.003312 initial results: dx= 0.002953,dt = 0.006127, a_f = 0.000000, v_f = 0.481935 dt = 0.006127, not at end yet tc id = 217, canon_type = 3, mot type = 2 time: 8.216000 primary movement = 4.818765133580e-04 time: 8.216000000001e+00 total movement = 4.818765133580e-04 vel = 4.819348697461e-01 ------------------- tc state : vr = 0.481935, vf = 0.481935, maxvel = 0.481935, current_vel = 0.481935, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.481935, acc = 0.000000,T = 0.006265, P = 0.003794 initial results: dx= 0.002471,dt = 0.005127, a_f = 0.000000, v_f = 0.481935 dt = 0.005127, not at end yet tc id = 217, canon_type = 3, mot type = 2 time: 8.217000 primary movement = 4.818765133579e-04 time: 8.217000000001e+00 total movement = 4.818765133579e-04 vel = 4.819348697461e-01 ------------------- tc state : vr = 0.481935, vf = 0.481935, maxvel = 0.481935, current_vel = 0.481935, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.481935, acc = 0.000000,T = 0.006265, P = 0.004276 initial results: dx= 0.001989,dt = 0.004127, a_f = 0.000000, v_f = 0.481935 dt = 0.004127, not at end yet tc id = 217, canon_type = 3, mot type = 2 time: 8.218000 primary movement = 4.818765133580e-04 time: 8.218000000001e+00 total movement = 4.818765133580e-04 vel = 4.819348697461e-01 ------------------- tc state : vr = 0.481935, vf = 0.481935, maxvel = 0.481935, current_vel = 0.481935, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.481935, acc = 0.000000,T = 0.006265, P = 0.004758 initial results: dx= 0.001507,dt = 0.003127, a_f = 0.000000, v_f = 0.481935 dt = 0.003127, not at end yet tc id = 217, canon_type = 3, mot type = 2 time: 8.219000 primary movement = 4.818765133579e-04 time: 8.219000000001e+00 total movement = 4.818765133579e-04 vel = 4.819348697461e-01 ------------------- tc state : vr = 0.481935, vf = 0.481935, maxvel = 0.481935, current_vel = 0.481935, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.481935, acc = 0.000000,T = 0.006265, P = 0.005240 initial results: dx= 0.001025,dt = 0.002127, a_f = 0.000000, v_f = 0.481935 dt = 0.002127, not at end yet tc id = 217, canon_type = 3, mot type = 2 time: 8.220000 primary movement = 4.818765133580e-04 time: 8.220000000001e+00 total movement = 4.818765133580e-04 vel = 4.819348697461e-01 ------------------- tc state : vr = 0.481935, vf = 0.481935, maxvel = 0.481935, current_vel = 0.481935, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.481935, acc = 0.000000,T = 0.006265, P = 0.005722 initial results: dx= 0.000543,dt = 0.001127, a_f = 0.000000, v_f = 0.481935 dt = 0.001127, not at end yet tc id = 217, canon_type = 3, mot type = 2 time: 8.221000 primary movement = 4.818765133579e-04 time: 8.221000000001e+00 total movement = 4.818765133579e-04 vel = 4.819348697461e-01 ------------------- tc state : vr = 0.481935, vf = 0.481935, maxvel = 0.481935, current_vel = 0.481935, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.481935, acc = 0.000000,T = 0.006265, P = 0.006204 initial results: dx= 0.000061,dt = 0.000127, a_f = 0.000000, v_f = 0.481935 actual v_f = 0.481935, a = 0.000000 split time is 0.000126538 tc id = 217, canon_type = 3, mot type = 2 time: 8.222000 primary movement = 4.818765133580e-04 time: 8.222000000001e+00 total movement = 4.818765133580e-04 vel = 4.819348697461e-01 ------------------- tc id 217 done Finishing split-cycle on id 217 tc state : vr = 3.389056, vf = 0.510612, maxvel = 8.573191, current_vel = 0.508893, fs = 1.000000, tc = 0.000873, term = 3 tc result: v = 0.508893, acc = 30.863611,T = 0.007117, P = 0.000433 initial results: dx= 0.006684,dt = 0.013113, a_f = 0.131087, v_f = 0.510612 dt = 0.013113, not at end yet secondary movement = 0.000433 tc id = 217, canon_type = 2, mot type = 1 time: 8.223000 primary movement = 6.098278337525e-05 time: 8.223000000001e+00 total movement = 4.937082391635e-04 vel = 5.088930724391e-01 Finished tc id 217 ------------------- Activate tc id = 217 target_vel = 3.389056 final_vel = 0.510612 length = 0.007117 tc state : vr = 3.389056, vf = 0.510612, maxvel = 8.573191, current_vel = 0.539757, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.539757, acc = 30.863611,T = 0.007117, P = 0.000957 initial results: dx= 0.006160,dt = 0.011729, a_f = -2.484808, v_f = 0.510612 dt = 0.011729, not at end yet tc id = 217, canon_type = 2, mot type = 1 time: 8.224000 primary movement = 5.243248780691e-04 time: 8.224000000001e+00 total movement = 5.243248780691e-04 vel = 5.397566836990e-01 ------------------- tc state : vr = 3.389056, vf = 0.510612, maxvel = 8.573191, current_vel = 0.570620, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.570620, acc = 30.863611,T = 0.007117, P = 0.001512 initial results: dx= 0.005605,dt = 0.010367, a_f = -5.788178, v_f = 0.510612 dt = 0.010367, not at end yet tc id = 217, canon_type = 2, mot type = 1 time: 8.225000 primary movement = 5.551884893289e-04 time: 8.225000000001e+00 total movement = 5.551884893289e-04 vel = 5.706202949589e-01 ------------------- tc state : vr = 3.389056, vf = 0.510612, maxvel = 8.573191, current_vel = 0.601484, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.601484, acc = 30.863611,T = 0.007117, P = 0.002098 initial results: dx= 0.005019,dt = 0.009026, a_f = -10.068119, v_f = 0.510612 dt = 0.009026, not at end yet tc id = 217, canon_type = 2, mot type = 1 time: 8.226000 primary movement = 5.860521005888e-04 time: 8.226000000001e+00 total movement = 5.860521005888e-04 vel = 6.014839062187e-01 ------------------- tc state : vr = 3.389056, vf = 0.510612, maxvel = 8.573191, current_vel = 0.632348, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.632348, acc = 30.863611,T = 0.007117, P = 0.002715 initial results: dx= 0.004402,dt = 0.007702, a_f = -15.804718, v_f = 0.510612 dt = 0.007702, not at end yet tc id = 217, canon_type = 2, mot type = 1 time: 8.227000 primary movement = 6.169157118487e-04 time: 8.227000000001e+00 total movement = 6.169157118487e-04 vel = 6.323475174786e-01 ------------------- tc state : vr = 3.389056, vf = 0.510612, maxvel = 8.573191, current_vel = 0.663211, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.663211, acc = 30.863611,T = 0.007117, P = 0.003363 initial results: dx= 0.003754,dt = 0.006396, a_f = -23.857601, v_f = 0.510612 dt = 0.006396, not at end yet tc id = 217, canon_type = 2, mot type = 1 time: 8.228000 primary movement = 6.477793231085e-04 time: 8.228000000001e+00 total movement = 6.477793231085e-04 vel = 6.632111287385e-01 ------------------- tc state : vr = 3.389056, vf = 0.510612, maxvel = 8.573191, current_vel = 0.671751, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.671751, acc = 8.539446,T = 0.007117, P = 0.004030 initial results: dx= 0.003087,dt = 0.005221, a_f = -30.863611, v_f = 0.510612 dt = 0.005221, not at end yet tc id = 217, canon_type = 2, mot type = 1 time: 8.229000 primary movement = 6.674808516502e-04 time: 8.229000000001e+00 total movement = 6.674808516502e-04 vel = 6.717505745618e-01 ------------------- tc state : vr = 3.389056, vf = 0.510612, maxvel = 8.573191, current_vel = 0.640887, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.640887, acc = -30.863611,T = 0.007117, P = 0.004687 on final decel initial results: dx= 0.002430,dt = 0.004221, a_f = -30.863611, v_f = 0.510612 recalculating with a_f = -30.863611, a = -30.863611 revised dt = 0.004221 dt = 0.004221, not at end yet tc id = 217, canon_type = 2, mot type = 1 time: 8.230000 primary movement = 6.563187689318e-04 time: 8.230000000001e+00 total movement = 6.563187689318e-04 vel = 6.408869633019e-01 ------------------- tc state : vr = 3.389056, vf = 0.510612, maxvel = 8.573191, current_vel = 0.610023, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.610023, acc = -30.863611,T = 0.007117, P = 0.005312 on final decel initial results: dx= 0.001805,dt = 0.003221, a_f = -30.863611, v_f = 0.510612 recalculating with a_f = -30.863611, a = -30.863611 revised dt = 0.003221 dt = 0.003221, not at end yet tc id = 217, canon_type = 2, mot type = 1 time: 8.231000 primary movement = 6.254551576720e-04 time: 8.231000000001e+00 total movement = 6.254551576720e-04 vel = 6.100233520421e-01 ------------------- tc state : vr = 3.389056, vf = 0.510612, maxvel = 8.573191, current_vel = 0.579160, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.579160, acc = -30.863611,T = 0.007117, P = 0.005907 on final decel initial results: dx= 0.001210,dt = 0.002221, a_f = -30.863611, v_f = 0.510612 recalculating with a_f = -30.863611, a = -30.863611 revised dt = 0.002221 dt = 0.002221, not at end yet tc id = 217, canon_type = 2, mot type = 1 time: 8.232000 primary movement = 5.945915464121e-04 time: 8.232000000001e+00 total movement = 5.945915464121e-04 vel = 5.791597407822e-01 ------------------- tc state : vr = 3.389056, vf = 0.510612, maxvel = 8.573191, current_vel = 0.548296, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.548296, acc = -30.863611,T = 0.007117, P = 0.006471 on final decel initial results: dx= 0.000646,dt = 0.001221, a_f = -30.863611, v_f = 0.510612 recalculating with a_f = -30.863611, a = -30.863611 revised dt = 0.001221 dt = 0.001221, not at end yet tc id = 217, canon_type = 2, mot type = 1 time: 8.233000 primary movement = 5.637279351524e-04 time: 8.233000000001e+00 total movement = 5.637279351524e-04 vel = 5.482961295223e-01 ------------------- tc state : vr = 3.389056, vf = 0.510612, maxvel = 8.573191, current_vel = 0.517433, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.517433, acc = -30.863611,T = 0.007117, P = 0.007003 on final decel initial results: dx= 0.000114,dt = 0.000221, a_f = -30.863611, v_f = 0.510612 recalculating with a_f = -30.863611, a = -30.863611 revised dt = 0.000221 actual v_f = 0.510612, a = -30.863611 split time is 0.000220989 tc id = 217, canon_type = 2, mot type = 1 time: 8.234000 primary movement = 5.328643238924e-04 time: 8.234000000001e+00 total movement = 5.328643238924e-04 vel = 5.174325182625e-01 ------------------- tc id 217 done Finishing split-cycle on id 218 tc state : vr = 0.510612, vf = 0.384169, maxvel = 0.510612, current_vel = 0.501961, fs = 1.000000, tc = 0.000779, term = 3 tc result: v = 0.501961, acc = -11.104641,T = 0.003874, P = 0.000394 on final decel initial results: dx= 0.003479,dt = 0.007853, a_f = -15.000000, v_f = 0.384169 dt = 0.007853, not at end yet secondary movement = 0.000394 tc id = 218, canon_type = 3, mot type = 2 time: 8.235000 primary movement = 1.135933566474e-04 time: 8.235000000001e+00 total movement = 5.079707731013e-04 vel = 5.019613589235e-01 Finished tc id 217 ------------------- Activate tc id = 218 target_vel = 0.510612 final_vel = 0.384169 length = 0.003874 tc state : vr = 0.510612, vf = 0.384169, maxvel = 0.510612, current_vel = 0.486961, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.486961, acc = -15.000000,T = 0.003874, P = 0.000889 on final decel initial results: dx= 0.002985,dt = 0.006853, a_f = -15.000000, v_f = 0.384169 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.006853 dt = 0.006853, not at end yet tc id = 218, canon_type = 3, mot type = 2 time: 8.236000 primary movement = 4.944113425295e-04 time: 8.236000000001e+00 total movement = 4.944113425295e-04 vel = 4.869613589235e-01 ------------------- tc state : vr = 0.510612, vf = 0.384169, maxvel = 0.510612, current_vel = 0.471961, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.471961, acc = -15.000000,T = 0.003874, P = 0.001368 on final decel initial results: dx= 0.002505,dt = 0.005853, a_f = -15.000000, v_f = 0.384169 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.005853 dt = 0.005853, not at end yet tc id = 218, canon_type = 3, mot type = 2 time: 8.237000 primary movement = 4.794157576546e-04 time: 8.237000000001e+00 total movement = 4.794157576546e-04 vel = 4.719613589235e-01 ------------------- tc state : vr = 0.510612, vf = 0.384169, maxvel = 0.510612, current_vel = 0.456961, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.456961, acc = -15.000000,T = 0.003874, P = 0.001833 on final decel initial results: dx= 0.002041,dt = 0.004853, a_f = -15.000000, v_f = 0.384169 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.004853 dt = 0.004853, not at end yet tc id = 218, canon_type = 3, mot type = 2 time: 8.238000 primary movement = 4.644199050022e-04 time: 8.238000000001e+00 total movement = 4.644199050022e-04 vel = 4.569613589235e-01 ------------------- tc state : vr = 0.510612, vf = 0.384169, maxvel = 0.510612, current_vel = 0.441961, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.441961, acc = -15.000000,T = 0.003874, P = 0.002282 on final decel initial results: dx= 0.001591,dt = 0.003853, a_f = -15.000000, v_f = 0.384169 dt = 0.003853, not at end yet tc id = 218, canon_type = 3, mot type = 2 time: 8.239000 primary movement = 4.494237929477e-04 time: 8.239000000001e+00 total movement = 4.494237929477e-04 vel = 4.419613589235e-01 ------------------- tc state : vr = 0.510612, vf = 0.384169, maxvel = 0.510612, current_vel = 0.426961, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.426961, acc = -15.000000,T = 0.003874, P = 0.002717 on final decel initial results: dx= 0.001157,dt = 0.002853, a_f = -15.000000, v_f = 0.384169 dt = 0.002853, not at end yet tc id = 218, canon_type = 3, mot type = 2 time: 8.240000 primary movement = 4.344274298674e-04 time: 8.240000000001e+00 total movement = 4.344274298674e-04 vel = 4.269613589235e-01 ------------------- tc state : vr = 0.510612, vf = 0.384169, maxvel = 0.510612, current_vel = 0.411961, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.411961, acc = -15.000000,T = 0.003874, P = 0.003136 on final decel initial results: dx= 0.000738,dt = 0.001853, a_f = -15.000000, v_f = 0.384169 dt = 0.001853, not at end yet tc id = 218, canon_type = 3, mot type = 2 time: 8.241000 primary movement = 4.194308241378e-04 time: 8.241000000001e+00 total movement = 4.194308241378e-04 vel = 4.119613589235e-01 ------------------- tc state : vr = 0.510612, vf = 0.384169, maxvel = 0.510612, current_vel = 0.396961, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.396961, acc = -15.000000,T = 0.003874, P = 0.003541 on final decel initial results: dx= 0.000333,dt = 0.000853, a_f = -15.000000, v_f = 0.384169 actual v_f = 0.384169, a = -15.000000 split time is 0.000852852 tc id = 218, canon_type = 3, mot type = 2 time: 8.242000 primary movement = 4.044339841349e-04 time: 8.242000000001e+00 total movement = 4.044339841349e-04 vel = 3.969613589235e-01 ------------------- tc id 218 done Finishing split-cycle on id 218 tc state : vr = 0.384169, vf = 0.271648, maxvel = 8.426528, current_vel = 0.379705, fs = 1.000000, tc = 0.000147, term = 3 tc result: v = 0.379705, acc = -30.335623,T = 0.001216, P = 0.000056 on final decel initial results: dx= 0.001160,dt = 0.003562, a_f = -30.335623, v_f = 0.271648 recalculating with a_f = -30.335623, a = -30.335623 revised dt = 0.003562 dt = 0.003562, not at end yet secondary movement = 0.000056 tc id = 218, canon_type = 2, mot type = 1 time: 8.243000 primary movement = 3.330788387607e-04 time: 8.243000000001e+00 total movement = 3.892800409023e-04 vel = 3.797047533023e-01 Finished tc id 218 ------------------- Activate tc id = 218 target_vel = 0.384169 final_vel = 0.271648 length = 0.001216 tc state : vr = 0.384169, vf = 0.271648, maxvel = 8.426528, current_vel = 0.349369, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.349369, acc = -30.335623,T = 0.001216, P = 0.000421 on final decel initial results: dx= 0.000796,dt = 0.002562, a_f = -30.335623, v_f = 0.271648 recalculating with a_f = -30.335623, a = -30.335623 revised dt = 0.002562 dt = 0.002562, not at end yet tc id = 218, canon_type = 2, mot type = 1 time: 8.244000 primary movement = 3.645369419902e-04 time: 8.244000000001e+00 total movement = 3.645369419902e-04 vel = 3.493691306780e-01 ------------------- tc state : vr = 0.384169, vf = 0.271648, maxvel = 8.426528, current_vel = 0.319034, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.319034, acc = -30.335623,T = 0.001216, P = 0.000755 on final decel initial results: dx= 0.000461,dt = 0.001562, a_f = -30.335623, v_f = 0.271648 dt = 0.001562, not at end yet tc id = 218, canon_type = 2, mot type = 1 time: 8.245000 primary movement = 3.342013193660e-04 time: 8.245000000001e+00 total movement = 3.342013193660e-04 vel = 3.190335080538e-01 ------------------- tc state : vr = 0.384169, vf = 0.271648, maxvel = 8.426528, current_vel = 0.288698, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.288698, acc = -30.335623,T = 0.001216, P = 0.001059 on final decel initial results: dx= 0.000157,dt = 0.000562, a_f = -30.335623, v_f = 0.271648 recalculating with a_f = -30.335623, a = -30.335623 revised dt = 0.000562 actual v_f = 0.271648, a = -30.335623 split time is 0.000562035 tc id = 218, canon_type = 2, mot type = 1 time: 8.246000 primary movement = 3.038656967416e-04 time: 8.246000000001e+00 total movement = 3.038656967416e-04 vel = 2.886978854296e-01 ------------------- tc id 218 done Finishing split-cycle on id 219 tc state : vr = 0.271648, vf = 0.000000, maxvel = 0.579177, current_vel = 0.271648, fs = 1.000000, tc = 0.000438, term = 3 tc result: v = 0.271648, acc = -0.000000,T = 0.005685, P = 0.000119 initial results: dx= 0.005566,dt = 0.040983, a_f = -6.628300, v_f = 0.000000 dt = 0.040983, not at end yet secondary movement = 0.000119 tc id = 219, canon_type = 3, mot type = 2 time: 8.247000 primary movement = 1.574670292823e-04 time: 8.247000000001e+00 total movement = 2.764390431398e-04 vel = 2.716482068768e-01 Finished tc id 218 ------------------- Activate tc id = 219 target_vel = 0.271648 final_vel = 0.000000 length = 0.005685 tc state : vr = 0.271648, vf = 0.000000, maxvel = 0.579177, current_vel = 0.271648, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.271648, acc = 0.000000,T = 0.005685, P = 0.000391 initial results: dx= 0.005295,dt = 0.038983, a_f = -6.968361, v_f = 0.000000 dt = 0.038983, not at end yet tc id = 219, canon_type = 3, mot type = 2 time: 8.248000 primary movement = 2.716431965652e-04 time: 8.248000000001e+00 total movement = 2.716431965652e-04 vel = 2.716482068768e-01 ------------------- tc state : vr = 0.271648, vf = 0.000000, maxvel = 0.579177, current_vel = 0.271648, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.271648, acc = 0.000000,T = 0.005685, P = 0.000662 initial results: dx= 0.005023,dt = 0.036983, a_f = -7.345201, v_f = 0.000000 dt = 0.036983, not at end yet tc id = 219, canon_type = 3, mot type = 2 time: 8.249000 primary movement = 2.716431965653e-04 time: 8.249000000001e+00 total movement = 2.716431965653e-04 vel = 2.716482068768e-01 ------------------- tc state : vr = 0.271648, vf = 0.000000, maxvel = 0.579177, current_vel = 0.271648, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.271648, acc = 0.000000,T = 0.005685, P = 0.000934 initial results: dx= 0.004752,dt = 0.034983, a_f = -7.765130, v_f = 0.000000 dt = 0.034983, not at end yet tc id = 219, canon_type = 3, mot type = 2 time: 8.250000 primary movement = 2.716431965652e-04 time: 8.250000000001e+00 total movement = 2.716431965652e-04 vel = 2.716482068768e-01 ------------------- tc state : vr = 0.271648, vf = 0.000000, maxvel = 0.579177, current_vel = 0.271648, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.271648, acc = 0.000000,T = 0.005685, P = 0.001206 initial results: dx= 0.004480,dt = 0.032983, a_f = -8.235985, v_f = 0.000000 dt = 0.032983, not at end yet tc id = 219, canon_type = 3, mot type = 2 time: 8.251000 primary movement = 2.716431965653e-04 time: 8.251000000001e+00 total movement = 2.716431965653e-04 vel = 2.716482068768e-01 ------------------- tc state : vr = 0.271648, vf = 0.000000, maxvel = 0.579177, current_vel = 0.271648, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.271648, acc = 0.000000,T = 0.005685, P = 0.001477 initial results: dx= 0.004208,dt = 0.030983, a_f = -8.767629, v_f = 0.000000 dt = 0.030983, not at end yet tc id = 219, canon_type = 3, mot type = 2 time: 8.252000 primary movement = 2.716431965653e-04 time: 8.252000000001e+00 total movement = 2.716431965653e-04 vel = 2.716482068768e-01 ------------------- tc state : vr = 0.271648, vf = 0.000000, maxvel = 0.579177, current_vel = 0.271648, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.271648, acc = 0.000000,T = 0.005685, P = 0.001749 initial results: dx= 0.003937,dt = 0.028983, a_f = -9.372646, v_f = 0.000000 dt = 0.028983, not at end yet tc id = 219, canon_type = 3, mot type = 2 time: 8.253000 primary movement = 2.716431965653e-04 time: 8.253000000001e+00 total movement = 2.716431965653e-04 vel = 2.716482068768e-01 ------------------- tc state : vr = 0.271648, vf = 0.000000, maxvel = 0.579177, current_vel = 0.271648, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.271648, acc = 0.000000,T = 0.005685, P = 0.002021 initial results: dx= 0.003665,dt = 0.026983, a_f = -10.067351, v_f = 0.000000 dt = 0.026983, not at end yet tc id = 219, canon_type = 3, mot type = 2 time: 8.254000 primary movement = 2.716431965652e-04 time: 8.254000000001e+00 total movement = 2.716431965652e-04 vel = 2.716482068768e-01 ------------------- tc state : vr = 0.271648, vf = 0.000000, maxvel = 0.579177, current_vel = 0.271648, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.271648, acc = 0.000000,T = 0.005685, P = 0.002292 initial results: dx= 0.003393,dt = 0.024983, a_f = -10.873285, v_f = 0.000000 dt = 0.024983, not at end yet tc id = 219, canon_type = 3, mot type = 2 time: 8.255000 primary movement = 2.716431965652e-04 time: 8.255000000001e+00 total movement = 2.716431965652e-04 vel = 2.716482068768e-01 ------------------- tc state : vr = 0.271648, vf = 0.000000, maxvel = 0.579177, current_vel = 0.271648, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.271648, acc = 0.000000,T = 0.005685, P = 0.002564 initial results: dx= 0.003122,dt = 0.022983, a_f = -11.819484, v_f = 0.000000 dt = 0.022983, not at end yet tc id = 219, canon_type = 3, mot type = 2 time: 8.256000 primary movement = 2.716431965653e-04 time: 8.256000000001e+00 total movement = 2.716431965653e-04 vel = 2.716482068768e-01 ------------------- tc state : vr = 0.271648, vf = 0.000000, maxvel = 0.579177, current_vel = 0.271648, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.271648, acc = 0.000000,T = 0.005685, P = 0.002835 initial results: dx= 0.002850,dt = 0.020983, a_f = -12.946056, v_f = 0.000000 dt = 0.020983, not at end yet tc id = 219, canon_type = 3, mot type = 2 time: 8.257000 primary movement = 2.716431965653e-04 time: 8.257000000001e+00 total movement = 2.716431965653e-04 vel = 2.716482068768e-01 ------------------- tc state : vr = 0.271648, vf = 0.000000, maxvel = 0.579177, current_vel = 0.271648, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.271648, acc = 0.000000,T = 0.005685, P = 0.003107 initial results: dx= 0.002578,dt = 0.018983, a_f = -14.310013, v_f = 0.000000 dt = 0.018983, not at end yet tc id = 219, canon_type = 3, mot type = 2 time: 8.258000 primary movement = 2.716431965653e-04 time: 8.258000000001e+00 total movement = 2.716431965653e-04 vel = 2.716482068768e-01 ------------------- tc state : vr = 0.271648, vf = 0.000000, maxvel = 0.579177, current_vel = 0.263299, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.263299, acc = -8.348749,T = 0.005685, P = 0.003375 on final decel initial results: dx= 0.002311,dt = 0.017553, a_f = -15.000000, v_f = 0.000000 dt = 0.017553, not at end yet tc id = 219, canon_type = 3, mot type = 2 time: 8.259000 primary movement = 2.674690494142e-04 time: 8.259000000001e+00 total movement = 2.674690494142e-04 vel = 2.632994576830e-01 ------------------- tc state : vr = 0.271648, vf = 0.000000, maxvel = 0.579177, current_vel = 0.248299, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.248299, acc = -15.000000,T = 0.005685, P = 0.003630 on final decel initial results: dx= 0.002055,dt = 0.016553, a_f = -15.000000, v_f = 0.000000 dt = 0.016553, not at end yet tc id = 219, canon_type = 3, mot type = 2 time: 8.260000 primary movement = 2.557952741487e-04 time: 8.260000000001e+00 total movement = 2.557952741487e-04 vel = 2.482994576830e-01 ------------------- tc state : vr = 0.271648, vf = 0.000000, maxvel = 0.579177, current_vel = 0.233299, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.233299, acc = -15.000000,T = 0.005685, P = 0.003871 on final decel initial results: dx= 0.001814,dt = 0.015553, a_f = -15.000000, v_f = 0.000000 dt = 0.015553, not at end yet tc id = 219, canon_type = 3, mot type = 2 time: 8.261000 primary movement = 2.407959677971e-04 time: 8.261000000001e+00 total movement = 2.407959677971e-04 vel = 2.332994576830e-01 ------------------- tc state : vr = 0.271648, vf = 0.000000, maxvel = 0.579177, current_vel = 0.218299, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.218299, acc = -15.000000,T = 0.005685, P = 0.004097 on final decel initial results: dx= 0.001588,dt = 0.014553, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.014553 dt = 0.014553, not at end yet tc id = 219, canon_type = 3, mot type = 2 time: 8.262000 primary movement = 2.257965801943e-04 time: 8.262000000001e+00 total movement = 2.257965801943e-04 vel = 2.182994576830e-01 ------------------- tc state : vr = 0.271648, vf = 0.000000, maxvel = 0.579177, current_vel = 0.203299, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.203299, acc = -15.000000,T = 0.005685, P = 0.004308 on final decel initial results: dx= 0.001378,dt = 0.013553, a_f = -15.000000, v_f = 0.000000 dt = 0.013553, not at end yet tc id = 219, canon_type = 3, mot type = 2 time: 8.263000 primary movement = 2.107971164015e-04 time: 8.263000000001e+00 total movement = 2.107971164015e-04 vel = 2.032994576830e-01 ------------------- tc state : vr = 0.271648, vf = 0.000000, maxvel = 0.579177, current_vel = 0.188299, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.188299, acc = -15.000000,T = 0.005685, P = 0.004504 on final decel initial results: dx= 0.001182,dt = 0.012553, a_f = -15.000000, v_f = 0.000000 dt = 0.012553, not at end yet tc id = 219, canon_type = 3, mot type = 2 time: 8.264000 primary movement = 1.957975814800e-04 time: 8.264000000001e+00 total movement = 1.957975814800e-04 vel = 1.882994576830e-01 ------------------- tc state : vr = 0.271648, vf = 0.000000, maxvel = 0.579177, current_vel = 0.173299, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.173299, acc = -15.000000,T = 0.005685, P = 0.004684 on final decel initial results: dx= 0.001001,dt = 0.011553, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.011553 dt = 0.011553, not at end yet tc id = 219, canon_type = 3, mot type = 2 time: 8.265000 primary movement = 1.807979804911e-04 time: 8.265000000001e+00 total movement = 1.807979804911e-04 vel = 1.732994576830e-01 ------------------- tc state : vr = 0.271648, vf = 0.000000, maxvel = 0.579177, current_vel = 0.158299, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.158299, acc = -15.000000,T = 0.005685, P = 0.004850 on final decel initial results: dx= 0.000835,dt = 0.010553, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.010553 dt = 0.010553, not at end yet tc id = 219, canon_type = 3, mot type = 2 time: 8.266000 primary movement = 1.657983184960e-04 time: 8.266000000001e+00 total movement = 1.657983184960e-04 vel = 1.582994576830e-01 ------------------- tc state : vr = 0.271648, vf = 0.000000, maxvel = 0.579177, current_vel = 0.143299, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.143299, acc = -15.000000,T = 0.005685, P = 0.005001 on final decel initial results: dx= 0.000684,dt = 0.009553, a_f = -15.000000, v_f = 0.000000 dt = 0.009553, not at end yet tc id = 219, canon_type = 3, mot type = 2 time: 8.267000 primary movement = 1.507986005559e-04 time: 8.267000000001e+00 total movement = 1.507986005559e-04 vel = 1.432994576830e-01 ------------------- tc state : vr = 0.271648, vf = 0.000000, maxvel = 0.579177, current_vel = 0.128299, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.128299, acc = -15.000000,T = 0.005685, P = 0.005137 on final decel initial results: dx= 0.000549,dt = 0.008553, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.008553 dt = 0.008553, not at end yet tc id = 219, canon_type = 3, mot type = 2 time: 8.268000 primary movement = 1.357988317323e-04 time: 8.268000000001e+00 total movement = 1.357988317323e-04 vel = 1.282994576830e-01 ------------------- tc state : vr = 0.271648, vf = 0.000000, maxvel = 0.579177, current_vel = 0.113299, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.113299, acc = -15.000000,T = 0.005685, P = 0.005258 on final decel initial results: dx= 0.000428,dt = 0.007553, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.007553 dt = 0.007553, not at end yet tc id = 219, canon_type = 3, mot type = 2 time: 8.269000 primary movement = 1.207990170864e-04 time: 8.269000000001e+00 total movement = 1.207990170864e-04 vel = 1.132994576830e-01 ------------------- tc state : vr = 0.271648, vf = 0.000000, maxvel = 0.579177, current_vel = 0.098299, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.098299, acc = -15.000000,T = 0.005685, P = 0.005363 on final decel initial results: dx= 0.000322,dt = 0.006553, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.006553 dt = 0.006553, not at end yet tc id = 219, canon_type = 3, mot type = 2 time: 8.270000 primary movement = 1.057991616797e-04 time: 8.270000000001e+00 total movement = 1.057991616797e-04 vel = 9.829945768297e-02 ------------------- tc state : vr = 0.271648, vf = 0.000000, maxvel = 0.579177, current_vel = 0.083299, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.083299, acc = -15.000000,T = 0.005685, P = 0.005454 on final decel initial results: dx= 0.000231,dt = 0.005553, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.005553 dt = 0.005553, not at end yet tc id = 219, canon_type = 3, mot type = 2 time: 8.271000 primary movement = 9.079927057336e-05 time: 8.271000000001e+00 total movement = 9.079927057336e-05 vel = 8.329945768297e-02 ------------------- tc state : vr = 0.271648, vf = 0.000000, maxvel = 0.579177, current_vel = 0.068299, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.068299, acc = -15.000000,T = 0.005685, P = 0.005530 on final decel initial results: dx= 0.000155,dt = 0.004553, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.004553 dt = 0.004553, not at end yet tc id = 219, canon_type = 3, mot type = 2 time: 8.272000 primary movement = 7.579934882891e-05 time: 8.272000000001e+00 total movement = 7.579934882891e-05 vel = 6.829945768297e-02 ------------------- tc state : vr = 0.271648, vf = 0.000000, maxvel = 0.579177, current_vel = 0.053299, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.053299, acc = -15.000000,T = 0.005685, P = 0.005591 on final decel initial results: dx= 0.000095,dt = 0.003553, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.003553 dt = 0.003553, not at end yet tc id = 219, canon_type = 3, mot type = 2 time: 8.273000 primary movement = 6.079940150768e-05 time: 8.273000000001e+00 total movement = 6.079940150768e-05 vel = 5.329945768297e-02 ------------------- tc state : vr = 0.271648, vf = 0.000000, maxvel = 0.579177, current_vel = 0.038299, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.038299, acc = -15.000000,T = 0.005685, P = 0.005637 on final decel initial results: dx= 0.000049,dt = 0.002553, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.002553 dt = 0.002553, not at end yet tc id = 219, canon_type = 3, mot type = 2 time: 8.274000 primary movement = 4.579943367103e-05 time: 8.274000000001e+00 total movement = 4.579943367103e-05 vel = 3.829945768297e-02 ------------------- tc state : vr = 0.271648, vf = 0.000000, maxvel = 0.579177, current_vel = 0.023299, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.023299, acc = -15.000000,T = 0.005685, P = 0.005667 on final decel initial results: dx= 0.000018,dt = 0.001553, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.001553 dt = 0.001553, not at end yet tc id = 219, canon_type = 3, mot type = 2 time: 8.275000 primary movement = 3.079945038038e-05 time: 8.275000000001e+00 total movement = 3.079945038038e-05 vel = 2.329945768297e-02 ------------------- tc state : vr = 0.271648, vf = 0.000000, maxvel = 0.579177, current_vel = 0.008299, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.008299, acc = -15.000000,T = 0.005685, P = 0.005683 on final decel initial results: dx= 0.000002,dt = 0.000553, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.000553 actual v_f = 0.000000, a = -15.000000 split time is 0.000553297 tc id = 219, canon_type = 3, mot type = 2 time: 8.276000 primary movement = 1.579945669714e-05 time: 8.276000000001e+00 total movement = 1.579945669714e-05 vel = 8.299457682972e-03 ------------------- tc id 219 done Finishing split-cycle on id 219 tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.006996, fs = 1.000000, tc = 0.000447, term = 2 tc result: v = 0.006996, acc = 15.660460,T = 0.009639, P = 0.000002 secondary movement = 0.000002 tc id = 219, canon_type = 2, mot type = 1 time: 8.277000 primary movement = 2.296033258070e-06 time: 8.277000000001e+00 total movement = 3.858507994494e-06 vel = 6.995580424913e-03 Finished tc id 219 ------------------- Activate tc id = 219 target_vel = 8.700221 final_vel = 0.000000 length = 0.009639 Activate nexttc id 220 tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.022656, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.022656, acc = 15.660460,T = 0.009639, P = 0.000016 tc id = 219, canon_type = 2, mot type = 1 time: 8.278000 primary movement = 1.482581030660e-05 time: 8.278000000001e+00 total movement = 1.482581030660e-05 vel = 2.265604018828e-02 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.038316, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.038316, acc = 15.660460,T = 0.009639, P = 0.000047 tc id = 219, canon_type = 2, mot type = 1 time: 8.279000 primary movement = 3.048627006995e-05 time: 8.279000000001e+00 total movement = 3.048627006995e-05 vel = 3.831649995164e-02 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.053977, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.053977, acc = 15.660460,T = 0.009639, P = 0.000093 tc id = 219, canon_type = 2, mot type = 1 time: 8.280000 primary movement = 4.614672983331e-05 time: 8.280000000001e+00 total movement = 4.614672983331e-05 vel = 5.397695971501e-02 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.069637, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.069637, acc = 15.660460,T = 0.009639, P = 0.000155 tc id = 219, canon_type = 2, mot type = 1 time: 8.281000 primary movement = 6.180718959666e-05 time: 8.281000000001e+00 total movement = 6.180718959666e-05 vel = 6.963741947838e-02 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.085298, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.085298, acc = 15.660460,T = 0.009639, P = 0.000232 tc id = 219, canon_type = 2, mot type = 1 time: 8.282000 primary movement = 7.746764936011e-05 time: 8.282000000001e+00 total movement = 7.746764936011e-05 vel = 8.529787924174e-02 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.100958, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.100958, acc = 15.660460,T = 0.009639, P = 0.000325 tc id = 219, canon_type = 2, mot type = 1 time: 8.283000 primary movement = 9.312810912347e-05 time: 8.283000000001e+00 total movement = 9.312810912347e-05 vel = 1.009583390051e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.116619, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.116619, acc = 15.660460,T = 0.009639, P = 0.000434 tc id = 219, canon_type = 2, mot type = 1 time: 8.284000 primary movement = 1.087885688867e-04 time: 8.284000000001e+00 total movement = 1.087885688867e-04 vel = 1.166187987685e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.132279, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.132279, acc = 15.660460,T = 0.009639, P = 0.000559 tc id = 219, canon_type = 2, mot type = 1 time: 8.285000 primary movement = 1.244490286502e-04 time: 8.285000000001e+00 total movement = 1.244490286502e-04 vel = 1.322792585318e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.147940, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.147940, acc = 15.660460,T = 0.009639, P = 0.000699 tc id = 219, canon_type = 2, mot type = 1 time: 8.286000 primary movement = 1.401094884135e-04 time: 8.286000000001e+00 total movement = 1.401094884135e-04 vel = 1.479397182952e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.163600, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.163600, acc = 15.660460,T = 0.009639, P = 0.000855 tc id = 219, canon_type = 2, mot type = 1 time: 8.287000 primary movement = 1.557699481769e-04 time: 8.287000000001e+00 total movement = 1.557699481769e-04 vel = 1.636001780586e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.179261, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.179261, acc = 15.660460,T = 0.009639, P = 0.001026 tc id = 219, canon_type = 2, mot type = 1 time: 8.288000 primary movement = 1.714304079402e-04 time: 8.288000000001e+00 total movement = 1.714304079402e-04 vel = 1.792606378219e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.194921, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.194921, acc = 15.660460,T = 0.009639, P = 0.001213 tc id = 219, canon_type = 2, mot type = 1 time: 8.289000 primary movement = 1.870908677036e-04 time: 8.289000000001e+00 total movement = 1.870908677036e-04 vel = 1.949210975853e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.210582, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.210582, acc = 15.660460,T = 0.009639, P = 0.001416 tc id = 219, canon_type = 2, mot type = 1 time: 8.290000 primary movement = 2.027513274671e-04 time: 8.290000000001e+00 total movement = 2.027513274671e-04 vel = 2.105815573487e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.226242, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.226242, acc = 15.660460,T = 0.009639, P = 0.001634 tc id = 219, canon_type = 2, mot type = 1 time: 8.291000 primary movement = 2.184117872303e-04 time: 8.291000000001e+00 total movement = 2.184117872303e-04 vel = 2.262420171120e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.241902, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.241902, acc = 15.660460,T = 0.009639, P = 0.001868 tc id = 219, canon_type = 2, mot type = 1 time: 8.292000 primary movement = 2.340722469938e-04 time: 8.292000000001e+00 total movement = 2.340722469938e-04 vel = 2.419024768754e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.257563, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.257563, acc = 15.660460,T = 0.009639, P = 0.002118 tc id = 219, canon_type = 2, mot type = 1 time: 8.293000 primary movement = 2.497327067570e-04 time: 8.293000000001e+00 total movement = 2.497327067570e-04 vel = 2.575629366388e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.273223, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.273223, acc = 15.660460,T = 0.009639, P = 0.002383 tc id = 219, canon_type = 2, mot type = 1 time: 8.294000 primary movement = 2.653931665205e-04 time: 8.294000000001e+00 total movement = 2.653931665205e-04 vel = 2.732233964021e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.288884, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.288884, acc = 15.660460,T = 0.009639, P = 0.002664 tc id = 219, canon_type = 2, mot type = 1 time: 8.295000 primary movement = 2.810536262838e-04 time: 8.295000000001e+00 total movement = 2.810536262838e-04 vel = 2.888838561655e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.304544, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.304544, acc = 15.660460,T = 0.009639, P = 0.002961 tc id = 219, canon_type = 2, mot type = 1 time: 8.296000 primary movement = 2.967140860472e-04 time: 8.296000000001e+00 total movement = 2.967140860472e-04 vel = 3.045443159289e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.320205, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.320205, acc = 15.660460,T = 0.009639, P = 0.003274 tc id = 219, canon_type = 2, mot type = 1 time: 8.297000 primary movement = 3.123745458106e-04 time: 8.297000000001e+00 total movement = 3.123745458106e-04 vel = 3.202047756922e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.335865, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.335865, acc = 15.660460,T = 0.009639, P = 0.003602 tc id = 219, canon_type = 2, mot type = 1 time: 8.298000 primary movement = 3.280350055739e-04 time: 8.298000000001e+00 total movement = 3.280350055739e-04 vel = 3.358652354556e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.351526, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.351526, acc = 15.660460,T = 0.009639, P = 0.003945 tc id = 219, canon_type = 2, mot type = 1 time: 8.299000 primary movement = 3.436954653372e-04 time: 8.299000000001e+00 total movement = 3.436954653372e-04 vel = 3.515256952190e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.367186, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.367186, acc = 15.660460,T = 0.009639, P = 0.004305 tc id = 219, canon_type = 2, mot type = 1 time: 8.300000 primary movement = 3.593559251007e-04 time: 8.300000000001e+00 total movement = 3.593559251007e-04 vel = 3.671861549823e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.382847, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.382847, acc = 15.660460,T = 0.009639, P = 0.004680 tc id = 219, canon_type = 2, mot type = 1 time: 8.301000 primary movement = 3.750163848639e-04 time: 8.301000000001e+00 total movement = 3.750163848639e-04 vel = 3.828466147457e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.378680, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.378680, acc = -4.166723,T = 0.009639, P = 0.005060 on final decel tc id = 219, canon_type = 2, mot type = 1 time: 8.302000 primary movement = 3.807632530831e-04 time: 8.302000000001e+00 total movement = 3.807632530831e-04 vel = 3.786798914203e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.363019, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.363019, acc = -15.660460,T = 0.009639, P = 0.005431 on final decel tc id = 219, canon_type = 2, mot type = 1 time: 8.303000 primary movement = 3.708496615386e-04 time: 8.303000000001e+00 total movement = 3.708496615386e-04 vel = 3.630194316569e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.347359, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.347359, acc = -15.660460,T = 0.009639, P = 0.005786 on final decel tc id = 219, canon_type = 2, mot type = 1 time: 8.304000 primary movement = 3.551892017752e-04 time: 8.304000000001e+00 total movement = 3.551892017752e-04 vel = 3.473589718936e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.331699, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.331699, acc = -15.660460,T = 0.009639, P = 0.006126 on final decel tc id = 219, canon_type = 2, mot type = 1 time: 8.305000 primary movement = 3.395287420119e-04 time: 8.305000000001e+00 total movement = 3.395287420119e-04 vel = 3.316985121302e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.316038, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.316038, acc = -15.660460,T = 0.009639, P = 0.006450 on final decel tc id = 219, canon_type = 2, mot type = 1 time: 8.306000 primary movement = 3.238682822486e-04 time: 8.306000000001e+00 total movement = 3.238682822486e-04 vel = 3.160380523668e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.300378, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.300378, acc = -15.660460,T = 0.009639, P = 0.006758 on final decel tc id = 219, canon_type = 2, mot type = 1 time: 8.307000 primary movement = 3.082078224851e-04 time: 8.307000000001e+00 total movement = 3.082078224851e-04 vel = 3.003775926035e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.284717, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.284717, acc = -15.660460,T = 0.009639, P = 0.007051 on final decel tc id = 219, canon_type = 2, mot type = 1 time: 8.308000 primary movement = 2.925473627218e-04 time: 8.308000000001e+00 total movement = 2.925473627218e-04 vel = 2.847171328401e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.269057, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.269057, acc = -15.660460,T = 0.009639, P = 0.007328 on final decel tc id = 219, canon_type = 2, mot type = 1 time: 8.309000 primary movement = 2.768869029585e-04 time: 8.309000000001e+00 total movement = 2.768869029585e-04 vel = 2.690566730767e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.253396, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.253396, acc = -15.660460,T = 0.009639, P = 0.007589 on final decel tc id = 219, canon_type = 2, mot type = 1 time: 8.310000 primary movement = 2.612264431950e-04 time: 8.310000000001e+00 total movement = 2.612264431950e-04 vel = 2.533962133134e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.237736, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.237736, acc = -15.660460,T = 0.009639, P = 0.007834 on final decel tc id = 219, canon_type = 2, mot type = 1 time: 8.311000 primary movement = 2.455659834317e-04 time: 8.311000000001e+00 total movement = 2.455659834317e-04 vel = 2.377357535500e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.222075, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.222075, acc = -15.660460,T = 0.009639, P = 0.008064 on final decel tc id = 219, canon_type = 2, mot type = 1 time: 8.312000 primary movement = 2.299055236683e-04 time: 8.312000000001e+00 total movement = 2.299055236683e-04 vel = 2.220752937866e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.206415, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.206415, acc = -15.660460,T = 0.009639, P = 0.008278 on final decel tc id = 219, canon_type = 2, mot type = 1 tc state : vr = 0.015660, vf = 0.015660, maxvel = 9.000761, current_vel = 0.015660, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.015660, acc = 15.660460,T = 0.002947, P = 0.000008 initial results: dx= 0.002939,dt = 0.018104, a_f = 16.202811, v_f = 0.308997 recalculating with a_f = 16.202811, a = 16.201370 revised dt = 0.018105 dt = 0.018105, not at end yet tc id = 219, canon_type = 2, mot type = 1 secondary movement = 0.000008 time: 8.313000 primary movement = 2.142450639049e-04 time: 8.313000000001e+00 total movement = 2.220752937865e-04 vel = 2.220752937866e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.190754, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.190754, acc = -15.660460,T = 0.009639, P = 0.008477 on final decel tc id = 219, canon_type = 2, mot type = 1 tc state : vr = 0.031321, vf = 0.031321, maxvel = 9.000761, current_vel = 0.031321, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.031321, acc = 15.660460,T = 0.002947, P = 0.000031 initial results: dx= 0.002915,dt = 0.017133, a_f = 16.207181, v_f = 0.308997 recalculating with a_f = 16.207181, a = 16.201370 revised dt = 0.017136 dt = 0.017136, not at end yet tc id = 219, canon_type = 2, mot type = 1 secondary movement = 0.000023 time: 8.314000 primary movement = 1.985846041416e-04 time: 8.314000000001e+00 total movement = 2.220752937867e-04 vel = 2.220752937866e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.175094, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.175094, acc = -15.660460,T = 0.009639, P = 0.008660 on final decel tc id = 219, canon_type = 2, mot type = 1 tc state : vr = 0.046981, vf = 0.046981, maxvel = 9.000761, current_vel = 0.046981, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.046981, acc = 15.660460,T = 0.002947, P = 0.000070 initial results: dx= 0.002876,dt = 0.016159, a_f = 16.214623, v_f = 0.308997 recalculating with a_f = 16.214623, a = 16.201370 revised dt = 0.016165 dt = 0.016165, not at end yet tc id = 219, canon_type = 2, mot type = 1 secondary movement = 0.000039 time: 8.315000 primary movement = 1.829241443783e-04 time: 8.315000000001e+00 total movement = 2.220752937867e-04 vel = 2.220752937866e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.159433, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.159433, acc = -15.660460,T = 0.009639, P = 0.008827 on final decel tc id = 219, canon_type = 2, mot type = 1 tc state : vr = 0.062642, vf = 0.062642, maxvel = 9.000761, current_vel = 0.062642, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.062642, acc = 15.660460,T = 0.002947, P = 0.000125 initial results: dx= 0.002821,dt = 0.015183, a_f = 16.225389, v_f = 0.308997 recalculating with a_f = 16.225389, a = 16.201370 revised dt = 0.015192 dt = 0.015192, not at end yet tc id = 219, canon_type = 2, mot type = 1 secondary movement = 0.000055 time: 8.316000 primary movement = 1.672636846148e-04 time: 8.316000000001e+00 total movement = 2.220752937866e-04 vel = 2.220752937866e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.143773, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.143773, acc = -15.660460,T = 0.009639, P = 0.008979 on final decel tc id = 219, canon_type = 2, mot type = 1 tc state : vr = 0.078302, vf = 0.078302, maxvel = 9.000761, current_vel = 0.078302, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.078302, acc = 15.660460,T = 0.002947, P = 0.000196 initial results: dx= 0.002751,dt = 0.014205, a_f = 16.239862, v_f = 0.308997 recalculating with a_f = 16.239862, a = 16.201370 revised dt = 0.014218 dt = 0.014218, not at end yet tc id = 219, canon_type = 2, mot type = 1 secondary movement = 0.000070 time: 8.317000 primary movement = 1.516032248515e-04 time: 8.317000000001e+00 total movement = 2.220752937866e-04 vel = 2.220752937866e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.128113, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.128113, acc = -15.660460,T = 0.009639, P = 0.009115 on final decel tc id = 219, canon_type = 2, mot type = 1 tc state : vr = 0.093963, vf = 0.093963, maxvel = 9.000761, current_vel = 0.093963, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.093963, acc = 15.660460,T = 0.002947, P = 0.000282 initial results: dx= 0.002665,dt = 0.013226, a_f = 16.258590, v_f = 0.308997 recalculating with a_f = 16.258590, a = 16.201370 revised dt = 0.013242 dt = 0.013242, not at end yet tc id = 219, canon_type = 2, mot type = 1 secondary movement = 0.000086 time: 8.318000 primary movement = 1.359427650882e-04 time: 8.318000000001e+00 total movement = 2.220752937867e-04 vel = 2.220752937866e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.112452, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.112452, acc = -15.660460,T = 0.009639, P = 0.009235 on final decel tc id = 219, canon_type = 2, mot type = 1 tc state : vr = 0.109623, vf = 0.109623, maxvel = 9.000761, current_vel = 0.109623, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.109623, acc = 15.660460,T = 0.002947, P = 0.000384 initial results: dx= 0.002563,dt = 0.012245, a_f = 16.282346, v_f = 0.308997 recalculating with a_f = 16.282346, a = 16.201370 revised dt = 0.012264 dt = 0.012264, not at end yet tc id = 219, canon_type = 2, mot type = 1 secondary movement = 0.000102 time: 8.319000 primary movement = 1.202823053248e-04 time: 8.319000000001e+00 total movement = 2.220752937867e-04 vel = 2.220752937866e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.096792, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.096792, acc = -15.660460,T = 0.009639, P = 0.009340 on final decel tc id = 219, canon_type = 2, mot type = 1 tc state : vr = 0.125284, vf = 0.125284, maxvel = 9.000761, current_vel = 0.125284, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.125284, acc = 15.660460,T = 0.002947, P = 0.000501 initial results: dx= 0.002445,dt = 0.011262, a_f = 16.312214, v_f = 0.308997 recalculating with a_f = 16.312214, a = 16.201370 revised dt = 0.011285 dt = 0.011285, not at end yet tc id = 220, canon_type = 2, mot type = 1 secondary movement = 0.000117 time: 8.320000 primary movement = 1.046218455614e-04 time: 8.320000000001e+00 total movement = 2.220752937867e-04 vel = 2.220752937866e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.081131, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.081131, acc = -15.660460,T = 0.009639, P = 0.009429 on final decel tc id = 219, canon_type = 2, mot type = 1 tc state : vr = 0.140944, vf = 0.140944, maxvel = 9.000761, current_vel = 0.140944, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.140944, acc = 15.660460,T = 0.002947, P = 0.000634 initial results: dx= 0.002312,dt = 0.010279, a_f = 16.349732, v_f = 0.308997 recalculating with a_f = 16.349732, a = 16.201370 revised dt = 0.010304 dt = 0.010304, not at end yet tc id = 220, canon_type = 2, mot type = 1 secondary movement = 0.000133 time: 8.321000 primary movement = 8.896138579794e-05 time: 8.321000000001e+00 total movement = 2.220752937865e-04 vel = 2.220752937866e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.065471, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.065471, acc = -15.660460,T = 0.009639, P = 0.009502 on final decel tc id = 219, canon_type = 2, mot type = 1 tc state : vr = 0.156605, vf = 0.156605, maxvel = 9.000761, current_vel = 0.156605, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.156605, acc = 15.660460,T = 0.002947, P = 0.000783 initial results: dx= 0.002164,dt = 0.009294, a_f = 16.397128, v_f = 0.308997 recalculating with a_f = 16.397128, a = 16.201370 revised dt = 0.009321 dt = 0.009321, not at end yet tc id = 220, canon_type = 2, mot type = 1 secondary movement = 0.000149 time: 8.322000 primary movement = 7.330092603470e-05 time: 8.322000000001e+00 total movement = 2.220752937867e-04 vel = 2.220752937866e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.049810, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.049810, acc = -15.660460,T = 0.009639, P = 0.009560 on final decel tc id = 219, canon_type = 2, mot type = 1 tc state : vr = 0.172265, vf = 0.172265, maxvel = 9.000761, current_vel = 0.172265, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.172265, acc = 15.660460,T = 0.002947, P = 0.000947 initial results: dx= 0.001999,dt = 0.008308, a_f = 16.457720, v_f = 0.308997 recalculating with a_f = 16.457720, a = 16.201370 revised dt = 0.008337 dt = 0.008337, not at end yet tc id = 220, canon_type = 2, mot type = 1 secondary movement = 0.000164 time: 8.323000 primary movement = 5.764046627134e-05 time: 8.323000000001e+00 total movement = 2.220752937867e-04 vel = 2.220752937866e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.034150, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.034150, acc = -15.660460,T = 0.009639, P = 0.009602 on final decel tc id = 219, canon_type = 2, mot type = 1 tc state : vr = 0.187926, vf = 0.187926, maxvel = 9.000761, current_vel = 0.187926, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.187926, acc = 15.660460,T = 0.002947, P = 0.001128 initial results: dx= 0.001819,dt = 0.007321, a_f = 16.536652, v_f = 0.308997 recalculating with a_f = 16.536652, a = 16.201370 revised dt = 0.007351 dt = 0.007351, not at end yet tc id = 220, canon_type = 2, mot type = 1 secondary movement = 0.000180 time: 8.324000 primary movement = 4.198000650788e-05 time: 8.324000000001e+00 total movement = 2.220752937866e-04 vel = 2.220752937866e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.018489, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.018489, acc = -15.660460,T = 0.009639, P = 0.009628 on final decel tc id = 219, canon_type = 2, mot type = 1 tc state : vr = 0.203586, vf = 0.203586, maxvel = 9.000761, current_vel = 0.203586, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.203586, acc = 15.660460,T = 0.002947, P = 0.001323 initial results: dx= 0.001623,dt = 0.006334, a_f = 16.642312, v_f = 0.308997 recalculating with a_f = 16.642312, a = 16.201370 revised dt = 0.006363 dt = 0.006363, not at end yet tc id = 220, canon_type = 2, mot type = 1 secondary movement = 0.000196 time: 8.325000 primary movement = 2.631954674463e-05 time: 8.325000000001e+00 total movement = 2.220752937867e-04 vel = 2.220752937866e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.002829, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.002829, acc = -15.660460,T = 0.009639, P = 0.009639 on final decel tc id = 219, canon_type = 2, mot type = 1 tc state : vr = 0.219246, vf = 0.219246, maxvel = 9.000761, current_vel = 0.219246, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.219246, acc = 15.660460,T = 0.002947, P = 0.001535 initial results: dx= 0.001412,dt = 0.005346, a_f = 16.789332, v_f = 0.308997 recalculating with a_f = 16.789332, a = 16.201370 revised dt = 0.005373 dt = 0.005373, not at end yet tc id = 220, canon_type = 2, mot type = 1 secondary movement = 0.000211 time: 8.326000 primary movement = 1.065908698118e-05 time: 8.326000000001e+00 total movement = 2.220752937866e-04 vel = 2.220752937866e-01 ------------------- Found newvel = -0.002829, assuming segment is done segment 219 at target in runcycle tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.009639, P = 0.009639 tc id = 219, canon_type = 2, mot type = 1 tc state : vr = 0.222075, vf = 0.222075, maxvel = 9.000761, current_vel = 0.222075, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.222075, acc = 2.828857,T = 0.002947, P = 0.001755 initial results: dx= 0.001191,dt = 0.004486, a_f = 19.375306, v_f = 0.308997 recalculating with a_f = 19.375306, a = 16.201370 revised dt = 0.004594 dt = 0.004594, not at end yet tc id = 220, canon_type = 2, mot type = 1 secondary movement = 0.000221 time: 8.327000 primary movement = 2.554980061356e-07 time: 8.327000000001e+00 total movement = 2.209163632430e-04 vel = 2.220752937866e-01 Finished tc id 219 ------------------- tc state : vr = 1.403158, vf = 0.308997, maxvel = 9.000761, current_vel = 0.238277, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.238277, acc = 16.201370,T = 0.002947, P = 0.001986 initial results: dx= 0.000961,dt = 0.003512, a_f = 20.135462, v_f = 0.308997 recalculating with a_f = 20.135462, a = 16.201370 revised dt = 0.003594 dt = 0.003594, not at end yet tc id = 220, canon_type = 2, mot type = 1 time: 8.328000 primary movement = 2.301759786575e-04 time: 8.328000000001e+00 total movement = 2.301759786575e-04 vel = 2.382766635284e-01 ------------------- tc state : vr = 1.403158, vf = 0.308997, maxvel = 9.000761, current_vel = 0.254478, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.254478, acc = 16.201370,T = 0.002947, P = 0.002232 initial results: dx= 0.000715,dt = 0.002537, a_f = 21.491670, v_f = 0.308997 recalculating with a_f = 21.491670, a = 16.201370 revised dt = 0.002594 dt = 0.002594, not at end yet tc id = 220, canon_type = 2, mot type = 1 time: 8.329000 primary movement = 2.463773483992e-04 time: 8.329000000001e+00 total movement = 2.463773483992e-04 vel = 2.544780332701e-01 ------------------- tc state : vr = 1.403158, vf = 0.308997, maxvel = 9.000761, current_vel = 0.270679, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.270679, acc = 16.201370,T = 0.002947, P = 0.002495 initial results: dx= 0.000452,dt = 0.001560, a_f = 24.564170, v_f = 0.308997 recalculating with a_f = 24.564170, a = 16.201370 revised dt = 0.001594 dt = 0.001594, not at end yet tc id = 220, canon_type = 2, mot type = 1 time: 8.330000 primary movement = 2.625787181409e-04 time: 8.330000000001e+00 total movement = 2.625787181409e-04 vel = 2.706794030118e-01 ------------------- tc state : vr = 1.403158, vf = 0.308997, maxvel = 9.000761, current_vel = 0.286881, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.286881, acc = 16.201370,T = 0.002947, P = 0.002773 initial results: dx= 0.000173,dt = 0.000582, a_f = 38.014414, v_f = 0.308997 recalculating with a_f = 38.014414, a = 16.201370 revised dt = 0.000594 actual v_f = 0.296508, a = 16.201370 split time is 0.000594231 tc id = 220, canon_type = 2, mot type = 1 time: 8.331000 primary movement = 2.787800878826e-04 time: 8.331000000001e+00 total movement = 2.787800878826e-04 vel = 2.868807727535e-01 ------------------- tc id 220 done Finishing split-cycle on id 221 tc state : vr = 0.308997, vf = 0.000000, maxvel = 0.321206, current_vel = 0.302595, fs = 1.000000, tc = 0.000406, term = 3 tc result: v = 0.302595, acc = 15.000000,T = 0.004238, P = 0.000122 initial results: dx= 0.004116,dt = 0.027206, a_f = -11.122410, v_f = 0.000000 dt = 0.027206, not at end yet secondary movement = 0.000122 tc id = 221, canon_type = 3, mot type = 2 time: 8.332000 primary movement = 1.733338171789e-04 time: 8.332000000001e+00 total movement = 2.948778109959e-04 vel = 3.025946636208e-01 Finished tc id 220 ------------------- Activate tc id = 221 target_vel = 0.308997 final_vel = 0.000000 length = 0.004238 tc state : vr = 0.308997, vf = 0.000000, maxvel = 0.321206, current_vel = 0.308997, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.308997, acc = 6.402011,T = 0.004238, P = 0.000427 initial results: dx= 0.003810,dt = 0.024663, a_f = -12.528804, v_f = 0.000000 dt = 0.024663, not at end yet tc id = 221, canon_type = 3, mot type = 2 time: 8.333000 primary movement = 3.057201214413e-04 time: 8.333000000001e+00 total movement = 3.057201214413e-04 vel = 3.089966745968e-01 ------------------- tc state : vr = 0.308997, vf = 0.000000, maxvel = 0.321206, current_vel = 0.308997, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.308997, acc = 0.000000,T = 0.004238, P = 0.000736 initial results: dx= 0.003501,dt = 0.022663, a_f = -13.634471, v_f = 0.000000 dt = 0.022663, not at end yet tc id = 221, canon_type = 3, mot type = 2 time: 8.334000 primary movement = 3.089187296781e-04 time: 8.334000000001e+00 total movement = 3.089187296781e-04 vel = 3.089966745968e-01 ------------------- tc state : vr = 0.308997, vf = 0.000000, maxvel = 0.321206, current_vel = 0.308997, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.308997, acc = 0.000000,T = 0.004238, P = 0.001045 initial results: dx= 0.003192,dt = 0.020663, a_f = -14.954176, v_f = 0.000000 dt = 0.020663, not at end yet tc id = 221, canon_type = 3, mot type = 2 time: 8.335000 primary movement = 3.089187296780e-04 time: 8.335000000001e+00 total movement = 3.089187296780e-04 vel = 3.089966745968e-01 ------------------- tc state : vr = 0.308997, vf = 0.000000, maxvel = 0.321206, current_vel = 0.294481, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.294481, acc = -14.515183,T = 0.004238, P = 0.001347 on final decel initial results: dx= 0.002891,dt = 0.019632, a_f = -15.000000, v_f = 0.000000 dt = 0.019632, not at end yet tc id = 221, canon_type = 3, mot type = 2 time: 8.336000 primary movement = 3.016665020604e-04 time: 8.336000000001e+00 total movement = 3.016665020604e-04 vel = 2.944814914132e-01 ------------------- tc state : vr = 0.308997, vf = 0.000000, maxvel = 0.321206, current_vel = 0.279481, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.279481, acc = -15.000000,T = 0.004238, P = 0.001634 on final decel initial results: dx= 0.002604,dt = 0.018632, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 dx = 0.002604, too large, not at end yet tc id = 221, canon_type = 3, mot type = 2 time: 8.337000 primary movement = 2.869190471460e-04 time: 8.337000000001e+00 total movement = 2.869190471460e-04 vel = 2.794814914132e-01 ------------------- tc state : vr = 0.308997, vf = 0.000000, maxvel = 0.321206, current_vel = 0.264481, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.264481, acc = -15.000000,T = 0.004238, P = 0.001906 on final decel initial results: dx= 0.002332,dt = 0.017632, a_f = -15.000000, v_f = 0.000000 dt = 0.017632, not at end yet tc id = 221, canon_type = 3, mot type = 2 time: 8.338000 primary movement = 2.719283354677e-04 time: 8.338000000001e+00 total movement = 2.719283354677e-04 vel = 2.644814914132e-01 ------------------- tc state : vr = 0.308997, vf = 0.000000, maxvel = 0.321206, current_vel = 0.249481, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.249481, acc = -15.000000,T = 0.004238, P = 0.002163 on final decel initial results: dx= 0.002075,dt = 0.016632, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.016632 dt = 0.016632, not at end yet tc id = 221, canon_type = 3, mot type = 2 time: 8.339000 primary movement = 2.569366538438e-04 time: 8.339000000001e+00 total movement = 2.569366538438e-04 vel = 2.494814914132e-01 ------------------- tc state : vr = 0.308997, vf = 0.000000, maxvel = 0.321206, current_vel = 0.234481, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.234481, acc = -15.000000,T = 0.004238, P = 0.002405 on final decel initial results: dx= 0.001833,dt = 0.015632, a_f = -15.000000, v_f = 0.000000 dt = 0.015632, not at end yet tc id = 221, canon_type = 3, mot type = 2 time: 8.340000 primary movement = 2.419440557484e-04 time: 8.340000000001e+00 total movement = 2.419440557484e-04 vel = 2.344814914132e-01 ------------------- tc state : vr = 0.308997, vf = 0.000000, maxvel = 0.321206, current_vel = 0.219481, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.219481, acc = -15.000000,T = 0.004238, P = 0.002632 on final decel initial results: dx= 0.001606,dt = 0.014632, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.014632 dt = 0.014632, not at end yet tc id = 221, canon_type = 3, mot type = 2 time: 8.341000 primary movement = 2.269505946588e-04 time: 8.341000000001e+00 total movement = 2.269505946588e-04 vel = 2.194814914132e-01 ------------------- tc state : vr = 0.308997, vf = 0.000000, maxvel = 0.321206, current_vel = 0.204481, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.204481, acc = -15.000000,T = 0.004238, P = 0.002844 on final decel initial results: dx= 0.001394,dt = 0.013632, a_f = -15.000000, v_f = 0.000000 dt = 0.013632, not at end yet tc id = 221, canon_type = 3, mot type = 2 time: 8.342000 primary movement = 2.119563240555e-04 time: 8.342000000001e+00 total movement = 2.119563240555e-04 vel = 2.044814914132e-01 ------------------- tc state : vr = 0.308997, vf = 0.000000, maxvel = 0.321206, current_vel = 0.189481, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.189481, acc = -15.000000,T = 0.004238, P = 0.003041 on final decel initial results: dx= 0.001197,dt = 0.012632, a_f = -15.000000, v_f = 0.000000 dt = 0.012632, not at end yet tc id = 221, canon_type = 3, mot type = 2 time: 8.343000 primary movement = 1.969612974218e-04 time: 8.343000000001e+00 total movement = 1.969612974218e-04 vel = 1.894814914132e-01 ------------------- tc state : vr = 0.308997, vf = 0.000000, maxvel = 0.321206, current_vel = 0.174481, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.174481, acc = -15.000000,T = 0.004238, P = 0.003223 on final decel initial results: dx= 0.001015,dt = 0.011632, a_f = -15.000000, v_f = 0.000000 dt = 0.011632, not at end yet tc id = 221, canon_type = 3, mot type = 2 time: 8.344000 primary movement = 1.819655682437e-04 time: 8.344000000001e+00 total movement = 1.819655682437e-04 vel = 1.744814914132e-01 ------------------- tc state : vr = 0.308997, vf = 0.000000, maxvel = 0.321206, current_vel = 0.159481, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.159481, acc = -15.000000,T = 0.004238, P = 0.003390 on final decel initial results: dx= 0.000848,dt = 0.010632, a_f = -15.000000, v_f = 0.000000 dt = 0.010632, not at end yet tc id = 221, canon_type = 3, mot type = 2 time: 8.345000 primary movement = 1.669691900096e-04 time: 8.345000000001e+00 total movement = 1.669691900096e-04 vel = 1.594814914132e-01 ------------------- tc state : vr = 0.308997, vf = 0.000000, maxvel = 0.321206, current_vel = 0.144481, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.144481, acc = -15.000000,T = 0.004238, P = 0.003542 on final decel initial results: dx= 0.000696,dt = 0.009632, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.009632 dt = 0.009632, not at end yet tc id = 221, canon_type = 3, mot type = 2 time: 8.346000 primary movement = 1.519722162104e-04 time: 8.346000000001e+00 total movement = 1.519722162104e-04 vel = 1.444814914132e-01 ------------------- tc state : vr = 0.308997, vf = 0.000000, maxvel = 0.321206, current_vel = 0.129481, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.129481, acc = -15.000000,T = 0.004238, P = 0.003679 on final decel initial results: dx= 0.000559,dt = 0.008632, a_f = -15.000000, v_f = 0.000000 dt = 0.008632, not at end yet tc id = 221, canon_type = 3, mot type = 2 time: 8.347000 primary movement = 1.369747003391e-04 time: 8.347000000001e+00 total movement = 1.369747003391e-04 vel = 1.294814914132e-01 ------------------- tc state : vr = 0.308997, vf = 0.000000, maxvel = 0.321206, current_vel = 0.114481, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.114481, acc = -15.000000,T = 0.004238, P = 0.003801 on final decel initial results: dx= 0.000437,dt = 0.007632, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.007632 dt = 0.007632, not at end yet tc id = 221, canon_type = 3, mot type = 2 time: 8.348000 primary movement = 1.219766958905e-04 time: 8.348000000001e+00 total movement = 1.219766958905e-04 vel = 1.144814914132e-01 ------------------- tc state : vr = 0.308997, vf = 0.000000, maxvel = 0.321206, current_vel = 0.099481, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.099481, acc = -15.000000,T = 0.004238, P = 0.003908 on final decel initial results: dx= 0.000330,dt = 0.006632, a_f = -15.000000, v_f = 0.000000 dt = 0.006632, not at end yet tc id = 221, canon_type = 3, mot type = 2 time: 8.349000 primary movement = 1.069782563611e-04 time: 8.349000000001e+00 total movement = 1.069782563611e-04 vel = 9.948149141321e-02 ------------------- tc state : vr = 0.308997, vf = 0.000000, maxvel = 0.321206, current_vel = 0.084481, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.084481, acc = -15.000000,T = 0.004238, P = 0.004000 on final decel initial results: dx= 0.000238,dt = 0.005632, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.005632 dt = 0.005632, not at end yet tc id = 221, canon_type = 3, mot type = 2 time: 8.350000 primary movement = 9.197943524956e-05 time: 8.350000000001e+00 total movement = 9.197943524956e-05 vel = 8.448149141321e-02 ------------------- tc state : vr = 0.308997, vf = 0.000000, maxvel = 0.321206, current_vel = 0.069481, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.069481, acc = -15.000000,T = 0.004238, P = 0.004077 on final decel initial results: dx= 0.000161,dt = 0.004632, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.004632 dt = 0.004632, not at end yet tc id = 221, canon_type = 3, mot type = 2 time: 8.351000 primary movement = 7.698028605480e-05 time: 8.351000000001e+00 total movement = 7.698028605480e-05 vel = 6.948149141321e-02 ------------------- tc state : vr = 0.308997, vf = 0.000000, maxvel = 0.321206, current_vel = 0.054481, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.054481, acc = -15.000000,T = 0.004238, P = 0.004139 on final decel initial results: dx= 0.000099,dt = 0.003632, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.003632 dt = 0.003632, not at end yet tc id = 221, canon_type = 3, mot type = 2 time: 8.352000 primary movement = 6.198086227803e-05 time: 8.352000000001e+00 total movement = 6.198086227803e-05 vel = 5.448149141321e-02 ------------------- tc state : vr = 0.308997, vf = 0.000000, maxvel = 0.321206, current_vel = 0.039481, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.039481, acc = -15.000000,T = 0.004238, P = 0.004186 on final decel initial results: dx= 0.000052,dt = 0.002632, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.002632 dt = 0.002632, not at end yet tc id = 221, canon_type = 3, mot type = 2 time: 8.353000 primary movement = 4.698121742054e-05 time: 8.353000000001e+00 total movement = 4.698121742054e-05 vel = 3.948149141321e-02 ------------------- tc state : vr = 0.308997, vf = 0.000000, maxvel = 0.321206, current_vel = 0.024481, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.024481, acc = -15.000000,T = 0.004238, P = 0.004218 on final decel initial results: dx= 0.000020,dt = 0.001632, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.001632 dt = 0.001632, not at end yet tc id = 221, canon_type = 3, mot type = 2 time: 8.354000 primary movement = 3.198140498506e-05 time: 8.354000000001e+00 total movement = 3.198140498506e-05 vel = 2.448149141321e-02 ------------------- tc state : vr = 0.308997, vf = 0.000000, maxvel = 0.321206, current_vel = 0.009481, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.009481, acc = -15.000000,T = 0.004238, P = 0.004235 on final decel initial results: dx= 0.000003,dt = 0.000632, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.000632 actual v_f = 0.000000, a = -15.000000 split time is 0.000632099 tc id = 221, canon_type = 3, mot type = 2 time: 8.355000 primary movement = 1.698147847469e-05 time: 8.355000000001e+00 total movement = 1.698147847469e-05 vel = 9.481491413207e-03 ------------------- tc id 221 done Finishing split-cycle on id 221 tc state : vr = 8.389821, vf = 0.000000, maxvel = 8.389821, current_vel = 0.005556, fs = 1.000000, tc = 0.000368, term = 2 tc result: v = 0.005556, acc = 15.101738,T = 0.003695, P = 0.000001 secondary movement = 0.000001 tc id = 221, canon_type = 2, mot type = 1 time: 8.356000 primary movement = 2.996622576185e-06 time: 8.356000000001e+00 total movement = 4.018641185627e-06 vel = 5.555944130164e-03 Finished tc id 221 ------------------- Activate tc id = 221 target_vel = 8.389821 final_vel = 0.000000 length = 0.003695 Activate nexttc id 222 tc state : vr = 8.389821, vf = 0.000000, maxvel = 8.389821, current_vel = 0.020658, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.020658, acc = 15.101738,T = 0.003695, P = 0.000014 tc id = 221, canon_type = 2, mot type = 1 time: 8.357000 primary movement = 1.310681328541e-05 time: 8.357000000001e+00 total movement = 1.310681328541e-05 vel = 2.065768244070e-02 ------------------- tc state : vr = 8.389821, vf = 0.000000, maxvel = 8.389821, current_vel = 0.035759, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.035759, acc = 15.101738,T = 0.003695, P = 0.000042 tc id = 221, canon_type = 2, mot type = 1 time: 8.358000 primary movement = 2.820855159605e-05 time: 8.358000000001e+00 total movement = 2.820855159605e-05 vel = 3.575942075124e-02 ------------------- tc state : vr = 8.389821, vf = 0.000000, maxvel = 8.389821, current_vel = 0.050861, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.050861, acc = 15.101738,T = 0.003695, P = 0.000086 tc id = 221, canon_type = 2, mot type = 1 time: 8.359000 primary movement = 4.331028990647e-05 time: 8.359000000001e+00 total movement = 4.331028990647e-05 vel = 5.086115906178e-02 ------------------- tc state : vr = 8.389821, vf = 0.000000, maxvel = 8.389821, current_vel = 0.065963, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.065963, acc = 15.101738,T = 0.003695, P = 0.000144 tc id = 221, canon_type = 2, mot type = 1 time: 8.360000 primary movement = 5.841202821710e-05 time: 8.360000000001e+00 total movement = 5.841202821710e-05 vel = 6.596289737232e-02 ------------------- tc state : vr = 8.389821, vf = 0.000000, maxvel = 8.389821, current_vel = 0.081065, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.081065, acc = 15.101738,T = 0.003695, P = 0.000218 tc id = 221, canon_type = 2, mot type = 1 time: 8.361000 primary movement = 7.351376652752e-05 time: 8.361000000001e+00 total movement = 7.351376652752e-05 vel = 8.106463568286e-02 ------------------- tc state : vr = 8.389821, vf = 0.000000, maxvel = 8.389821, current_vel = 0.096166, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.096166, acc = 15.101738,T = 0.003695, P = 0.000306 tc id = 221, canon_type = 2, mot type = 1 time: 8.362000 primary movement = 8.861550483815e-05 time: 8.362000000001e+00 total movement = 8.861550483815e-05 vel = 9.616637399340e-02 ------------------- tc state : vr = 8.389821, vf = 0.000000, maxvel = 8.389821, current_vel = 0.111268, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.111268, acc = 15.101738,T = 0.003695, P = 0.000410 tc id = 221, canon_type = 2, mot type = 1 time: 8.363000 primary movement = 1.037172431487e-04 time: 8.363000000001e+00 total movement = 1.037172431487e-04 vel = 1.112681123039e-01 ------------------- tc state : vr = 8.389821, vf = 0.000000, maxvel = 8.389821, current_vel = 0.126370, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.126370, acc = 15.101738,T = 0.003695, P = 0.000529 tc id = 221, canon_type = 2, mot type = 1 time: 8.364000 primary movement = 1.188189814592e-04 time: 8.364000000001e+00 total movement = 1.188189814592e-04 vel = 1.263698506145e-01 ------------------- tc state : vr = 8.389821, vf = 0.000000, maxvel = 8.389821, current_vel = 0.141472, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.141472, acc = 15.101738,T = 0.003695, P = 0.000663 tc id = 221, canon_type = 2, mot type = 1 time: 8.365000 primary movement = 1.339207197697e-04 time: 8.365000000001e+00 total movement = 1.339207197697e-04 vel = 1.414715889250e-01 ------------------- tc state : vr = 8.389821, vf = 0.000000, maxvel = 8.389821, current_vel = 0.156573, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.156573, acc = 15.101738,T = 0.003695, P = 0.000812 tc id = 221, canon_type = 2, mot type = 1 time: 8.366000 primary movement = 1.490224580803e-04 time: 8.366000000001e+00 total movement = 1.490224580803e-04 vel = 1.565733272356e-01 ------------------- tc state : vr = 8.389821, vf = 0.000000, maxvel = 8.389821, current_vel = 0.171675, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.171675, acc = 15.101738,T = 0.003695, P = 0.000976 tc id = 221, canon_type = 2, mot type = 1 time: 8.367000 primary movement = 1.641241963908e-04 time: 8.367000000001e+00 total movement = 1.641241963908e-04 vel = 1.716750655461e-01 ------------------- tc state : vr = 8.389821, vf = 0.000000, maxvel = 8.389821, current_vel = 0.186777, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.186777, acc = 15.101738,T = 0.003695, P = 0.001155 tc id = 221, canon_type = 2, mot type = 1 time: 8.368000 primary movement = 1.792259347014e-04 time: 8.368000000001e+00 total movement = 1.792259347014e-04 vel = 1.867768038566e-01 ------------------- tc state : vr = 8.389821, vf = 0.000000, maxvel = 8.389821, current_vel = 0.201879, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.201879, acc = 15.101738,T = 0.003695, P = 0.001349 tc id = 221, canon_type = 2, mot type = 1 time: 8.369000 primary movement = 1.943276730118e-04 time: 8.369000000001e+00 total movement = 1.943276730118e-04 vel = 2.018785421672e-01 ------------------- tc state : vr = 8.389821, vf = 0.000000, maxvel = 8.389821, current_vel = 0.216980, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.216980, acc = 15.101738,T = 0.003695, P = 0.001559 tc id = 221, canon_type = 2, mot type = 1 time: 8.370000 primary movement = 2.094294113225e-04 time: 8.370000000001e+00 total movement = 2.094294113225e-04 vel = 2.169802804777e-01 ------------------- tc state : vr = 8.389821, vf = 0.000000, maxvel = 8.389821, current_vel = 0.232082, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.232082, acc = 15.101738,T = 0.003695, P = 0.001783 tc id = 221, canon_type = 2, mot type = 1 time: 8.371000 primary movement = 2.245311496330e-04 time: 8.371000000001e+00 total movement = 2.245311496330e-04 vel = 2.320820187882e-01 ------------------- tc state : vr = 8.389821, vf = 0.000000, maxvel = 8.389821, current_vel = 0.225448, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.225448, acc = -6.634338,T = 0.003695, P = 0.002012 on final decel tc id = 221, canon_type = 2, mot type = 1 tc state : vr = 0.006634, vf = 0.000000, maxvel = 0.583693, current_vel = 0.006634, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.006634, acc = 6.634338,T = 0.021406, P = 0.000003 tc id = 221, canon_type = 2, mot type = 1 secondary movement = 0.000003 time: 8.372000 primary movement = 2.287648498561e-04 time: 8.372000000001e+00 total movement = 2.320820190941e-04 vel = 2.320820187882e-01 ------------------- tc state : vr = 8.389821, vf = 0.000000, maxvel = 8.389821, current_vel = 0.210346, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.210346, acc = -15.101738,T = 0.003695, P = 0.002230 on final decel tc id = 221, canon_type = 2, mot type = 1 tc state : vr = 0.021736, vf = 0.000000, maxvel = 0.583693, current_vel = 0.014134, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.014134, acc = 7.500000,T = 0.021406, P = 0.000014 tc id = 221, canon_type = 2, mot type = 1 secondary movement = 0.000010 time: 8.373000 primary movement = 2.178968117687e-04 time: 8.373000000001e+00 total movement = 2.282811491765e-04 vel = 2.244802804777e-01 ------------------- tc state : vr = 8.389821, vf = 0.000000, maxvel = 8.389821, current_vel = 0.195244, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.195244, acc = -15.101738,T = 0.003695, P = 0.002433 on final decel tc id = 221, canon_type = 2, mot type = 1 tc state : vr = 0.036838, vf = 0.000000, maxvel = 0.583693, current_vel = 0.021634, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.021634, acc = 7.500000,T = 0.021406, P = 0.000032 tc id = 221, canon_type = 2, mot type = 1 secondary movement = 0.000018 time: 8.374000 primary movement = 2.027950734582e-04 time: 8.374000000001e+00 total movement = 2.206794054986e-04 vel = 2.168785421672e-01 ------------------- tc state : vr = 8.389821, vf = 0.000000, maxvel = 8.389821, current_vel = 0.180142, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.180142, acc = -15.101738,T = 0.003695, P = 0.002620 on final decel tc id = 221, canon_type = 2, mot type = 1 tc state : vr = 0.051940, vf = 0.000000, maxvel = 0.583693, current_vel = 0.029134, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.029134, acc = 7.500000,T = 0.021406, P = 0.000057 tc id = 221, canon_type = 2, mot type = 1 secondary movement = 0.000025 time: 8.375000 primary movement = 1.876933351476e-04 time: 8.375000000001e+00 total movement = 2.130776538012e-04 vel = 2.092768038566e-01 ------------------- tc state : vr = 8.389821, vf = 0.000000, maxvel = 8.389821, current_vel = 0.165041, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.165041, acc = -15.101738,T = 0.003695, P = 0.002793 on final decel tc id = 221, canon_type = 2, mot type = 1 tc state : vr = 0.067041, vf = 0.000000, maxvel = 0.583693, current_vel = 0.036634, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.036634, acc = 7.500000,T = 0.021406, P = 0.000090 tc id = 221, canon_type = 2, mot type = 1 secondary movement = 0.000033 time: 8.376000 primary movement = 1.725915968371e-04 time: 8.376000000001e+00 total movement = 2.054758907216e-04 vel = 2.016750655461e-01 ------------------- tc state : vr = 8.389821, vf = 0.000000, maxvel = 8.389821, current_vel = 0.149939, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.149939, acc = -15.101738,T = 0.003695, P = 0.002951 on final decel tc id = 221, canon_type = 2, mot type = 1 tc state : vr = 0.082143, vf = 0.000000, maxvel = 0.583693, current_vel = 0.044134, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.044134, acc = 7.500000,T = 0.021406, P = 0.000130 tc id = 221, canon_type = 2, mot type = 1 secondary movement = 0.000040 time: 8.377000 primary movement = 1.574898585265e-04 time: 8.377000000001e+00 total movement = 1.978741128965e-04 vel = 1.940733272356e-01 ------------------- tc state : vr = 8.389821, vf = 0.000000, maxvel = 8.389821, current_vel = 0.134837, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.134837, acc = -15.101738,T = 0.003695, P = 0.003093 on final decel tc id = 221, canon_type = 2, mot type = 1 tc state : vr = 0.097245, vf = 0.000000, maxvel = 0.583693, current_vel = 0.051634, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.051634, acc = 7.500000,T = 0.021406, P = 0.000178 tc id = 221, canon_type = 2, mot type = 1 secondary movement = 0.000048 time: 8.378000 primary movement = 1.423881202160e-04 time: 8.378000000001e+00 total movement = 1.902723169630e-04 vel = 1.864715889250e-01 ------------------- tc state : vr = 8.389821, vf = 0.000000, maxvel = 8.389821, current_vel = 0.119736, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.119736, acc = -15.101738,T = 0.003695, P = 0.003220 on final decel tc id = 221, canon_type = 2, mot type = 1 tc state : vr = 0.112347, vf = 0.000000, maxvel = 0.583693, current_vel = 0.059134, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.059134, acc = 7.500000,T = 0.021406, P = 0.000234 tc id = 221, canon_type = 2, mot type = 1 secondary movement = 0.000055 time: 8.379000 primary movement = 1.272863819055e-04 time: 8.379000000001e+00 total movement = 1.826704995582e-04 vel = 1.788698506145e-01 ------------------- tc state : vr = 8.389821, vf = 0.000000, maxvel = 8.389821, current_vel = 0.104634, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.104634, acc = -15.101738,T = 0.003695, P = 0.003332 on final decel tc id = 221, canon_type = 2, mot type = 1 tc state : vr = 0.127448, vf = 0.000000, maxvel = 0.583693, current_vel = 0.066634, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.066634, acc = 7.500000,T = 0.021406, P = 0.000296 tc id = 221, canon_type = 2, mot type = 1 secondary movement = 0.000063 time: 8.380000 primary movement = 1.121846435949e-04 time: 8.380000000001e+00 total movement = 1.750686573189e-04 vel = 1.712681123039e-01 ------------------- tc state : vr = 8.389821, vf = 0.000000, maxvel = 8.389821, current_vel = 0.089532, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.089532, acc = -15.101738,T = 0.003695, P = 0.003429 on final decel tc id = 221, canon_type = 2, mot type = 1 tc state : vr = 0.142550, vf = 0.000000, maxvel = 0.583693, current_vel = 0.074134, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.074134, acc = 7.500000,T = 0.021406, P = 0.000367 tc id = 221, canon_type = 2, mot type = 1 secondary movement = 0.000070 time: 8.381000 primary movement = 9.708290528440e-05 time: 8.381000000001e+00 total movement = 1.674667868823e-04 vel = 1.636663739934e-01 ------------------- tc state : vr = 8.389821, vf = 0.000000, maxvel = 8.389821, current_vel = 0.074430, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.074430, acc = -15.101738,T = 0.003695, P = 0.003511 on final decel tc id = 221, canon_type = 2, mot type = 1 tc state : vr = 0.157652, vf = 0.000000, maxvel = 0.583693, current_vel = 0.081634, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.081634, acc = 7.500000,T = 0.021406, P = 0.000445 tc id = 222, canon_type = 3, mot type = 2 secondary movement = 0.000078 time: 8.382000 primary movement = 8.198116697388e-05 time: 8.382000000001e+00 total movement = 1.598648848851e-04 vel = 1.560646356829e-01 ------------------- tc state : vr = 8.389821, vf = 0.000000, maxvel = 8.389821, current_vel = 0.059329, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.059329, acc = -15.101738,T = 0.003695, P = 0.003578 on final decel tc id = 221, canon_type = 2, mot type = 1 tc state : vr = 0.172753, vf = 0.000000, maxvel = 0.583693, current_vel = 0.089134, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.089134, acc = 7.500000,T = 0.021406, P = 0.000530 tc id = 222, canon_type = 3, mot type = 2 secondary movement = 0.000085 time: 8.383000 primary movement = 6.687942866324e-05 time: 8.383000000001e+00 total movement = 1.522629479647e-04 vel = 1.484628973723e-01 ------------------- tc state : vr = 8.389821, vf = 0.000000, maxvel = 8.389821, current_vel = 0.044227, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.044227, acc = -15.101738,T = 0.003695, P = 0.003630 on final decel tc id = 221, canon_type = 2, mot type = 1 tc state : vr = 0.187855, vf = 0.000000, maxvel = 0.583693, current_vel = 0.096634, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.096634, acc = 7.500000,T = 0.021406, P = 0.000623 tc id = 222, canon_type = 3, mot type = 2 secondary movement = 0.000093 time: 8.384000 primary movement = 5.177769035282e-05 time: 8.384000000001e+00 total movement = 1.446609727578e-04 vel = 1.408611590618e-01 ------------------- tc state : vr = 8.389821, vf = 0.000000, maxvel = 8.389821, current_vel = 0.029125, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.029125, acc = -15.101738,T = 0.003695, P = 0.003667 on final decel tc id = 221, canon_type = 2, mot type = 1 tc state : vr = 0.202957, vf = 0.000000, maxvel = 0.583693, current_vel = 0.104134, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.104134, acc = 7.500000,T = 0.021406, P = 0.000723 tc id = 222, canon_type = 3, mot type = 2 secondary movement = 0.000100 time: 8.385000 primary movement = 3.667595204218e-05 time: 8.385000000001e+00 total movement = 1.370589559013e-04 vel = 1.332594207512e-01 ------------------- tc state : vr = 8.389821, vf = 0.000000, maxvel = 8.389821, current_vel = 0.014023, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.014023, acc = -15.101738,T = 0.003695, P = 0.003688 on final decel tc id = 221, canon_type = 2, mot type = 1 tc state : vr = 0.218059, vf = 0.000000, maxvel = 0.583693, current_vel = 0.111634, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.111634, acc = 7.500000,T = 0.021406, P = 0.000831 tc id = 222, canon_type = 3, mot type = 2 secondary movement = 0.000108 time: 8.386000 primary movement = 2.157421373166e-05 time: 8.386000000001e+00 total movement = 1.294568940326e-04 vel = 1.256576824407e-01 ------------------- Found newvel = -0.001078, assuming segment is done segment 221 at target in runcycle tc state : vr = 8.389821, vf = 0.000000, maxvel = 8.389821, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.003695, P = 0.003695 tc id = 221, canon_type = 2, mot type = 1 tc state : vr = 0.232082, vf = 0.000000, maxvel = 0.583693, current_vel = 0.119134, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.119134, acc = 7.500000,T = 0.021406, P = 0.000947 tc id = 222, canon_type = 3, mot type = 2 secondary movement = 0.000115 time: 8.387000 primary movement = 6.510978705456e-06 time: 8.387000000001e+00 total movement = 1.218932870729e-04 vel = 1.191343378643e-01 Finished tc id 221 ------------------- Activate nexttc id 223 tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.126634, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.126634, acc = 7.500000,T = 0.021406, P = 0.001069 tc id = 222, canon_type = 3, mot type = 2 time: 8.388000 primary movement = 1.228818846955e-04 time: 8.388000000001e+00 total movement = 1.228818846955e-04 vel = 1.266343378643e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.134134, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.134134, acc = 7.500000,T = 0.021406, P = 0.001200 tc id = 222, canon_type = 3, mot type = 2 time: 8.389000 primary movement = 1.303814059222e-04 time: 8.389000000001e+00 total movement = 1.303814059222e-04 vel = 1.341343378643e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.141634, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.141634, acc = 7.500000,T = 0.021406, P = 0.001338 tc id = 222, canon_type = 3, mot type = 2 time: 8.390000 primary movement = 1.378808686844e-04 time: 8.390000000001e+00 total movement = 1.378808686844e-04 vel = 1.416343378643e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.149134, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.149134, acc = 7.500000,T = 0.021406, P = 0.001483 tc id = 222, canon_type = 3, mot type = 2 time: 8.391000 primary movement = 1.453802696195e-04 time: 8.391000000001e+00 total movement = 1.453802696195e-04 vel = 1.491343378643e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.156634, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.156634, acc = 7.500000,T = 0.021406, P = 0.001636 tc id = 222, canon_type = 3, mot type = 2 time: 8.392000 primary movement = 1.528796053643e-04 time: 8.392000000001e+00 total movement = 1.528796053643e-04 vel = 1.566343378643e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.164134, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.164134, acc = 7.500000,T = 0.021406, P = 0.001796 tc id = 222, canon_type = 3, mot type = 2 time: 8.393000 primary movement = 1.603788725557e-04 time: 8.393000000001e+00 total movement = 1.603788725557e-04 vel = 1.641343378643e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.171634, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.171634, acc = 7.500000,T = 0.021406, P = 0.001964 tc id = 222, canon_type = 3, mot type = 2 time: 8.394000 primary movement = 1.678780678310e-04 time: 8.394000000001e+00 total movement = 1.678780678310e-04 vel = 1.716343378643e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.179134, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.179134, acc = 7.500000,T = 0.021406, P = 0.002140 tc id = 222, canon_type = 3, mot type = 2 time: 8.395000 primary movement = 1.753771878271e-04 time: 8.395000000001e+00 total movement = 1.753771878271e-04 vel = 1.791343378643e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.186634, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.186634, acc = 7.500000,T = 0.021406, P = 0.002323 tc id = 222, canon_type = 3, mot type = 2 time: 8.396000 primary movement = 1.828762291811e-04 time: 8.396000000001e+00 total movement = 1.828762291811e-04 vel = 1.866343378643e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.194134, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.194134, acc = 7.500000,T = 0.021406, P = 0.002513 tc id = 222, canon_type = 3, mot type = 2 time: 8.397000 primary movement = 1.903751885299e-04 time: 8.397000000001e+00 total movement = 1.903751885299e-04 vel = 1.941343378643e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.201634, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.201634, acc = 7.500000,T = 0.021406, P = 0.002711 tc id = 222, canon_type = 3, mot type = 2 time: 8.398000 primary movement = 1.978740625107e-04 time: 8.398000000001e+00 total movement = 1.978740625107e-04 vel = 2.016343378643e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.209134, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.209134, acc = 7.500000,T = 0.021406, P = 0.002916 tc id = 222, canon_type = 3, mot type = 2 time: 8.399000 primary movement = 2.053728477608e-04 time: 8.399000000001e+00 total movement = 2.053728477608e-04 vel = 2.091343378643e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.216634, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.216634, acc = 7.500000,T = 0.021406, P = 0.003129 tc id = 222, canon_type = 3, mot type = 2 time: 8.400000 primary movement = 2.128715409168e-04 time: 8.400000000001e+00 total movement = 2.128715409168e-04 vel = 2.166343378643e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.224134, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.224134, acc = 7.500000,T = 0.021406, P = 0.003349 tc id = 222, canon_type = 3, mot type = 2 time: 8.401000 primary movement = 2.203701386159e-04 time: 8.401000000001e+00 total movement = 2.203701386159e-04 vel = 2.241343378643e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.231634, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.231634, acc = 7.500000,T = 0.021406, P = 0.003577 tc id = 222, canon_type = 3, mot type = 2 time: 8.402000 primary movement = 2.278686374953e-04 time: 8.402000000001e+00 total movement = 2.278686374953e-04 vel = 2.316343378643e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.239134, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.239134, acc = 7.500000,T = 0.021406, P = 0.003813 tc id = 222, canon_type = 3, mot type = 2 time: 8.403000 primary movement = 2.353670341922e-04 time: 8.403000000001e+00 total movement = 2.353670341922e-04 vel = 2.391343378643e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.246634, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.246634, acc = 7.500000,T = 0.021406, P = 0.004056 tc id = 222, canon_type = 3, mot type = 2 time: 8.404000 primary movement = 2.428653253434e-04 time: 8.404000000001e+00 total movement = 2.428653253434e-04 vel = 2.466343378643e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.254134, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.254134, acc = 7.500000,T = 0.021406, P = 0.004306 tc id = 222, canon_type = 3, mot type = 2 time: 8.405000 primary movement = 2.503635075863e-04 time: 8.405000000001e+00 total movement = 2.503635075863e-04 vel = 2.541343378643e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.261634, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.261634, acc = 7.500000,T = 0.021406, P = 0.004564 tc id = 222, canon_type = 3, mot type = 2 time: 8.406000 primary movement = 2.578615775578e-04 time: 8.406000000001e+00 total movement = 2.578615775578e-04 vel = 2.616343378643e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.269134, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.269134, acc = 7.500000,T = 0.021406, P = 0.004829 tc id = 222, canon_type = 3, mot type = 2 time: 8.407000 primary movement = 2.653595318951e-04 time: 8.407000000001e+00 total movement = 2.653595318951e-04 vel = 2.691343378643e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.276634, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.276634, acc = 7.500000,T = 0.021406, P = 0.005102 tc id = 222, canon_type = 3, mot type = 2 time: 8.408000 primary movement = 2.728573672351e-04 time: 8.408000000001e+00 total movement = 2.728573672351e-04 vel = 2.766343378643e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.284134, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.284134, acc = 7.500000,T = 0.021406, P = 0.005383 tc id = 222, canon_type = 3, mot type = 2 time: 8.409000 primary movement = 2.803550802153e-04 time: 8.409000000001e+00 total movement = 2.803550802153e-04 vel = 2.841343378643e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.291634, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.291634, acc = 7.500000,T = 0.021406, P = 0.005670 tc id = 222, canon_type = 3, mot type = 2 time: 8.410000 primary movement = 2.878526674727e-04 time: 8.410000000001e+00 total movement = 2.878526674727e-04 vel = 2.916343378643e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.299134, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.299134, acc = 7.500000,T = 0.021406, P = 0.005966 tc id = 222, canon_type = 3, mot type = 2 time: 8.411000 primary movement = 2.953501256444e-04 time: 8.411000000001e+00 total movement = 2.953501256444e-04 vel = 2.991343378643e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.306634, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.306634, acc = 7.500000,T = 0.021406, P = 0.006269 tc id = 222, canon_type = 3, mot type = 2 time: 8.412000 primary movement = 3.028474513675e-04 time: 8.412000000001e+00 total movement = 3.028474513675e-04 vel = 3.066343378643e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.314134, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.314134, acc = 7.500000,T = 0.021406, P = 0.006579 tc id = 222, canon_type = 3, mot type = 2 time: 8.413000 primary movement = 3.103446412792e-04 time: 8.413000000001e+00 total movement = 3.103446412792e-04 vel = 3.141343378643e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.321634, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.321634, acc = 7.500000,T = 0.021406, P = 0.006897 tc id = 222, canon_type = 3, mot type = 2 time: 8.414000 primary movement = 3.178416920169e-04 time: 8.414000000001e+00 total movement = 3.178416920169e-04 vel = 3.216343378643e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.329134, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.329134, acc = 7.500000,T = 0.021406, P = 0.007222 tc id = 222, canon_type = 3, mot type = 2 time: 8.415000 primary movement = 3.253386002174e-04 time: 8.415000000001e+00 total movement = 3.253386002174e-04 vel = 3.291343378643e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.336634, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.336634, acc = 7.500000,T = 0.021406, P = 0.007555 tc id = 222, canon_type = 3, mot type = 2 time: 8.416000 primary movement = 3.328353625183e-04 time: 8.416000000001e+00 total movement = 3.328353625183e-04 vel = 3.366343378643e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.344134, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.344134, acc = 7.500000,T = 0.021406, P = 0.007896 tc id = 222, canon_type = 3, mot type = 2 time: 8.417000 primary movement = 3.403319755564e-04 time: 8.417000000001e+00 total movement = 3.403319755564e-04 vel = 3.441343378643e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.351634, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.351634, acc = 7.500000,T = 0.021406, P = 0.008243 tc id = 222, canon_type = 3, mot type = 2 time: 8.418000 primary movement = 3.478284359691e-04 time: 8.418000000001e+00 total movement = 3.478284359691e-04 vel = 3.516343378643e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.359134, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.359134, acc = 7.500000,T = 0.021406, P = 0.008599 tc id = 222, canon_type = 3, mot type = 2 time: 8.419000 primary movement = 3.553247403938e-04 time: 8.419000000001e+00 total movement = 3.553247403938e-04 vel = 3.591343378643e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.366634, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.366634, acc = 7.500000,T = 0.021406, P = 0.008962 tc id = 222, canon_type = 3, mot type = 2 time: 8.420000 primary movement = 3.628208854674e-04 time: 8.420000000001e+00 total movement = 3.628208854674e-04 vel = 3.666343378643e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.374134, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.374134, acc = 7.500000,T = 0.021406, P = 0.009332 tc id = 222, canon_type = 3, mot type = 2 time: 8.421000 primary movement = 3.703168678274e-04 time: 8.421000000001e+00 total movement = 3.703168678274e-04 vel = 3.741343378643e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.381634, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.381634, acc = 7.500000,T = 0.021406, P = 0.009710 tc id = 222, canon_type = 3, mot type = 2 time: 8.422000 primary movement = 3.778126841109e-04 time: 8.422000000001e+00 total movement = 3.778126841109e-04 vel = 3.816343378643e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.389134, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.389134, acc = 7.500000,T = 0.021406, P = 0.010095 tc id = 222, canon_type = 3, mot type = 2 time: 8.423000 primary movement = 3.853083309552e-04 time: 8.423000000001e+00 total movement = 3.853083309552e-04 vel = 3.891343378643e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.396634, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.396634, acc = 7.500000,T = 0.021406, P = 0.010488 tc id = 222, canon_type = 3, mot type = 2 time: 8.424000 primary movement = 3.928038049976e-04 time: 8.424000000001e+00 total movement = 3.928038049976e-04 vel = 3.966343378643e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.397254, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.397254, acc = 0.619565,T = 0.021406, P = 0.010885 tc id = 222, canon_type = 3, mot type = 2 time: 8.425000 primary movement = 3.968596966960e-04 time: 8.425000000001e+00 total movement = 3.968596966960e-04 vel = 3.972539029224e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.389754, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.389754, acc = -7.500000,T = 0.021406, P = 0.011279 on final decel tc id = 222, canon_type = 3, mot type = 2 time: 8.426000 primary movement = 3.934173176550e-04 time: 8.426000000001e+00 total movement = 3.934173176550e-04 vel = 3.897539029224e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.382254, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.382254, acc = -7.500000,T = 0.021406, P = 0.011665 on final decel tc id = 222, canon_type = 3, mot type = 2 time: 8.427000 primary movement = 3.859162430836e-04 time: 8.427000000001e+00 total movement = 3.859162430836e-04 vel = 3.822539029224e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.374754, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.374754, acc = -7.500000,T = 0.021406, P = 0.012043 on final decel tc id = 222, canon_type = 3, mot type = 2 time: 8.428000 primary movement = 3.784153258124e-04 time: 8.428000000001e+00 total movement = 3.784153258124e-04 vel = 3.747539029224e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.367254, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.367254, acc = -7.500000,T = 0.021406, P = 0.012414 on final decel tc id = 222, canon_type = 3, mot type = 2 time: 8.429000 primary movement = 3.709145627849e-04 time: 8.429000000001e+00 total movement = 3.709145627849e-04 vel = 3.672539029224e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.359754, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.359754, acc = -7.500000,T = 0.021406, P = 0.012778 on final decel tc id = 222, canon_type = 3, mot type = 2 time: 8.430000 primary movement = 3.634139509454e-04 time: 8.430000000001e+00 total movement = 3.634139509454e-04 vel = 3.597539029224e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.352254, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.352254, acc = -7.500000,T = 0.021406, P = 0.013134 on final decel tc id = 222, canon_type = 3, mot type = 2 time: 8.431000 primary movement = 3.559134872372e-04 time: 8.431000000001e+00 total movement = 3.559134872372e-04 vel = 3.522539029224e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.344754, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.344754, acc = -7.500000,T = 0.021406, P = 0.013482 on final decel tc id = 222, canon_type = 3, mot type = 2 time: 8.432000 primary movement = 3.484131686045e-04 time: 8.432000000001e+00 total movement = 3.484131686045e-04 vel = 3.447539029224e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.337254, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.337254, acc = -7.500000,T = 0.021406, P = 0.013823 on final decel tc id = 222, canon_type = 3, mot type = 2 time: 8.433000 primary movement = 3.409129919911e-04 time: 8.433000000001e+00 total movement = 3.409129919911e-04 vel = 3.372539029224e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.329754, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.329754, acc = -7.500000,T = 0.021406, P = 0.014157 on final decel tc id = 222, canon_type = 3, mot type = 2 time: 8.434000 primary movement = 3.334129543407e-04 time: 8.434000000001e+00 total movement = 3.334129543407e-04 vel = 3.297539029224e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.322254, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.322254, acc = -7.500000,T = 0.021406, P = 0.014483 on final decel tc id = 222, canon_type = 3, mot type = 2 time: 8.435000 primary movement = 3.259130525971e-04 time: 8.435000000001e+00 total movement = 3.259130525971e-04 vel = 3.222539029224e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.314754, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.314754, acc = -7.500000,T = 0.021406, P = 0.014801 on final decel tc id = 222, canon_type = 3, mot type = 2 time: 8.436000 primary movement = 3.184132837044e-04 time: 8.436000000001e+00 total movement = 3.184132837044e-04 vel = 3.147539029224e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.307254, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.307254, acc = -7.500000,T = 0.021406, P = 0.015112 on final decel tc id = 222, canon_type = 3, mot type = 2 time: 8.437000 primary movement = 3.109136446059e-04 time: 8.437000000001e+00 total movement = 3.109136446059e-04 vel = 3.072539029224e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.299754, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.299754, acc = -7.500000,T = 0.021406, P = 0.015416 on final decel tc id = 222, canon_type = 3, mot type = 2 time: 8.438000 primary movement = 3.034141322458e-04 time: 8.438000000001e+00 total movement = 3.034141322458e-04 vel = 2.997539029224e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.292254, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.292254, acc = -7.500000,T = 0.021406, P = 0.015712 on final decel tc id = 222, canon_type = 3, mot type = 2 time: 8.439000 primary movement = 2.959147435675e-04 time: 8.439000000001e+00 total movement = 2.959147435675e-04 vel = 2.922539029224e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.284754, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.284754, acc = -7.500000,T = 0.021406, P = 0.016000 on final decel tc id = 222, canon_type = 3, mot type = 2 time: 8.440000 primary movement = 2.884154755152e-04 time: 8.440000000001e+00 total movement = 2.884154755152e-04 vel = 2.847539029224e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.277254, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.277254, acc = -7.500000,T = 0.021406, P = 0.016281 on final decel tc id = 222, canon_type = 3, mot type = 2 time: 8.441000 primary movement = 2.809163250323e-04 time: 8.441000000001e+00 total movement = 2.809163250323e-04 vel = 2.772539029224e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.269754, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.269754, acc = -7.500000,T = 0.021406, P = 0.016555 on final decel tc id = 222, canon_type = 3, mot type = 2 time: 8.442000 primary movement = 2.734172890626e-04 time: 8.442000000001e+00 total movement = 2.734172890626e-04 vel = 2.697539029224e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.262254, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.262254, acc = -7.500000,T = 0.021406, P = 0.016821 on final decel tc id = 222, canon_type = 3, mot type = 2 time: 8.443000 primary movement = 2.659183645499e-04 time: 8.443000000001e+00 total movement = 2.659183645499e-04 vel = 2.622539029224e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.254754, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.254754, acc = -7.500000,T = 0.021406, P = 0.017079 on final decel tc id = 222, canon_type = 3, mot type = 2 time: 8.444000 primary movement = 2.584195484379e-04 time: 8.444000000001e+00 total movement = 2.584195484379e-04 vel = 2.547539029224e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.247254, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.247254, acc = -7.500000,T = 0.021406, P = 0.017330 on final decel tc id = 222, canon_type = 3, mot type = 2 time: 8.445000 primary movement = 2.509208376705e-04 time: 8.445000000001e+00 total movement = 2.509208376705e-04 vel = 2.472539029224e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.239754, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.239754, acc = -7.500000,T = 0.021406, P = 0.017574 on final decel tc id = 222, canon_type = 3, mot type = 2 time: 8.446000 primary movement = 2.434222291911e-04 time: 8.446000000001e+00 total movement = 2.434222291911e-04 vel = 2.397539029224e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.232254, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.232254, acc = -7.500000,T = 0.021406, P = 0.017810 on final decel tc id = 222, canon_type = 3, mot type = 2 time: 8.447000 primary movement = 2.359237199436e-04 time: 8.447000000001e+00 total movement = 2.359237199436e-04 vel = 2.322539029224e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.224754, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.224754, acc = -7.500000,T = 0.021406, P = 0.018038 on final decel tc id = 222, canon_type = 3, mot type = 2 time: 8.448000 primary movement = 2.284253068717e-04 time: 8.448000000001e+00 total movement = 2.284253068717e-04 vel = 2.247539029224e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.217254, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.217254, acc = -7.500000,T = 0.021406, P = 0.018259 on final decel tc id = 222, canon_type = 3, mot type = 2 time: 8.449000 primary movement = 2.209269869189e-04 time: 8.449000000001e+00 total movement = 2.209269869189e-04 vel = 2.172539029224e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.209754, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.209754, acc = -7.500000,T = 0.021406, P = 0.018473 on final decel tc id = 222, canon_type = 3, mot type = 2 time: 8.450000 primary movement = 2.134287570292e-04 time: 8.450000000001e+00 total movement = 2.134287570292e-04 vel = 2.097539029224e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.202254, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.202254, acc = -7.500000,T = 0.021406, P = 0.018679 on final decel tc id = 222, canon_type = 3, mot type = 2 time: 8.451000 primary movement = 2.059306141460e-04 time: 8.451000000001e+00 total movement = 2.059306141460e-04 vel = 2.022539029224e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.194754, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.194754, acc = -7.500000,T = 0.021406, P = 0.018877 on final decel tc id = 222, canon_type = 3, mot type = 2 time: 8.452000 primary movement = 1.984325552131e-04 time: 8.452000000001e+00 total movement = 1.984325552131e-04 vel = 1.947539029224e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.187254, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.187254, acc = -7.500000,T = 0.021406, P = 0.019068 on final decel tc id = 222, canon_type = 3, mot type = 2 time: 8.453000 primary movement = 1.909345771742e-04 time: 8.453000000001e+00 total movement = 1.909345771742e-04 vel = 1.872539029224e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.179754, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.179754, acc = -7.500000,T = 0.021406, P = 0.019252 on final decel tc id = 222, canon_type = 3, mot type = 2 time: 8.454000 primary movement = 1.834366769728e-04 time: 8.454000000001e+00 total movement = 1.834366769728e-04 vel = 1.797539029224e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.172254, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.172254, acc = -7.500000,T = 0.021406, P = 0.019428 on final decel tc id = 222, canon_type = 3, mot type = 2 time: 8.455000 primary movement = 1.759388515528e-04 time: 8.455000000001e+00 total movement = 1.759388515528e-04 vel = 1.722539029224e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.164754, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.164754, acc = -7.500000,T = 0.021406, P = 0.019596 on final decel tc id = 222, canon_type = 3, mot type = 2 time: 8.456000 primary movement = 1.684410978577e-04 time: 8.456000000001e+00 total movement = 1.684410978577e-04 vel = 1.647539029224e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.157254, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.157254, acc = -7.500000,T = 0.021406, P = 0.019757 on final decel tc id = 222, canon_type = 3, mot type = 2 time: 8.457000 primary movement = 1.609434128311e-04 time: 8.457000000001e+00 total movement = 1.609434128311e-04 vel = 1.572539029224e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.149754, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.149754, acc = -7.500000,T = 0.021406, P = 0.019911 on final decel tc id = 222, canon_type = 3, mot type = 2 time: 8.458000 primary movement = 1.534457934167e-04 time: 8.458000000001e+00 total movement = 1.534457934167e-04 vel = 1.497539029224e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.142254, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.142254, acc = -7.500000,T = 0.021406, P = 0.020057 on final decel tc id = 222, canon_type = 3, mot type = 2 time: 8.459000 primary movement = 1.459482365582e-04 time: 8.459000000001e+00 total movement = 1.459482365582e-04 vel = 1.422539029224e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.134754, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.134754, acc = -7.500000,T = 0.021406, P = 0.020195 on final decel tc id = 222, canon_type = 3, mot type = 2 time: 8.460000 primary movement = 1.384507391991e-04 time: 8.460000000001e+00 total movement = 1.384507391991e-04 vel = 1.347539029224e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.127254, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.127254, acc = -7.500000,T = 0.021406, P = 0.020326 on final decel tc id = 222, canon_type = 3, mot type = 2 time: 8.461000 primary movement = 1.309532982832e-04 time: 8.461000000001e+00 total movement = 1.309532982832e-04 vel = 1.272539029224e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.119754, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.119754, acc = -7.500000,T = 0.021406, P = 0.020450 on final decel tc id = 222, canon_type = 3, mot type = 2 time: 8.462000 primary movement = 1.234559107540e-04 time: 8.462000000001e+00 total movement = 1.234559107540e-04 vel = 1.197539029224e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.112254, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.112254, acc = -7.500000,T = 0.021406, P = 0.020566 on final decel tc id = 222, canon_type = 3, mot type = 2 time: 8.463000 primary movement = 1.159585735550e-04 time: 8.463000000001e+00 total movement = 1.159585735550e-04 vel = 1.122539029224e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.104754, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.104754, acc = -7.500000,T = 0.021406, P = 0.020674 on final decel tc id = 222, canon_type = 3, mot type = 2 time: 8.464000 primary movement = 1.084612836301e-04 time: 8.464000000001e+00 total movement = 1.084612836301e-04 vel = 1.047539029224e-01 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.097254, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.097254, acc = -7.500000,T = 0.021406, P = 0.020775 on final decel tc id = 222, canon_type = 3, mot type = 2 time: 8.465000 primary movement = 1.009640379227e-04 time: 8.465000000001e+00 total movement = 1.009640379227e-04 vel = 9.725390292243e-02 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.089754, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.089754, acc = -7.500000,T = 0.021406, P = 0.020869 on final decel tc id = 222, canon_type = 3, mot type = 2 time: 8.466000 primary movement = 9.346683337653e-05 time: 8.466000000001e+00 total movement = 9.346683337653e-05 vel = 8.975390292243e-02 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.082254, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.082254, acc = -7.500000,T = 0.021406, P = 0.020955 on final decel tc id = 222, canon_type = 3, mot type = 2 tc state : vr = 0.007500, vf = 0.007500, maxvel = 8.333300, current_vel = 0.007500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.007500, acc = 7.500000,T = 0.001880, P = 0.000004 initial results: dx= 0.001876,dt = 0.015318, a_f = 15.014988, v_f = 0.237499 recalculating with a_f = 15.014988, a = 15.000000 revised dt = 0.015325 dt = 0.015325, not at end yet tc id = 222, canon_type = 3, mot type = 2 secondary movement = 0.000004 time: 8.467000 primary movement = 8.596966693510e-05 time: 8.467000000001e+00 total movement = 8.971966693507e-05 vel = 8.975390292243e-02 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.074754, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.074754, acc = -7.500000,T = 0.021406, P = 0.021033 on final decel tc id = 222, canon_type = 3, mot type = 2 tc state : vr = 0.015000, vf = 0.015000, maxvel = 8.333300, current_vel = 0.015000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.015000, acc = 7.500000,T = 0.001880, P = 0.000015 initial results: dx= 0.001865,dt = 0.014774, a_f = 15.060315, v_f = 0.237499 recalculating with a_f = 15.060315, a = 15.000000 revised dt = 0.014802 dt = 0.014802, not at end yet tc id = 222, canon_type = 3, mot type = 2 secondary movement = 0.000011 time: 8.468000 primary movement = 7.847253554207e-05 time: 8.468000000001e+00 total movement = 8.972253554209e-05 vel = 8.975390292243e-02 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.067254, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.067254, acc = -7.500000,T = 0.021406, P = 0.021104 on final decel tc id = 222, canon_type = 3, mot type = 2 tc state : vr = 0.022500, vf = 0.022500, maxvel = 8.333300, current_vel = 0.022500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.022500, acc = 7.500000,T = 0.001880, P = 0.000034 initial results: dx= 0.001846,dt = 0.014203, a_f = 15.137088, v_f = 0.237499 recalculating with a_f = 15.137088, a = 15.000000 revised dt = 0.014262 dt = 0.014262, not at end yet tc id = 222, canon_type = 3, mot type = 2 secondary movement = 0.000019 time: 8.469000 primary movement = 7.097543614109e-05 time: 8.469000000001e+00 total movement = 8.972543614116e-05 vel = 8.975390292243e-02 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.059754, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.059754, acc = -7.500000,T = 0.021406, P = 0.021168 on final decel tc id = 222, canon_type = 3, mot type = 2 tc state : vr = 0.030000, vf = 0.030000, maxvel = 8.333300, current_vel = 0.030000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.030000, acc = 7.500000,T = 0.001880, P = 0.000060 initial results: dx= 0.001820,dt = 0.013609, a_f = 15.247227, v_f = 0.237499 recalculating with a_f = 15.247227, a = 15.000000 revised dt = 0.013706 dt = 0.013706, not at end yet tc id = 222, canon_type = 3, mot type = 2 secondary movement = 0.000026 time: 8.470000 primary movement = 6.347836567556e-05 time: 8.470000000001e+00 total movement = 8.972836567546e-05 vel = 8.975390292243e-02 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.052254, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.052254, acc = -7.500000,T = 0.021406, P = 0.021224 on final decel tc id = 222, canon_type = 3, mot type = 2 tc state : vr = 0.037500, vf = 0.037500, maxvel = 8.333300, current_vel = 0.037500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.037500, acc = 7.500000,T = 0.001880, P = 0.000094 initial results: dx= 0.001786,dt = 0.012992, a_f = 15.393590, v_f = 0.237499 recalculating with a_f = 15.393590, a = 15.000000 revised dt = 0.013135 dt = 0.013135, not at end yet tc id = 222, canon_type = 3, mot type = 2 secondary movement = 0.000034 time: 8.471000 primary movement = 5.598132108937e-05 time: 8.471000000001e+00 total movement = 8.973132108943e-05 vel = 8.975390292243e-02 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.044754, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.044754, acc = -7.500000,T = 0.021406, P = 0.021272 on final decel tc id = 222, canon_type = 3, mot type = 2 tc state : vr = 0.045000, vf = 0.045000, maxvel = 8.333300, current_vel = 0.045000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.045000, acc = 7.500000,T = 0.001880, P = 0.000135 initial results: dx= 0.001745,dt = 0.012355, a_f = 15.580165, v_f = 0.237499 recalculating with a_f = 15.580165, a = 15.000000 revised dt = 0.012546 dt = 0.012546, not at end yet tc id = 223, canon_type = 2, mot type = 1 secondary movement = 0.000041 time: 8.472000 primary movement = 4.848429932591e-05 time: 8.472000000001e+00 total movement = 8.973429932590e-05 vel = 8.975390292243e-02 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.037254, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.037254, acc = -7.500000,T = 0.021406, P = 0.021313 on final decel tc id = 222, canon_type = 3, mot type = 2 tc state : vr = 0.052500, vf = 0.052500, maxvel = 8.333300, current_vel = 0.052500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.052500, acc = 7.500000,T = 0.001880, P = 0.000184 initial results: dx= 0.001696,dt = 0.011700, a_f = 15.812362, v_f = 0.237499 recalculating with a_f = 15.812362, a = 15.000000 revised dt = 0.011942 dt = 0.011942, not at end yet tc id = 223, canon_type = 2, mot type = 1 secondary movement = 0.000049 time: 8.473000 primary movement = 4.098729732875e-05 time: 8.473000000001e+00 total movement = 8.973729732879e-05 vel = 8.975390292243e-02 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.029754, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.029754, acc = -7.500000,T = 0.021406, P = 0.021347 on final decel tc id = 222, canon_type = 3, mot type = 2 tc state : vr = 0.060000, vf = 0.060000, maxvel = 8.333300, current_vel = 0.060000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.060000, acc = 7.500000,T = 0.001880, P = 0.000240 initial results: dx= 0.001640,dt = 0.011027, a_f = 16.097432, v_f = 0.237499 recalculating with a_f = 16.097432, a = 15.000000 revised dt = 0.011320 dt = 0.011320, not at end yet tc id = 223, canon_type = 2, mot type = 1 secondary movement = 0.000056 time: 8.474000 primary movement = 3.349031204166e-05 time: 8.474000000001e+00 total movement = 8.974031204164e-05 vel = 8.975390292243e-02 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.022254, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.022254, acc = -7.500000,T = 0.021406, P = 0.021373 on final decel tc id = 222, canon_type = 3, mot type = 2 tc state : vr = 0.067500, vf = 0.067500, maxvel = 8.333300, current_vel = 0.067500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.067500, acc = 7.500000,T = 0.001880, P = 0.000304 initial results: dx= 0.001576,dt = 0.010337, a_f = 16.445105, v_f = 0.237499 recalculating with a_f = 16.445105, a = 15.000000 revised dt = 0.010680 dt = 0.010680, not at end yet tc id = 223, canon_type = 2, mot type = 1 secondary movement = 0.000064 time: 8.475000 primary movement = 2.599334040805e-05 time: 8.475000000001e+00 total movement = 8.974334040808e-05 vel = 8.975390292243e-02 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.014754, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.014754, acc = -7.500000,T = 0.021406, P = 0.021391 on final decel tc id = 222, canon_type = 3, mot type = 2 tc state : vr = 0.075000, vf = 0.075000, maxvel = 8.333300, current_vel = 0.075000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.075000, acc = 7.500000,T = 0.001880, P = 0.000375 initial results: dx= 0.001505,dt = 0.009633, a_f = 16.868532, v_f = 0.237499 recalculating with a_f = 16.868532, a = 15.000000 revised dt = 0.010023 dt = 0.010023, not at end yet tc id = 223, canon_type = 2, mot type = 1 secondary movement = 0.000071 time: 8.476000 primary movement = 1.849637937166e-05 time: 8.476000000001e+00 total movement = 8.974637937163e-05 vel = 8.975390292243e-02 ------------------- tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.007254, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.007254, acc = -7.500000,T = 0.021406, P = 0.021402 on final decel tc id = 222, canon_type = 3, mot type = 2 tc state : vr = 0.082500, vf = 0.082500, maxvel = 8.333300, current_vel = 0.082500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.082500, acc = 7.500000,T = 0.001880, P = 0.000454 initial results: dx= 0.001426,dt = 0.008915, a_f = 17.385743, v_f = 0.237499 recalculating with a_f = 17.385743, a = 15.000000 revised dt = 0.009347 dt = 0.009347, not at end yet tc id = 223, canon_type = 2, mot type = 1 secondary movement = 0.000079 time: 8.477000 primary movement = 1.099942587597e-05 time: 8.477000000001e+00 total movement = 8.974942587599e-05 vel = 8.975390292243e-02 ------------------- Found newvel = -0.000246, assuming segment is done segment 222 at target in runcycle tc state : vr = 0.583693, vf = 0.000000, maxvel = 0.583693, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.021406, P = 0.021406 tc id = 222, canon_type = 3, mot type = 2 tc state : vr = 0.089754, vf = 0.089754, maxvel = 8.333300, current_vel = 0.089754, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.089754, acc = 7.253903,T = 0.001880, P = 0.000540 initial results: dx= 0.001340,dt = 0.008191, a_f = 18.036802, v_f = 0.237499 recalculating with a_f = 18.036802, a = 15.000000 revised dt = 0.008663 dt = 0.008663, not at end yet tc id = 223, canon_type = 2, mot type = 1 secondary movement = 0.000086 time: 8.478000 primary movement = 3.506512805966e-06 time: 8.478000000001e+00 total movement = 8.963346426712e-05 vel = 8.975390292243e-02 Finished tc id 222 ------------------- tc state : vr = 0.895330, vf = 0.237499, maxvel = 8.333300, current_vel = 0.104754, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.104754, acc = 15.000000,T = 0.001880, P = 0.000637 initial results: dx= 0.001243,dt = 0.007264, a_f = 18.274394, v_f = 0.237499 recalculating with a_f = 18.274394, a = 15.000000 revised dt = 0.007663 dt = 0.007663, not at end yet tc id = 223, canon_type = 2, mot type = 1 time: 8.479000 primary movement = 9.725390292248e-05 time: 8.479000000001e+00 total movement = 9.725390292248e-05 vel = 1.047539029224e-01 ------------------- tc state : vr = 0.895330, vf = 0.237499, maxvel = 8.333300, current_vel = 0.119754, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.119754, acc = 15.000000,T = 0.001880, P = 0.000749 initial results: dx= 0.001131,dt = 0.006331, a_f = 18.599439, v_f = 0.237499 recalculating with a_f = 18.599439, a = 15.000000 revised dt = 0.006663 dt = 0.006663, not at end yet tc id = 223, canon_type = 2, mot type = 1 time: 8.480000 primary movement = 1.122539029225e-04 time: 8.480000000001e+00 total movement = 1.122539029225e-04 vel = 1.197539029224e-01 ------------------- tc state : vr = 0.895330, vf = 0.237499, maxvel = 8.333300, current_vel = 0.134754, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.134754, acc = 15.000000,T = 0.001880, P = 0.000877 initial results: dx= 0.001004,dt = 0.005392, a_f = 19.055859, v_f = 0.237499 recalculating with a_f = 19.055859, a = 15.000000 revised dt = 0.005663 dt = 0.005663, not at end yet tc id = 223, canon_type = 2, mot type = 1 time: 8.481000 primary movement = 1.272539029223e-04 time: 8.481000000001e+00 total movement = 1.272539029223e-04 vel = 1.347539029224e-01 ------------------- tc state : vr = 0.895330, vf = 0.237499, maxvel = 8.333300, current_vel = 0.149754, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.149754, acc = 15.000000,T = 0.001880, P = 0.001019 initial results: dx= 0.000861,dt = 0.004448, a_f = 19.725733, v_f = 0.237499 recalculating with a_f = 19.725733, a = 15.000000 revised dt = 0.004663 dt = 0.004663, not at end yet tc id = 223, canon_type = 2, mot type = 1 time: 8.482000 primary movement = 1.422539029224e-04 time: 8.482000000001e+00 total movement = 1.422539029224e-04 vel = 1.497539029224e-01 ------------------- tc state : vr = 0.895330, vf = 0.237499, maxvel = 8.333300, current_vel = 0.164754, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.164754, acc = 15.000000,T = 0.001880, P = 0.001176 initial results: dx= 0.000704,dt = 0.003501, a_f = 20.781261, v_f = 0.237499 recalculating with a_f = 20.781261, a = 15.000000 revised dt = 0.003663 dt = 0.003663, not at end yet tc id = 223, canon_type = 2, mot type = 1 time: 8.483000 primary movement = 1.572539029224e-04 time: 8.483000000001e+00 total movement = 1.572539029224e-04 vel = 1.647539029224e-01 ------------------- tc state : vr = 0.895330, vf = 0.237499, maxvel = 8.333300, current_vel = 0.179754, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.179754, acc = 15.000000,T = 0.001880, P = 0.001348 initial results: dx= 0.000532,dt = 0.002549, a_f = 22.653881, v_f = 0.237499 recalculating with a_f = 22.653881, a = 15.000000 revised dt = 0.002663 dt = 0.002663, not at end yet tc id = 223, canon_type = 2, mot type = 1 time: 8.484000 primary movement = 1.722539029225e-04 time: 8.484000000001e+00 total movement = 1.722539029225e-04 vel = 1.797539029224e-01 ------------------- tc state : vr = 0.895330, vf = 0.237499, maxvel = 8.333300, current_vel = 0.194754, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.194754, acc = 15.000000,T = 0.001880, P = 0.001536 initial results: dx= 0.000345,dt = 0.001594, a_f = 26.813709, v_f = 0.237499 recalculating with a_f = 26.813709, a = 15.000000 revised dt = 0.001663 dt = 0.001663, not at end yet tc id = 223, canon_type = 2, mot type = 1 time: 8.485000 primary movement = 1.872539029224e-04 time: 8.485000000001e+00 total movement = 1.872539029224e-04 vel = 1.947539029224e-01 ------------------- tc state : vr = 0.895330, vf = 0.237499, maxvel = 8.333300, current_vel = 0.209754, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.209754, acc = 15.000000,T = 0.001880, P = 0.001738 initial results: dx= 0.000142,dt = 0.000636, a_f = 43.606642, v_f = 0.237499 recalculating with a_f = 43.606642, a = 15.000000 revised dt = 0.000663 actual v_f = 0.219693, a = 15.000000 split time is 0.000662638 tc id = 223, canon_type = 2, mot type = 1 time: 8.486000 primary movement = 2.022539029224e-04 time: 8.486000000001e+00 total movement = 2.022539029224e-04 vel = 2.097539029224e-01 ------------------- tc id 223 done Finishing split-cycle on id 224 tc state : vr = 0.237499, vf = 0.000000, maxvel = 0.404930, current_vel = 0.224754, fs = 1.000000, tc = 0.000337, term = 3 tc result: v = 0.224754, acc = 15.000000,T = 0.007300, P = 0.000075 initial results: dx= 0.007225,dt = 0.064291, a_f = -3.495864, v_f = 0.000000 dt = 0.064291, not at end yet secondary movement = 0.000075 tc id = 224, canon_type = 3, mot type = 2 time: 8.487000 primary movement = 1.422841840709e-04 time: 8.487000000001e+00 total movement = 2.172534621354e-04 vel = 2.247539029224e-01 Finished tc id 223 ------------------- Activate tc id = 224 target_vel = 0.237499 final_vel = 0.000000 length = 0.007300 tc state : vr = 0.237499, vf = 0.000000, maxvel = 0.404930, current_vel = 0.237499, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.237499, acc = 12.745088,T = 0.007300, P = 0.000306 initial results: dx= 0.006994,dt = 0.058895, a_f = -4.032589, v_f = 0.000000 dt = 0.058895, not at end yet tc id = 224, canon_type = 3, mot type = 2 time: 8.488000 primary movement = 2.311135314308e-04 time: 8.488000000001e+00 total movement = 2.311135314308e-04 vel = 2.374989910870e-01 ------------------- tc state : vr = 0.237499, vf = 0.000000, maxvel = 0.404930, current_vel = 0.237499, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.237499, acc = 0.000000,T = 0.007300, P = 0.000544 initial results: dx= 0.006756,dt = 0.056895, a_f = -4.174344, v_f = 0.000000 dt = 0.056895, not at end yet tc id = 224, canon_type = 3, mot type = 2 time: 8.489000 primary movement = 2.374849774883e-04 time: 8.489000000001e+00 total movement = 2.374849774883e-04 vel = 2.374989910870e-01 ------------------- tc state : vr = 0.237499, vf = 0.000000, maxvel = 0.404930, current_vel = 0.237499, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.237499, acc = 0.000000,T = 0.007300, P = 0.000781 initial results: dx= 0.006519,dt = 0.054895, a_f = -4.326429, v_f = 0.000000 dt = 0.054895, not at end yet tc id = 224, canon_type = 3, mot type = 2 time: 8.490000 primary movement = 2.374849774882e-04 time: 8.490000000001e+00 total movement = 2.374849774882e-04 vel = 2.374989910870e-01 ------------------- tc state : vr = 0.237499, vf = 0.000000, maxvel = 0.404930, current_vel = 0.237499, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.237499, acc = 0.000000,T = 0.007300, P = 0.001019 initial results: dx= 0.006281,dt = 0.052895, a_f = -4.490015, v_f = 0.000000 dt = 0.052895, not at end yet tc id = 224, canon_type = 3, mot type = 2 time: 8.491000 primary movement = 2.374849774882e-04 time: 8.491000000001e+00 total movement = 2.374849774882e-04 vel = 2.374989910870e-01 ------------------- tc state : vr = 0.237499, vf = 0.000000, maxvel = 0.404930, current_vel = 0.237499, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.237499, acc = 0.000000,T = 0.007300, P = 0.001256 initial results: dx= 0.006044,dt = 0.050895, a_f = -4.666458, v_f = 0.000000 dt = 0.050895, not at end yet tc id = 224, canon_type = 3, mot type = 2 time: 8.492000 primary movement = 2.374849774882e-04 time: 8.492000000001e+00 total movement = 2.374849774882e-04 vel = 2.374989910870e-01 ------------------- tc state : vr = 0.237499, vf = 0.000000, maxvel = 0.404930, current_vel = 0.237499, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.237499, acc = 0.000000,T = 0.007300, P = 0.001494 initial results: dx= 0.005806,dt = 0.048895, a_f = -4.857335, v_f = 0.000000 dt = 0.048895, not at end yet tc id = 224, canon_type = 3, mot type = 2 time: 8.493000 primary movement = 2.374849774883e-04 time: 8.493000000001e+00 total movement = 2.374849774883e-04 vel = 2.374989910870e-01 ------------------- tc state : vr = 0.237499, vf = 0.000000, maxvel = 0.404930, current_vel = 0.237499, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.237499, acc = 0.000000,T = 0.007300, P = 0.001731 initial results: dx= 0.005569,dt = 0.046895, a_f = -5.064493, v_f = 0.000000 dt = 0.046895, not at end yet tc id = 224, canon_type = 3, mot type = 2 time: 8.494000 primary movement = 2.374849774882e-04 time: 8.494000000001e+00 total movement = 2.374849774882e-04 vel = 2.374989910870e-01 ------------------- tc state : vr = 0.237499, vf = 0.000000, maxvel = 0.404930, current_vel = 0.237499, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.237499, acc = 0.000000,T = 0.007300, P = 0.001969 initial results: dx= 0.005331,dt = 0.044895, a_f = -5.290108, v_f = 0.000000 dt = 0.044895, not at end yet tc id = 224, canon_type = 3, mot type = 2 time: 8.495000 primary movement = 2.374849774883e-04 time: 8.495000000001e+00 total movement = 2.374849774883e-04 vel = 2.374989910870e-01 ------------------- tc state : vr = 0.237499, vf = 0.000000, maxvel = 0.404930, current_vel = 0.237499, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.237499, acc = 0.000000,T = 0.007300, P = 0.002206 initial results: dx= 0.005094,dt = 0.042895, a_f = -5.536763, v_f = 0.000000 dt = 0.042895, not at end yet tc id = 224, canon_type = 3, mot type = 2 time: 8.496000 primary movement = 2.374849774882e-04 time: 8.496000000001e+00 total movement = 2.374849774882e-04 vel = 2.374989910870e-01 ------------------- tc state : vr = 0.237499, vf = 0.000000, maxvel = 0.404930, current_vel = 0.237499, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.237499, acc = 0.000000,T = 0.007300, P = 0.002444 initial results: dx= 0.004856,dt = 0.040895, a_f = -5.807543, v_f = 0.000000 dt = 0.040895, not at end yet tc id = 224, canon_type = 3, mot type = 2 time: 8.497000 primary movement = 2.374849774883e-04 time: 8.497000000001e+00 total movement = 2.374849774883e-04 vel = 2.374989910870e-01 ------------------- tc state : vr = 0.237499, vf = 0.000000, maxvel = 0.404930, current_vel = 0.237499, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.237499, acc = 0.000000,T = 0.007300, P = 0.002681 initial results: dx= 0.004619,dt = 0.038895, a_f = -6.106170, v_f = 0.000000 dt = 0.038895, not at end yet tc id = 224, canon_type = 3, mot type = 2 time: 8.498000 primary movement = 2.374849774882e-04 time: 8.498000000001e+00 total movement = 2.374849774882e-04 vel = 2.374989910870e-01 ------------------- tc state : vr = 0.237499, vf = 0.000000, maxvel = 0.404930, current_vel = 0.237499, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.237499, acc = 0.000000,T = 0.007300, P = 0.002919 initial results: dx= 0.004381,dt = 0.036895, a_f = -6.437173, v_f = 0.000000 dt = 0.036895, not at end yet tc id = 224, canon_type = 3, mot type = 2 time: 8.499000 primary movement = 2.374849774883e-04 time: 8.499000000001e+00 total movement = 2.374849774883e-04 vel = 2.374989910870e-01 ------------------- tc state : vr = 0.237499, vf = 0.000000, maxvel = 0.404930, current_vel = 0.237499, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.237499, acc = 0.000000,T = 0.007300, P = 0.003156 initial results: dx= 0.004144,dt = 0.034895, a_f = -6.806119, v_f = 0.000000 dt = 0.034895, not at end yet tc id = 224, canon_type = 3, mot type = 2 time: 8.500000 primary movement = 2.374849774883e-04 time: 8.500000000001e+00 total movement = 2.374849774883e-04 vel = 2.374989910870e-01 ------------------- tc state : vr = 0.237499, vf = 0.000000, maxvel = 0.404930, current_vel = 0.237499, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.237499, acc = 0.000000,T = 0.007300, P = 0.003394 initial results: dx= 0.003906,dt = 0.032895, a_f = -7.219929, v_f = 0.000000 dt = 0.032895, not at end yet tc id = 224, canon_type = 3, mot type = 2 time: 8.501000 primary movement = 2.374849774882e-04 time: 8.501000000001e+00 total movement = 2.374849774882e-04 vel = 2.374989910870e-01 ------------------- tc state : vr = 0.237499, vf = 0.000000, maxvel = 0.404930, current_vel = 0.237499, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.237499, acc = 0.000000,T = 0.007300, P = 0.003631 initial results: dx= 0.003669,dt = 0.030895, a_f = -7.687315, v_f = 0.000000 dt = 0.030895, not at end yet tc id = 224, canon_type = 3, mot type = 2 time: 8.502000 primary movement = 2.374849774882e-04 time: 8.502000000001e+00 total movement = 2.374849774882e-04 vel = 2.374989910870e-01 ------------------- tc state : vr = 0.237499, vf = 0.000000, maxvel = 0.404930, current_vel = 0.237499, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.237499, acc = 0.000000,T = 0.007300, P = 0.003869 initial results: dx= 0.003431,dt = 0.028895, a_f = -8.219403, v_f = 0.000000 dt = 0.028895, not at end yet tc id = 224, canon_type = 3, mot type = 2 time: 8.503000 primary movement = 2.374849774882e-04 time: 8.503000000001e+00 total movement = 2.374849774882e-04 vel = 2.374989910870e-01 ------------------- tc state : vr = 0.237499, vf = 0.000000, maxvel = 0.404930, current_vel = 0.237499, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.237499, acc = 0.000000,T = 0.007300, P = 0.004106 initial results: dx= 0.003194,dt = 0.026895, a_f = -8.830627, v_f = 0.000000 dt = 0.026895, not at end yet tc id = 224, canon_type = 3, mot type = 2 time: 8.504000 primary movement = 2.374849774883e-04 time: 8.504000000001e+00 total movement = 2.374849774883e-04 vel = 2.374989910870e-01 ------------------- tc state : vr = 0.237499, vf = 0.000000, maxvel = 0.404930, current_vel = 0.237499, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.237499, acc = 0.000000,T = 0.007300, P = 0.004344 initial results: dx= 0.002956,dt = 0.024895, a_f = -9.540059, v_f = 0.000000 dt = 0.024895, not at end yet tc id = 224, canon_type = 3, mot type = 2 time: 8.505000 primary movement = 2.374849774882e-04 time: 8.505000000001e+00 total movement = 2.374849774882e-04 vel = 2.374989910870e-01 ------------------- tc state : vr = 0.237499, vf = 0.000000, maxvel = 0.404930, current_vel = 0.237499, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.237499, acc = 0.000000,T = 0.007300, P = 0.004581 initial results: dx= 0.002719,dt = 0.022895, a_f = -10.373436, v_f = 0.000000 dt = 0.022895, not at end yet tc id = 224, canon_type = 3, mot type = 2 time: 8.506000 primary movement = 2.374849774883e-04 time: 8.506000000001e+00 total movement = 2.374849774883e-04 vel = 2.374989910870e-01 ------------------- tc state : vr = 0.237499, vf = 0.000000, maxvel = 0.404930, current_vel = 0.237499, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.237499, acc = 0.000000,T = 0.007300, P = 0.004819 initial results: dx= 0.002481,dt = 0.020895, a_f = -11.366351, v_f = 0.000000 dt = 0.020895, not at end yet tc id = 224, canon_type = 3, mot type = 2 time: 8.507000 primary movement = 2.374849774883e-04 time: 8.507000000001e+00 total movement = 2.374849774883e-04 vel = 2.374989910870e-01 ------------------- tc state : vr = 0.237499, vf = 0.000000, maxvel = 0.404930, current_vel = 0.237499, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.237499, acc = 0.000000,T = 0.007300, P = 0.005056 initial results: dx= 0.002244,dt = 0.018895, a_f = -12.569463, v_f = 0.000000 dt = 0.018895, not at end yet tc id = 224, canon_type = 3, mot type = 2 time: 8.508000 primary movement = 2.374849774882e-04 time: 8.508000000001e+00 total movement = 2.374849774882e-04 vel = 2.374989910870e-01 ------------------- tc state : vr = 0.237499, vf = 0.000000, maxvel = 0.404930, current_vel = 0.237499, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.237499, acc = 0.000000,T = 0.007300, P = 0.005294 initial results: dx= 0.002006,dt = 0.016895, a_f = -14.057421, v_f = 0.000000 dt = 0.016895, not at end yet tc id = 224, canon_type = 3, mot type = 2 time: 8.509000 primary movement = 2.374849774883e-04 time: 8.509000000001e+00 total movement = 2.374849774883e-04 vel = 2.374989910870e-01 ------------------- tc state : vr = 0.237499, vf = 0.000000, maxvel = 0.404930, current_vel = 0.230579, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.230579, acc = -6.919886,T = 0.007300, P = 0.005528 on final decel initial results: dx= 0.001772,dt = 0.015372, a_f = -15.000000, v_f = 0.000000 dt = 0.015372, not at end yet tc id = 224, canon_type = 3, mot type = 2 time: 8.510000 primary movement = 2.340256382585e-04 time: 8.510000000001e+00 total movement = 2.340256382585e-04 vel = 2.305791054786e-01 ------------------- tc state : vr = 0.237499, vf = 0.000000, maxvel = 0.404930, current_vel = 0.215579, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.215579, acc = -15.000000,T = 0.007300, P = 0.005751 on final decel initial results: dx= 0.001549,dt = 0.014372, a_f = -15.000000, v_f = 0.000000 dt = 0.014372, not at end yet tc id = 224, canon_type = 3, mot type = 2 time: 8.511000 primary movement = 2.230674925445e-04 time: 8.511000000001e+00 total movement = 2.230674925445e-04 vel = 2.155791054786e-01 ------------------- tc state : vr = 0.237499, vf = 0.000000, maxvel = 0.404930, current_vel = 0.200579, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.200579, acc = -15.000000,T = 0.007300, P = 0.005959 on final decel initial results: dx= 0.001341,dt = 0.013372, a_f = -15.000000, v_f = 0.000000 dt = 0.013372, not at end yet tc id = 224, canon_type = 3, mot type = 2 time: 8.512000 primary movement = 2.080696811249e-04 time: 8.512000000001e+00 total movement = 2.080696811249e-04 vel = 2.005791054786e-01 ------------------- tc state : vr = 0.237499, vf = 0.000000, maxvel = 0.404930, current_vel = 0.185579, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.185579, acc = -15.000000,T = 0.007300, P = 0.006152 on final decel initial results: dx= 0.001148,dt = 0.012372, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.012372 dt = 0.012372, not at end yet tc id = 224, canon_type = 3, mot type = 2 time: 8.513000 primary movement = 1.930715758628e-04 time: 8.513000000001e+00 total movement = 1.930715758628e-04 vel = 1.855791054786e-01 ------------------- tc state : vr = 0.237499, vf = 0.000000, maxvel = 0.404930, current_vel = 0.170579, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.170579, acc = -15.000000,T = 0.007300, P = 0.006330 on final decel initial results: dx= 0.000970,dt = 0.011372, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.011372 dt = 0.011372, not at end yet tc id = 224, canon_type = 3, mot type = 2 time: 8.514000 primary movement = 1.780731979391e-04 time: 8.514000000001e+00 total movement = 1.780731979391e-04 vel = 1.705791054786e-01 ------------------- tc state : vr = 0.237499, vf = 0.000000, maxvel = 0.404930, current_vel = 0.155579, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.155579, acc = -15.000000,T = 0.007300, P = 0.006493 on final decel initial results: dx= 0.000807,dt = 0.010372, a_f = -15.000000, v_f = 0.000000 dt = 0.010372, not at end yet tc id = 224, canon_type = 3, mot type = 2 time: 8.515000 primary movement = 1.630745685348e-04 time: 8.515000000001e+00 total movement = 1.630745685348e-04 vel = 1.555791054786e-01 ------------------- tc state : vr = 0.237499, vf = 0.000000, maxvel = 0.404930, current_vel = 0.140579, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.140579, acc = -15.000000,T = 0.007300, P = 0.006641 on final decel initial results: dx= 0.000659,dt = 0.009372, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.009372 dt = 0.009372, not at end yet tc id = 224, canon_type = 3, mot type = 2 time: 8.516000 primary movement = 1.480757088316e-04 time: 8.516000000001e+00 total movement = 1.480757088316e-04 vel = 1.405791054786e-01 ------------------- tc state : vr = 0.237499, vf = 0.000000, maxvel = 0.404930, current_vel = 0.125579, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.125579, acc = -15.000000,T = 0.007300, P = 0.006774 on final decel initial results: dx= 0.000526,dt = 0.008372, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.008372 dt = 0.008372, not at end yet tc id = 224, canon_type = 3, mot type = 2 time: 8.517000 primary movement = 1.330766400112e-04 time: 8.517000000001e+00 total movement = 1.330766400112e-04 vel = 1.255791054786e-01 ------------------- tc state : vr = 0.237499, vf = 0.000000, maxvel = 0.404930, current_vel = 0.110579, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.110579, acc = -15.000000,T = 0.007300, P = 0.006892 on final decel initial results: dx= 0.000408,dt = 0.007372, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.007372 dt = 0.007372, not at end yet tc id = 224, canon_type = 3, mot type = 2 time: 8.518000 primary movement = 1.180773832558e-04 time: 8.518000000001e+00 total movement = 1.180773832558e-04 vel = 1.105791054786e-01 ------------------- tc state : vr = 0.237499, vf = 0.000000, maxvel = 0.404930, current_vel = 0.095579, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.095579, acc = -15.000000,T = 0.007300, P = 0.006995 on final decel initial results: dx= 0.000305,dt = 0.006372, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.006372 dt = 0.006372, not at end yet tc id = 224, canon_type = 3, mot type = 2 time: 8.519000 primary movement = 1.030779597479e-04 time: 8.519000000001e+00 total movement = 1.030779597479e-04 vel = 9.557910547858e-02 ------------------- tc state : vr = 0.237499, vf = 0.000000, maxvel = 0.404930, current_vel = 0.080579, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.080579, acc = -15.000000,T = 0.007300, P = 0.007083 on final decel initial results: dx= 0.000216,dt = 0.005372, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.005372 dt = 0.005372, not at end yet tc id = 224, canon_type = 3, mot type = 2 time: 8.520000 primary movement = 8.807839067016e-05 time: 8.520000000001e+00 total movement = 8.807839067016e-05 vel = 8.057910547858e-02 ------------------- tc state : vr = 0.237499, vf = 0.000000, maxvel = 0.404930, current_vel = 0.065579, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.065579, acc = -15.000000,T = 0.007300, P = 0.007156 on final decel initial results: dx= 0.000143,dt = 0.004372, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.004372 dt = 0.004372, not at end yet tc id = 224, canon_type = 3, mot type = 2 time: 8.521000 primary movement = 7.307869720521e-05 time: 8.521000000001e+00 total movement = 7.307869720521e-05 vel = 6.557910547858e-02 ------------------- tc state : vr = 0.237499, vf = 0.000000, maxvel = 0.404930, current_vel = 0.050579, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.050579, acc = -15.000000,T = 0.007300, P = 0.007215 on final decel initial results: dx= 0.000085,dt = 0.003372, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.003372 dt = 0.003372, not at end yet tc id = 224, canon_type = 3, mot type = 2 time: 8.522000 primary movement = 5.807890053641e-05 time: 8.522000000001e+00 total movement = 5.807890053641e-05 vel = 5.057910547858e-02 ------------------- tc state : vr = 0.237499, vf = 0.000000, maxvel = 0.404930, current_vel = 0.035579, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.035579, acc = -15.000000,T = 0.007300, P = 0.007258 on final decel initial results: dx= 0.000042,dt = 0.002372, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.002372 dt = 0.002372, not at end yet tc id = 224, canon_type = 3, mot type = 2 time: 8.523000 primary movement = 4.307902184668e-05 time: 8.523000000001e+00 total movement = 4.307902184668e-05 vel = 3.557910547858e-02 ------------------- tc state : vr = 0.237499, vf = 0.000000, maxvel = 0.404930, current_vel = 0.020579, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.020579, acc = -15.000000,T = 0.007300, P = 0.007286 on final decel initial results: dx= 0.000014,dt = 0.001372, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.001372 dt = 0.001372, not at end yet tc id = 224, canon_type = 3, mot type = 2 time: 8.524000 primary movement = 2.807908231952e-05 time: 8.524000000001e+00 total movement = 2.807908231952e-05 vel = 2.057910547858e-02 ------------------- tc state : vr = 0.237499, vf = 0.000000, maxvel = 0.404930, current_vel = 0.005579, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.005579, acc = -15.000000,T = 0.007300, P = 0.007299 on final decel initial results: dx= 0.000001,dt = 0.000372, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.000372 actual v_f = 0.000000, a = -15.000000 split time is 0.00037194 tc id = 224, canon_type = 3, mot type = 2 time: 8.525000 primary movement = 1.307910313806e-05 time: 8.525000000001e+00 total movement = 1.307910313806e-05 vel = 5.579105478578e-03 ------------------- tc id 224 done Finishing split-cycle on id 224 tc state : vr = 9.102859, vf = 0.000000, maxvel = 9.102859, current_vel = 0.010291, fs = 1.000000, tc = 0.000628, term = 2 tc result: v = 0.010291, acc = 16.385146,T = 0.005821, P = 0.000003 secondary movement = 0.000003 tc id = 224, canon_type = 2, mot type = 1 time: 8.526000 primary movement = 1.037547263553e-06 time: 8.526000000001e+00 total movement = 4.269184083209e-06 vel = 1.029085430994e-02 Finished tc id 224 ------------------- Activate tc id = 224 target_vel = 9.102859 final_vel = 0.000000 length = 0.005821 Activate nexttc id 225 tc state : vr = 9.102859, vf = 0.000000, maxvel = 9.102859, current_vel = 0.026676, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.026676, acc = 16.385146,T = 0.005821, P = 0.000022 tc id = 224, canon_type = 2, mot type = 1 time: 8.527000 primary movement = 1.848342732622e-05 time: 8.527000000001e+00 total movement = 1.848342732622e-05 vel = 2.667600034243e-02 ------------------- tc state : vr = 9.102859, vf = 0.000000, maxvel = 9.102859, current_vel = 0.043061, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.043061, acc = 16.385146,T = 0.005821, P = 0.000057 tc id = 224, canon_type = 2, mot type = 1 time: 8.528000 primary movement = 3.486857335865e-05 time: 8.528000000001e+00 total movement = 3.486857335865e-05 vel = 4.306114637492e-02 ------------------- tc state : vr = 9.102859, vf = 0.000000, maxvel = 9.102859, current_vel = 0.059446, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.059446, acc = 16.385146,T = 0.005821, P = 0.000108 tc id = 224, canon_type = 2, mot type = 1 time: 8.529000 primary movement = 5.125371939116e-05 time: 8.529000000001e+00 total movement = 5.125371939116e-05 vel = 5.944629240741e-02 ------------------- tc state : vr = 9.102859, vf = 0.000000, maxvel = 9.102859, current_vel = 0.075831, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.075831, acc = 16.385146,T = 0.005821, P = 0.000175 tc id = 224, canon_type = 2, mot type = 1 time: 8.530000 primary movement = 6.763886542367e-05 time: 8.530000000001e+00 total movement = 6.763886542367e-05 vel = 7.583143843990e-02 ------------------- tc state : vr = 9.102859, vf = 0.000000, maxvel = 9.102859, current_vel = 0.092217, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.092217, acc = 16.385146,T = 0.005821, P = 0.000260 tc id = 224, canon_type = 2, mot type = 1 time: 8.531000 primary movement = 8.402401145613e-05 time: 8.531000000001e+00 total movement = 8.402401145613e-05 vel = 9.221658447239e-02 ------------------- tc state : vr = 9.102859, vf = 0.000000, maxvel = 9.102859, current_vel = 0.108602, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.108602, acc = 16.385146,T = 0.005821, P = 0.000360 tc id = 224, canon_type = 2, mot type = 1 time: 8.532000 primary movement = 1.004091574886e-04 time: 8.532000000001e+00 total movement = 1.004091574886e-04 vel = 1.086017305049e-01 ------------------- tc state : vr = 9.102859, vf = 0.000000, maxvel = 9.102859, current_vel = 0.124987, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.124987, acc = 16.385146,T = 0.005821, P = 0.000477 tc id = 224, canon_type = 2, mot type = 1 time: 8.533000 primary movement = 1.167943035211e-04 time: 8.533000000001e+00 total movement = 1.167943035211e-04 vel = 1.249868765374e-01 ------------------- tc state : vr = 9.102859, vf = 0.000000, maxvel = 9.102859, current_vel = 0.141372, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.141372, acc = 16.385146,T = 0.005821, P = 0.000610 tc id = 224, canon_type = 2, mot type = 1 time: 8.534000 primary movement = 1.331794495536e-04 time: 8.534000000001e+00 total movement = 1.331794495536e-04 vel = 1.413720225699e-01 ------------------- tc state : vr = 9.102859, vf = 0.000000, maxvel = 9.102859, current_vel = 0.157757, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.157757, acc = 16.385146,T = 0.005821, P = 0.000759 tc id = 224, canon_type = 2, mot type = 1 time: 8.535000 primary movement = 1.495645955861e-04 time: 8.535000000001e+00 total movement = 1.495645955861e-04 vel = 1.577571686023e-01 ------------------- tc state : vr = 9.102859, vf = 0.000000, maxvel = 9.102859, current_vel = 0.174142, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.174142, acc = 16.385146,T = 0.005821, P = 0.000925 tc id = 224, canon_type = 2, mot type = 1 time: 8.536000 primary movement = 1.659497416185e-04 time: 8.536000000001e+00 total movement = 1.659497416185e-04 vel = 1.741423146348e-01 ------------------- tc state : vr = 9.102859, vf = 0.000000, maxvel = 9.102859, current_vel = 0.190527, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.190527, acc = 16.385146,T = 0.005821, P = 0.001108 tc id = 224, canon_type = 2, mot type = 1 time: 8.537000 primary movement = 1.823348876511e-04 time: 8.537000000001e+00 total movement = 1.823348876511e-04 vel = 1.905274606673e-01 ------------------- tc state : vr = 9.102859, vf = 0.000000, maxvel = 9.102859, current_vel = 0.206913, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.206913, acc = 16.385146,T = 0.005821, P = 0.001306 tc id = 224, canon_type = 2, mot type = 1 time: 8.538000 primary movement = 1.987200336836e-04 time: 8.538000000001e+00 total movement = 1.987200336836e-04 vel = 2.069126066998e-01 ------------------- tc state : vr = 9.102859, vf = 0.000000, maxvel = 9.102859, current_vel = 0.223298, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.223298, acc = 16.385146,T = 0.005821, P = 0.001522 tc id = 224, canon_type = 2, mot type = 1 time: 8.539000 primary movement = 2.151051797160e-04 time: 8.539000000001e+00 total movement = 2.151051797160e-04 vel = 2.232977527323e-01 ------------------- tc state : vr = 9.102859, vf = 0.000000, maxvel = 9.102859, current_vel = 0.239683, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.239683, acc = 16.385146,T = 0.005821, P = 0.001753 tc id = 224, canon_type = 2, mot type = 1 time: 8.540000 primary movement = 2.314903257486e-04 time: 8.540000000001e+00 total movement = 2.314903257486e-04 vel = 2.396828987648e-01 ------------------- tc state : vr = 9.102859, vf = 0.000000, maxvel = 9.102859, current_vel = 0.256068, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.256068, acc = 16.385146,T = 0.005821, P = 0.002001 tc id = 224, canon_type = 2, mot type = 1 time: 8.541000 primary movement = 2.478754717810e-04 time: 8.541000000001e+00 total movement = 2.478754717810e-04 vel = 2.560680447973e-01 ------------------- tc state : vr = 9.102859, vf = 0.000000, maxvel = 9.102859, current_vel = 0.272453, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.272453, acc = 16.385146,T = 0.005821, P = 0.002265 tc id = 224, canon_type = 2, mot type = 1 time: 8.542000 primary movement = 2.642606178135e-04 time: 8.542000000001e+00 total movement = 2.642606178135e-04 vel = 2.724531908298e-01 ------------------- tc state : vr = 9.102859, vf = 0.000000, maxvel = 9.102859, current_vel = 0.288838, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.288838, acc = 16.385146,T = 0.005821, P = 0.002546 tc id = 224, canon_type = 2, mot type = 1 time: 8.543000 primary movement = 2.806457638460e-04 time: 8.543000000001e+00 total movement = 2.806457638460e-04 vel = 2.888383368623e-01 ------------------- tc state : vr = 9.102859, vf = 0.000000, maxvel = 9.102859, current_vel = 0.305223, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.305223, acc = 16.385146,T = 0.005821, P = 0.002843 tc id = 224, canon_type = 2, mot type = 1 time: 8.544000 primary movement = 2.970309098785e-04 time: 8.544000000001e+00 total movement = 2.970309098785e-04 vel = 3.052234828947e-01 ------------------- tc state : vr = 9.102859, vf = 0.000000, maxvel = 9.102859, current_vel = 0.296183, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.296183, acc = -9.040358,T = 0.005821, P = 0.003144 on final decel tc id = 224, canon_type = 2, mot type = 1 tc state : vr = 0.009040, vf = 0.000000, maxvel = 0.550441, current_vel = 0.007500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.007500, acc = 7.500000,T = 0.012925, P = 0.000004 tc id = 224, canon_type = 2, mot type = 1 secondary movement = 0.000004 time: 8.545000 primary movement = 3.007033039119e-04 time: 8.545000000001e+00 total movement = 3.044533450659e-04 vel = 3.036831249291e-01 ------------------- tc state : vr = 9.102859, vf = 0.000000, maxvel = 9.102859, current_vel = 0.279798, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.279798, acc = -16.385146,T = 0.005821, P = 0.003432 on final decel tc id = 224, canon_type = 2, mot type = 1 tc state : vr = 0.025426, vf = 0.000000, maxvel = 0.550441, current_vel = 0.015000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.015000, acc = 7.500000,T = 0.012925, P = 0.000015 tc id = 224, canon_type = 2, mot type = 1 secondary movement = 0.000011 time: 8.546000 primary movement = 2.879905519129e-04 time: 8.546000000001e+00 total movement = 2.992406580357e-04 vel = 2.947979788966e-01 ------------------- tc state : vr = 9.102859, vf = 0.000000, maxvel = 9.102859, current_vel = 0.263413, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.263413, acc = -16.385146,T = 0.005821, P = 0.003703 on final decel tc id = 224, canon_type = 2, mot type = 1 tc state : vr = 0.041811, vf = 0.000000, maxvel = 0.550441, current_vel = 0.022500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.022500, acc = 7.500000,T = 0.012925, P = 0.000034 tc id = 224, canon_type = 2, mot type = 1 secondary movement = 0.000019 time: 8.547000 primary movement = 2.716054058803e-04 time: 8.547000000001e+00 total movement = 2.903555249553e-04 vel = 2.859128328641e-01 ------------------- tc state : vr = 9.102859, vf = 0.000000, maxvel = 9.102859, current_vel = 0.247028, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.247028, acc = -16.385146,T = 0.005821, P = 0.003958 on final decel tc id = 224, canon_type = 2, mot type = 1 tc state : vr = 0.058196, vf = 0.000000, maxvel = 0.550441, current_vel = 0.030000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.030000, acc = 7.500000,T = 0.012925, P = 0.000060 tc id = 224, canon_type = 2, mot type = 1 secondary movement = 0.000026 time: 8.548000 primary movement = 2.552202598479e-04 time: 8.548000000001e+00 total movement = 2.814703051800e-04 vel = 2.770276868316e-01 ------------------- tc state : vr = 9.102859, vf = 0.000000, maxvel = 9.102859, current_vel = 0.230643, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.230643, acc = -16.385146,T = 0.005821, P = 0.004197 on final decel tc id = 224, canon_type = 2, mot type = 1 tc state : vr = 0.074581, vf = 0.000000, maxvel = 0.550441, current_vel = 0.037500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.037500, acc = 7.500000,T = 0.012925, P = 0.000094 tc id = 224, canon_type = 2, mot type = 1 secondary movement = 0.000034 time: 8.549000 primary movement = 2.388351138153e-04 time: 8.549000000001e+00 total movement = 2.725849640318e-04 vel = 2.681425407991e-01 ------------------- tc state : vr = 9.102859, vf = 0.000000, maxvel = 9.102859, current_vel = 0.214257, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.214257, acc = -16.385146,T = 0.005821, P = 0.004420 on final decel tc id = 224, canon_type = 2, mot type = 1 tc state : vr = 0.090966, vf = 0.000000, maxvel = 0.550441, current_vel = 0.045000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.045000, acc = 7.500000,T = 0.012925, P = 0.000135 tc id = 224, canon_type = 2, mot type = 1 secondary movement = 0.000041 time: 8.550000 primary movement = 2.224499677830e-04 time: 8.550000000001e+00 total movement = 2.636994668329e-04 vel = 2.592573947667e-01 ------------------- tc state : vr = 9.102859, vf = 0.000000, maxvel = 9.102859, current_vel = 0.197872, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.197872, acc = -16.385146,T = 0.005821, P = 0.004626 on final decel tc id = 224, canon_type = 2, mot type = 1 tc state : vr = 0.107351, vf = 0.000000, maxvel = 0.550441, current_vel = 0.052500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.052500, acc = 7.500000,T = 0.012925, P = 0.000184 tc id = 224, canon_type = 2, mot type = 1 secondary movement = 0.000049 time: 8.551000 primary movement = 2.060648217504e-04 time: 8.551000000001e+00 total movement = 2.548137789053e-04 vel = 2.503722487342e-01 ------------------- tc state : vr = 9.102859, vf = 0.000000, maxvel = 9.102859, current_vel = 0.181487, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.181487, acc = -16.385146,T = 0.005821, P = 0.004815 on final decel tc id = 224, canon_type = 2, mot type = 1 tc state : vr = 0.123736, vf = 0.000000, maxvel = 0.550441, current_vel = 0.060000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.060000, acc = 7.500000,T = 0.012925, P = 0.000240 tc id = 224, canon_type = 2, mot type = 1 secondary movement = 0.000056 time: 8.552000 primary movement = 1.896796757179e-04 time: 8.552000000001e+00 total movement = 2.459278655710e-04 vel = 2.414871027017e-01 ------------------- tc state : vr = 9.102859, vf = 0.000000, maxvel = 9.102859, current_vel = 0.165102, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.165102, acc = -16.385146,T = 0.005821, P = 0.004989 on final decel tc id = 224, canon_type = 2, mot type = 1 tc state : vr = 0.140122, vf = 0.000000, maxvel = 0.550441, current_vel = 0.067500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.067500, acc = 7.500000,T = 0.012925, P = 0.000304 tc id = 224, canon_type = 2, mot type = 1 secondary movement = 0.000064 time: 8.553000 primary movement = 1.732945296855e-04 time: 8.553000000001e+00 total movement = 2.370416921525e-04 vel = 2.326019566692e-01 ------------------- tc state : vr = 9.102859, vf = 0.000000, maxvel = 9.102859, current_vel = 0.148717, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.148717, acc = -16.385146,T = 0.005821, P = 0.005146 on final decel tc id = 224, canon_type = 2, mot type = 1 tc state : vr = 0.156507, vf = 0.000000, maxvel = 0.550441, current_vel = 0.075000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.075000, acc = 7.500000,T = 0.012925, P = 0.000375 tc id = 224, canon_type = 2, mot type = 1 secondary movement = 0.000071 time: 8.554000 primary movement = 1.569093836529e-04 time: 8.554000000001e+00 total movement = 2.281552239715e-04 vel = 2.237168106367e-01 ------------------- tc state : vr = 9.102859, vf = 0.000000, maxvel = 9.102859, current_vel = 0.132332, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.132332, acc = -16.385146,T = 0.005821, P = 0.005286 on final decel tc id = 224, canon_type = 2, mot type = 1 tc state : vr = 0.172892, vf = 0.000000, maxvel = 0.550441, current_vel = 0.082500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.082500, acc = 7.500000,T = 0.012925, P = 0.000454 tc id = 224, canon_type = 2, mot type = 1 secondary movement = 0.000079 time: 8.555000 primary movement = 1.405242376204e-04 time: 8.555000000001e+00 total movement = 2.192684263503e-04 vel = 2.148316646042e-01 ------------------- tc state : vr = 9.102859, vf = 0.000000, maxvel = 9.102859, current_vel = 0.115947, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.115947, acc = -16.385146,T = 0.005821, P = 0.005410 on final decel tc id = 224, canon_type = 2, mot type = 1 tc state : vr = 0.189277, vf = 0.000000, maxvel = 0.550441, current_vel = 0.090000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.090000, acc = 7.500000,T = 0.012925, P = 0.000540 tc id = 224, canon_type = 2, mot type = 1 secondary movement = 0.000086 time: 8.556000 primary movement = 1.241390915880e-04 time: 8.556000000001e+00 total movement = 2.103812646113e-04 vel = 2.059465185717e-01 ------------------- tc state : vr = 9.102859, vf = 0.000000, maxvel = 9.102859, current_vel = 0.099561, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.099561, acc = -16.385146,T = 0.005821, P = 0.005518 on final decel tc id = 224, canon_type = 2, mot type = 1 tc state : vr = 0.205662, vf = 0.000000, maxvel = 0.550441, current_vel = 0.097500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.097500, acc = 7.500000,T = 0.012925, P = 0.000634 tc id = 224, canon_type = 2, mot type = 1 secondary movement = 0.000094 time: 8.557000 primary movement = 1.077539455555e-04 time: 8.557000000001e+00 total movement = 2.014937040764e-04 vel = 1.970613725392e-01 ------------------- tc state : vr = 9.102859, vf = 0.000000, maxvel = 9.102859, current_vel = 0.083176, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.083176, acc = -16.385146,T = 0.005821, P = 0.005609 on final decel tc id = 224, canon_type = 2, mot type = 1 tc state : vr = 0.222047, vf = 0.000000, maxvel = 0.550441, current_vel = 0.105000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.105000, acc = 7.500000,T = 0.012925, P = 0.000735 tc id = 225, canon_type = 3, mot type = 2 secondary movement = 0.000101 time: 8.558000 primary movement = 9.136879952300e-05 time: 8.558000000001e+00 total movement = 1.926057100681e-04 vel = 1.881762265067e-01 ------------------- tc state : vr = 9.102859, vf = 0.000000, maxvel = 9.102859, current_vel = 0.066791, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.066791, acc = -16.385146,T = 0.005821, P = 0.005684 on final decel tc id = 224, canon_type = 2, mot type = 1 tc state : vr = 0.238432, vf = 0.000000, maxvel = 0.550441, current_vel = 0.112500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.112500, acc = 7.500000,T = 0.012925, P = 0.000844 tc id = 225, canon_type = 3, mot type = 2 secondary movement = 0.000109 time: 8.559000 primary movement = 7.498365349052e-05 time: 8.559000000001e+00 total movement = 1.837172479086e-04 vel = 1.792910804743e-01 ------------------- tc state : vr = 9.102859, vf = 0.000000, maxvel = 9.102859, current_vel = 0.050406, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.050406, acc = -16.385146,T = 0.005821, P = 0.005743 on final decel tc id = 224, canon_type = 2, mot type = 1 tc state : vr = 0.254818, vf = 0.000000, maxvel = 0.550441, current_vel = 0.120000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.120000, acc = 7.500000,T = 0.012925, P = 0.000960 tc id = 225, canon_type = 3, mot type = 2 secondary movement = 0.000116 time: 8.560000 primary movement = 5.859850745800e-05 time: 8.560000000001e+00 total movement = 1.748282829203e-04 vel = 1.704059344418e-01 ------------------- tc state : vr = 9.102859, vf = 0.000000, maxvel = 9.102859, current_vel = 0.034021, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.034021, acc = -16.385146,T = 0.005821, P = 0.005785 on final decel tc id = 224, canon_type = 2, mot type = 1 tc state : vr = 0.271203, vf = 0.000000, maxvel = 0.550441, current_vel = 0.127500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.127500, acc = 7.500000,T = 0.012925, P = 0.001084 tc id = 225, canon_type = 3, mot type = 2 secondary movement = 0.000124 time: 8.561000 primary movement = 4.221336142554e-05 time: 8.561000000001e+00 total movement = 1.659387804254e-04 vel = 1.615207884093e-01 ------------------- tc state : vr = 9.102859, vf = 0.000000, maxvel = 9.102859, current_vel = 0.017636, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.017636, acc = -16.385146,T = 0.005821, P = 0.005811 on final decel tc id = 224, canon_type = 2, mot type = 1 tc state : vr = 0.287588, vf = 0.000000, maxvel = 0.550441, current_vel = 0.135000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.135000, acc = 7.500000,T = 0.012925, P = 0.001215 tc id = 225, canon_type = 3, mot type = 2 secondary movement = 0.000131 time: 8.562000 primary movement = 2.582821539303e-05 time: 8.562000000001e+00 total movement = 1.570487057465e-04 vel = 1.526356423768e-01 ------------------- tc state : vr = 9.102859, vf = 0.000000, maxvel = 9.102859, current_vel = 0.001250, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.001250, acc = -16.385146,T = 0.005821, P = 0.005820 on final decel tc id = 224, canon_type = 2, mot type = 1 tc state : vr = 0.303973, vf = 0.000000, maxvel = 0.550441, current_vel = 0.142500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.142500, acc = 7.500000,T = 0.012925, P = 0.001354 tc id = 225, canon_type = 3, mot type = 2 secondary movement = 0.000139 time: 8.563000 primary movement = 9.443069360572e-06 time: 8.563000000001e+00 total movement = 1.481580242062e-04 vel = 1.437504963443e-01 ------------------- Found newvel = -0.001250, assuming segment is done segment 224 at target in runcycle tc state : vr = 9.102859, vf = 0.000000, maxvel = 9.102859, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.005821, P = 0.005821 tc id = 224, canon_type = 2, mot type = 1 tc state : vr = 0.305223, vf = 0.000000, maxvel = 0.550441, current_vel = 0.150000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.150000, acc = 7.500000,T = 0.012925, P = 0.001500 tc id = 225, canon_type = 3, mot type = 2 secondary movement = 0.000146 time: 8.564000 primary movement = 4.771825357725e-08 time: 8.564000000001e+00 total movement = 1.462564960521e-04 vel = 1.500000000000e-01 Finished tc id 224 ------------------- Activate nexttc id 226 tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.157500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.157500, acc = 7.500000,T = 0.012925, P = 0.001654 tc id = 225, canon_type = 3, mot type = 2 time: 8.565000 primary movement = 1.537019245352e-04 time: 8.565000000001e+00 total movement = 1.537019245352e-04 vel = 1.575000000000e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.165000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.165000, acc = 7.500000,T = 0.012925, P = 0.001815 tc id = 225, canon_type = 3, mot type = 2 time: 8.566000 primary movement = 1.611943603778e-04 time: 8.566000000001e+00 total movement = 1.611943603778e-04 vel = 1.650000000000e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.172500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.172500, acc = 7.500000,T = 0.012925, P = 0.001984 tc id = 225, canon_type = 3, mot type = 2 time: 8.567000 primary movement = 1.686860506495e-04 time: 8.567000000001e+00 total movement = 1.686860506495e-04 vel = 1.725000000000e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.180000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.180000, acc = 7.500000,T = 0.012925, P = 0.002160 tc id = 225, canon_type = 3, mot type = 2 time: 8.568000 primary movement = 1.761769606728e-04 time: 8.568000000001e+00 total movement = 1.761769606728e-04 vel = 1.800000000000e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.187500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.187500, acc = 7.500000,T = 0.012925, P = 0.002344 tc id = 225, canon_type = 3, mot type = 2 time: 8.569000 primary movement = 1.836670557705e-04 time: 8.569000000001e+00 total movement = 1.836670557705e-04 vel = 1.875000000000e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.195000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.195000, acc = 7.500000,T = 0.012925, P = 0.002535 tc id = 225, canon_type = 3, mot type = 2 time: 8.570000 primary movement = 1.911563012657e-04 time: 8.570000000001e+00 total movement = 1.911563012657e-04 vel = 1.950000000000e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.202500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.202500, acc = 7.500000,T = 0.012925, P = 0.002734 tc id = 225, canon_type = 3, mot type = 2 time: 8.571000 primary movement = 1.986446624812e-04 time: 8.571000000001e+00 total movement = 1.986446624812e-04 vel = 2.025000000000e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.210000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.210000, acc = 7.500000,T = 0.012925, P = 0.002940 tc id = 225, canon_type = 3, mot type = 2 time: 8.572000 primary movement = 2.061321047400e-04 time: 8.572000000001e+00 total movement = 2.061321047400e-04 vel = 2.100000000000e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.217500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.217500, acc = 7.500000,T = 0.012925, P = 0.003154 tc id = 225, canon_type = 3, mot type = 2 time: 8.573000 primary movement = 2.136185933655e-04 time: 8.573000000001e+00 total movement = 2.136185933655e-04 vel = 2.175000000000e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.225000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.225000, acc = 7.500000,T = 0.012925, P = 0.003375 tc id = 225, canon_type = 3, mot type = 2 time: 8.574000 primary movement = 2.211040936807e-04 time: 8.574000000001e+00 total movement = 2.211040936807e-04 vel = 2.250000000000e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.232500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.232500, acc = 7.500000,T = 0.012925, P = 0.003604 tc id = 225, canon_type = 3, mot type = 2 time: 8.575000 primary movement = 2.285885710090e-04 time: 8.575000000001e+00 total movement = 2.285885710090e-04 vel = 2.325000000000e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.240000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.240000, acc = 7.500000,T = 0.012925, P = 0.003840 tc id = 225, canon_type = 3, mot type = 2 time: 8.576000 primary movement = 2.360719906736e-04 time: 8.576000000001e+00 total movement = 2.360719906736e-04 vel = 2.400000000000e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.247500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.247500, acc = 7.500000,T = 0.012925, P = 0.004084 tc id = 225, canon_type = 3, mot type = 2 time: 8.577000 primary movement = 2.435543179982e-04 time: 8.577000000001e+00 total movement = 2.435543179982e-04 vel = 2.475000000000e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.255000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.255000, acc = 7.500000,T = 0.012925, P = 0.004335 tc id = 225, canon_type = 3, mot type = 2 time: 8.578000 primary movement = 2.510355183063e-04 time: 8.578000000001e+00 total movement = 2.510355183063e-04 vel = 2.550000000000e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.262500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.262500, acc = 7.500000,T = 0.012925, P = 0.004594 tc id = 225, canon_type = 3, mot type = 2 time: 8.579000 primary movement = 2.585155569215e-04 time: 8.579000000001e+00 total movement = 2.585155569215e-04 vel = 2.625000000000e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.270000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.270000, acc = 7.500000,T = 0.012925, P = 0.004860 tc id = 225, canon_type = 3, mot type = 2 time: 8.580000 primary movement = 2.659943991677e-04 time: 8.580000000001e+00 total movement = 2.659943991677e-04 vel = 2.700000000000e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.277500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.277500, acc = 7.500000,T = 0.012925, P = 0.005134 tc id = 225, canon_type = 3, mot type = 2 time: 8.581000 primary movement = 2.734720103687e-04 time: 8.581000000001e+00 total movement = 2.734720103687e-04 vel = 2.775000000000e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.285000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.285000, acc = 7.500000,T = 0.012925, P = 0.005415 tc id = 225, canon_type = 3, mot type = 2 time: 8.582000 primary movement = 2.809483558484e-04 time: 8.582000000001e+00 total movement = 2.809483558484e-04 vel = 2.850000000000e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.292500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.292500, acc = 7.500000,T = 0.012925, P = 0.005704 tc id = 225, canon_type = 3, mot type = 2 time: 8.583000 primary movement = 2.884234009310e-04 time: 8.583000000001e+00 total movement = 2.884234009310e-04 vel = 2.925000000000e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.300000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.300000, acc = 7.500000,T = 0.012925, P = 0.006000 tc id = 225, canon_type = 3, mot type = 2 time: 8.584000 primary movement = 2.958971109407e-04 time: 8.584000000001e+00 total movement = 2.958971109407e-04 vel = 3.000000000000e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.307500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.307500, acc = 7.500000,T = 0.012925, P = 0.006304 tc id = 225, canon_type = 3, mot type = 2 time: 8.585000 primary movement = 3.033694512016e-04 time: 8.585000000001e+00 total movement = 3.033694512016e-04 vel = 3.075000000000e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.307753, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.307753, acc = 0.252862,T = 0.012925, P = 0.006611 tc id = 225, canon_type = 3, mot type = 2 time: 8.586000 primary movement = 3.072217533336e-04 time: 8.586000000001e+00 total movement = 3.072217533336e-04 vel = 3.077528618387e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.300253, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.300253, acc = -7.500000,T = 0.012925, P = 0.006915 on final decel tc id = 225, canon_type = 3, mot type = 2 time: 8.587000 primary movement = 3.035840045518e-04 time: 8.587000000001e+00 total movement = 3.035840045518e-04 vel = 3.002528618387e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.292753, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.292753, acc = -7.500000,T = 0.012925, P = 0.007212 on final decel tc id = 225, canon_type = 3, mot type = 2 time: 8.588000 primary movement = 2.960762479409e-04 time: 8.588000000001e+00 total movement = 2.960762479409e-04 vel = 2.927528618387e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.285253, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.285253, acc = -7.500000,T = 0.012925, P = 0.007501 on final decel tc id = 225, canon_type = 3, mot type = 2 time: 8.589000 primary movement = 2.885698469380e-04 time: 8.589000000001e+00 total movement = 2.885698469380e-04 vel = 2.852528618387e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.277753, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.277753, acc = -7.500000,T = 0.012925, P = 0.007782 on final decel tc id = 225, canon_type = 3, mot type = 2 time: 8.590000 primary movement = 2.810647672545e-04 time: 8.590000000001e+00 total movement = 2.810647672545e-04 vel = 2.777528618387e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.270253, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.270253, acc = -7.500000,T = 0.012925, P = 0.008056 on final decel tc id = 225, canon_type = 3, mot type = 2 time: 8.591000 primary movement = 2.735609746020e-04 time: 8.591000000001e+00 total movement = 2.735609746020e-04 vel = 2.702528618387e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.262753, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.262753, acc = -7.500000,T = 0.012925, P = 0.008323 on final decel tc id = 225, canon_type = 3, mot type = 2 time: 8.592000 primary movement = 2.660584346918e-04 time: 8.592000000001e+00 total movement = 2.660584346918e-04 vel = 2.627528618387e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.255253, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.255253, acc = -7.500000,T = 0.012925, P = 0.008582 on final decel tc id = 225, canon_type = 3, mot type = 2 time: 8.593000 primary movement = 2.585571132351e-04 time: 8.593000000001e+00 total movement = 2.585571132351e-04 vel = 2.552528618387e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.247753, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.247753, acc = -7.500000,T = 0.012925, P = 0.008833 on final decel tc id = 225, canon_type = 3, mot type = 2 time: 8.594000 primary movement = 2.510569759430e-04 time: 8.594000000001e+00 total movement = 2.510569759430e-04 vel = 2.477528618387e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.240253, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.240253, acc = -7.500000,T = 0.012925, P = 0.009077 on final decel tc id = 225, canon_type = 3, mot type = 2 time: 8.595000 primary movement = 2.435579885266e-04 time: 8.595000000001e+00 total movement = 2.435579885266e-04 vel = 2.402528618387e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.232753, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.232753, acc = -7.500000,T = 0.012925, P = 0.009314 on final decel tc id = 225, canon_type = 3, mot type = 2 time: 8.596000 primary movement = 2.360601166968e-04 time: 8.596000000001e+00 total movement = 2.360601166968e-04 vel = 2.327528618387e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.225253, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.225253, acc = -7.500000,T = 0.012925, P = 0.009543 on final decel tc id = 225, canon_type = 3, mot type = 2 time: 8.597000 primary movement = 2.285633261643e-04 time: 8.597000000001e+00 total movement = 2.285633261643e-04 vel = 2.252528618387e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.217753, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.217753, acc = -7.500000,T = 0.012925, P = 0.009764 on final decel tc id = 225, canon_type = 3, mot type = 2 time: 8.598000 primary movement = 2.210675826401e-04 time: 8.598000000001e+00 total movement = 2.210675826401e-04 vel = 2.177528618387e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.210253, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.210253, acc = -7.500000,T = 0.012925, P = 0.009978 on final decel tc id = 225, canon_type = 3, mot type = 2 time: 8.599000 primary movement = 2.135728518347e-04 time: 8.599000000001e+00 total movement = 2.135728518347e-04 vel = 2.102528618387e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.202753, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.202753, acc = -7.500000,T = 0.012925, P = 0.010185 on final decel tc id = 225, canon_type = 3, mot type = 2 time: 8.600000 primary movement = 2.060790994585e-04 time: 8.600000000001e+00 total movement = 2.060790994585e-04 vel = 2.027528618387e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.195253, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.195253, acc = -7.500000,T = 0.012925, P = 0.010384 on final decel tc id = 225, canon_type = 3, mot type = 2 time: 8.601000 primary movement = 1.985862912223e-04 time: 8.601000000001e+00 total movement = 1.985862912223e-04 vel = 1.952528618387e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.187753, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.187753, acc = -7.500000,T = 0.012925, P = 0.010575 on final decel tc id = 225, canon_type = 3, mot type = 2 time: 8.602000 primary movement = 1.910943928362e-04 time: 8.602000000001e+00 total movement = 1.910943928362e-04 vel = 1.877528618387e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.180253, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.180253, acc = -7.500000,T = 0.012925, P = 0.010759 on final decel tc id = 225, canon_type = 3, mot type = 2 tc state : vr = 0.007500, vf = 0.007500, maxvel = 8.343710, current_vel = 0.007500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.007500, acc = 7.500000,T = 0.009176, P = 0.000004 initial results: dx= 0.009172,dt = 0.040262, a_f = 10.943998, v_f = 0.448124 dt = 0.040262, not at end yet tc id = 225, canon_type = 3, mot type = 2 secondary movement = 0.000004 time: 8.603000 primary movement = 1.836033700107e-04 time: 8.603000000001e+00 total movement = 1.873533700107e-04 vel = 1.877528618387e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.172753, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.172753, acc = -7.500000,T = 0.012925, P = 0.010936 on final decel tc id = 225, canon_type = 3, mot type = 2 tc state : vr = 0.015000, vf = 0.015000, maxvel = 8.343710, current_vel = 0.015000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.015000, acc = 7.500000,T = 0.009176, P = 0.000015 initial results: dx= 0.009161,dt = 0.039561, a_f = 10.948228, v_f = 0.448124 dt = 0.039561, not at end yet tc id = 225, canon_type = 3, mot type = 2 secondary movement = 0.000011 time: 8.604000 primary movement = 1.761131884560e-04 time: 8.604000000001e+00 total movement = 1.873631884559e-04 vel = 1.877528618387e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.165253, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.165253, acc = -7.500000,T = 0.012925, P = 0.011105 on final decel tc id = 225, canon_type = 3, mot type = 2 tc state : vr = 0.022500, vf = 0.022500, maxvel = 8.343710, current_vel = 0.022500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.022500, acc = 7.500000,T = 0.009176, P = 0.000034 initial results: dx= 0.009142,dt = 0.038851, a_f = 10.955300, v_f = 0.448124 dt = 0.038851, not at end yet tc id = 225, canon_type = 3, mot type = 2 secondary movement = 0.000019 time: 8.605000 primary movement = 1.686238138821e-04 time: 8.605000000001e+00 total movement = 1.873738138820e-04 vel = 1.877528618387e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.157753, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.157753, acc = -7.500000,T = 0.012925, P = 0.011266 on final decel tc id = 225, canon_type = 3, mot type = 2 tc state : vr = 0.030000, vf = 0.030000, maxvel = 8.343710, current_vel = 0.030000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.030000, acc = 7.500000,T = 0.009176, P = 0.000060 initial results: dx= 0.009116,dt = 0.038132, a_f = 10.965250, v_f = 0.448124 dt = 0.038132, not at end yet tc id = 225, canon_type = 3, mot type = 2 secondary movement = 0.000026 time: 8.606000 primary movement = 1.611352119992e-04 time: 8.606000000001e+00 total movement = 1.873852119993e-04 vel = 1.877528618387e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.150253, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.150253, acc = -7.500000,T = 0.012925, P = 0.011420 on final decel tc id = 225, canon_type = 3, mot type = 2 tc state : vr = 0.037500, vf = 0.037500, maxvel = 8.343710, current_vel = 0.037500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.037500, acc = 7.500000,T = 0.009176, P = 0.000094 initial results: dx= 0.009082,dt = 0.037404, a_f = 10.978127, v_f = 0.448124 dt = 0.037404, not at end yet tc id = 225, canon_type = 3, mot type = 2 secondary movement = 0.000034 time: 8.607000 primary movement = 1.536473485175e-04 time: 8.607000000001e+00 total movement = 1.873973485174e-04 vel = 1.877528618387e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.142753, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.142753, acc = -7.500000,T = 0.012925, P = 0.011567 on final decel tc id = 225, canon_type = 3, mot type = 2 tc state : vr = 0.045000, vf = 0.045000, maxvel = 8.343710, current_vel = 0.045000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.045000, acc = 7.500000,T = 0.009176, P = 0.000135 initial results: dx= 0.009041,dt = 0.036668, a_f = 10.993997, v_f = 0.448124 dt = 0.036668, not at end yet tc id = 225, canon_type = 3, mot type = 2 secondary movement = 0.000041 time: 8.608000 primary movement = 1.461601891467e-04 time: 8.608000000001e+00 total movement = 1.874101891467e-04 vel = 1.877528618387e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.135253, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.135253, acc = -7.500000,T = 0.012925, P = 0.011706 on final decel tc id = 225, canon_type = 3, mot type = 2 tc state : vr = 0.052500, vf = 0.052500, maxvel = 8.343710, current_vel = 0.052500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.052500, acc = 7.500000,T = 0.009176, P = 0.000184 initial results: dx= 0.008992,dt = 0.035924, a_f = 11.012939, v_f = 0.448124 dt = 0.035924, not at end yet tc id = 225, canon_type = 3, mot type = 2 secondary movement = 0.000049 time: 8.609000 primary movement = 1.386736995968e-04 time: 8.609000000001e+00 total movement = 1.874236995967e-04 vel = 1.877528618387e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.127753, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.127753, acc = -7.500000,T = 0.012925, P = 0.011837 on final decel tc id = 225, canon_type = 3, mot type = 2 tc state : vr = 0.060000, vf = 0.060000, maxvel = 8.343710, current_vel = 0.060000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.060000, acc = 7.500000,T = 0.009176, P = 0.000240 initial results: dx= 0.008936,dt = 0.035172, a_f = 11.035053, v_f = 0.448124 dt = 0.035172, not at end yet tc id = 225, canon_type = 3, mot type = 2 secondary movement = 0.000056 time: 8.610000 primary movement = 1.311878455777e-04 time: 8.610000000001e+00 total movement = 1.874378455778e-04 vel = 1.877528618387e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.120253, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.120253, acc = -7.500000,T = 0.012925, P = 0.011961 on final decel tc id = 225, canon_type = 3, mot type = 2 tc state : vr = 0.067500, vf = 0.067500, maxvel = 8.343710, current_vel = 0.067500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.067500, acc = 7.500000,T = 0.009176, P = 0.000304 initial results: dx= 0.008872,dt = 0.034413, a_f = 11.060453, v_f = 0.448124 dt = 0.034413, not at end yet tc id = 225, canon_type = 3, mot type = 2 secondary movement = 0.000064 time: 8.611000 primary movement = 1.237025927991e-04 time: 8.611000000001e+00 total movement = 1.874525927990e-04 vel = 1.877528618387e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.112753, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.112753, acc = -7.500000,T = 0.012925, P = 0.012078 on final decel tc id = 225, canon_type = 3, mot type = 2 tc state : vr = 0.075000, vf = 0.075000, maxvel = 8.343710, current_vel = 0.075000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.075000, acc = 7.500000,T = 0.009176, P = 0.000375 initial results: dx= 0.008801,dt = 0.033647, a_f = 11.089278, v_f = 0.448124 dt = 0.033647, not at end yet tc id = 225, canon_type = 3, mot type = 2 secondary movement = 0.000071 time: 8.612000 primary movement = 1.162179069708e-04 time: 8.612000000001e+00 total movement = 1.874679069709e-04 vel = 1.877528618387e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.105253, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.105253, acc = -7.500000,T = 0.012925, P = 0.012187 on final decel tc id = 225, canon_type = 3, mot type = 2 tc state : vr = 0.082500, vf = 0.082500, maxvel = 8.343710, current_vel = 0.082500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.082500, acc = 7.500000,T = 0.009176, P = 0.000454 initial results: dx= 0.008722,dt = 0.032875, a_f = 11.121685, v_f = 0.448124 dt = 0.032875, not at end yet tc id = 225, canon_type = 3, mot type = 2 secondary movement = 0.000079 time: 8.613000 primary movement = 1.087337538026e-04 time: 8.613000000001e+00 total movement = 1.874837538026e-04 vel = 1.877528618387e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.097753, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.097753, acc = -7.500000,T = 0.012925, P = 0.012288 on final decel tc id = 225, canon_type = 3, mot type = 2 tc state : vr = 0.090000, vf = 0.090000, maxvel = 8.343710, current_vel = 0.090000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.090000, acc = 7.500000,T = 0.009176, P = 0.000540 initial results: dx= 0.008636,dt = 0.032096, a_f = 11.157857, v_f = 0.448124 dt = 0.032096, not at end yet tc id = 225, canon_type = 3, mot type = 2 secondary movement = 0.000086 time: 8.614000 primary movement = 1.012500990039e-04 time: 8.614000000001e+00 total movement = 1.875000990039e-04 vel = 1.877528618387e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.090253, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.090253, acc = -7.500000,T = 0.012925, P = 0.012382 on final decel tc id = 225, canon_type = 3, mot type = 2 tc state : vr = 0.097500, vf = 0.097500, maxvel = 8.343710, current_vel = 0.097500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.097500, acc = 7.500000,T = 0.009176, P = 0.000634 initial results: dx= 0.008542,dt = 0.031311, a_f = 11.198002, v_f = 0.448124 dt = 0.031311, not at end yet tc id = 226, canon_type = 2, mot type = 1 secondary movement = 0.000094 time: 8.615000 primary movement = 9.376690828437e-05 time: 8.615000000001e+00 total movement = 1.875169082844e-04 vel = 1.877528618387e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.082753, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.082753, acc = -7.500000,T = 0.012925, P = 0.012469 on final decel tc id = 225, canon_type = 3, mot type = 2 tc state : vr = 0.105000, vf = 0.105000, maxvel = 8.343710, current_vel = 0.105000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.105000, acc = 7.500000,T = 0.009176, P = 0.000735 initial results: dx= 0.008441,dt = 0.030521, a_f = 11.242360, v_f = 0.448124 dt = 0.030521, not at end yet tc id = 226, canon_type = 2, mot type = 1 secondary movement = 0.000101 time: 8.616000 primary movement = 8.628414735378e-05 time: 8.616000000001e+00 total movement = 1.875341473538e-04 vel = 1.877528618387e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.075253, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.075253, acc = -7.500000,T = 0.012925, P = 0.012548 on final decel tc id = 225, canon_type = 3, mot type = 2 tc state : vr = 0.112500, vf = 0.112500, maxvel = 8.343710, current_vel = 0.112500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.112500, acc = 7.500000,T = 0.009176, P = 0.000844 initial results: dx= 0.008332,dt = 0.029724, a_f = 11.291205, v_f = 0.448124 dt = 0.029724, not at end yet tc id = 226, canon_type = 2, mot type = 1 secondary movement = 0.000109 time: 8.617000 primary movement = 7.880178192132e-05 time: 8.617000000001e+00 total movement = 1.875517819214e-04 vel = 1.877528618387e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.067753, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.067753, acc = -7.500000,T = 0.012925, P = 0.012619 on final decel tc id = 225, canon_type = 3, mot type = 2 tc state : vr = 0.120000, vf = 0.120000, maxvel = 8.343710, current_vel = 0.120000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.120000, acc = 7.500000,T = 0.009176, P = 0.000960 initial results: dx= 0.008216,dt = 0.028923, a_f = 11.344849, v_f = 0.448124 dt = 0.028923, not at end yet tc id = 226, canon_type = 2, mot type = 1 secondary movement = 0.000116 time: 8.618000 primary movement = 7.131977769674e-05 time: 8.618000000001e+00 total movement = 1.875697776967e-04 vel = 1.877528618387e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.060253, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.060253, acc = -7.500000,T = 0.012925, P = 0.012683 on final decel tc id = 225, canon_type = 3, mot type = 2 tc state : vr = 0.127500, vf = 0.127500, maxvel = 8.343710, current_vel = 0.127500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.127500, acc = 7.500000,T = 0.009176, P = 0.001084 initial results: dx= 0.008092,dt = 0.028116, a_f = 11.403647, v_f = 0.448124 dt = 0.028116, not at end yet tc id = 226, canon_type = 2, mot type = 1 secondary movement = 0.000124 time: 8.619000 primary movement = 6.383810038943e-05 time: 8.619000000001e+00 total movement = 1.875881003894e-04 vel = 1.877528618387e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.052753, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.052753, acc = -7.500000,T = 0.012925, P = 0.012740 on final decel tc id = 225, canon_type = 3, mot type = 2 tc state : vr = 0.135000, vf = 0.135000, maxvel = 8.343710, current_vel = 0.135000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.135000, acc = 7.500000,T = 0.009176, P = 0.001215 initial results: dx= 0.007961,dt = 0.027304, a_f = 11.468006, v_f = 0.448124 dt = 0.027304, not at end yet tc id = 226, canon_type = 2, mot type = 1 secondary movement = 0.000131 time: 8.620000 primary movement = 5.635671570872e-05 time: 8.620000000001e+00 total movement = 1.876067157088e-04 vel = 1.877528618387e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.045253, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.045253, acc = -7.500000,T = 0.012925, P = 0.012789 on final decel tc id = 225, canon_type = 3, mot type = 2 tc state : vr = 0.142500, vf = 0.142500, maxvel = 8.343710, current_vel = 0.142500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.142500, acc = 7.500000,T = 0.009176, P = 0.001354 initial results: dx= 0.007822,dt = 0.026488, a_f = 11.538392, v_f = 0.448124 dt = 0.026488, not at end yet tc id = 226, canon_type = 2, mot type = 1 secondary movement = 0.000139 time: 8.621000 primary movement = 4.887558936420e-05 time: 8.621000000001e+00 total movement = 1.876255893641e-04 vel = 1.877528618387e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.037753, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.037753, acc = -7.500000,T = 0.012925, P = 0.012830 on final decel tc id = 225, canon_type = 3, mot type = 2 tc state : vr = 0.150000, vf = 0.150000, maxvel = 8.343710, current_vel = 0.150000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.150000, acc = 7.500000,T = 0.009176, P = 0.001500 initial results: dx= 0.007676,dt = 0.025666, a_f = 11.615336, v_f = 0.448124 dt = 0.025666, not at end yet tc id = 226, canon_type = 2, mot type = 1 secondary movement = 0.000146 time: 8.622000 primary movement = 4.139468706499e-05 time: 8.622000000001e+00 total movement = 1.876446870650e-04 vel = 1.877528618387e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.030253, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.030253, acc = -7.500000,T = 0.012925, P = 0.012864 on final decel tc id = 225, canon_type = 3, mot type = 2 tc state : vr = 0.157500, vf = 0.157500, maxvel = 8.343710, current_vel = 0.157500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.157500, acc = 7.500000,T = 0.009176, P = 0.001654 initial results: dx= 0.007522,dt = 0.024841, a_f = 11.699453, v_f = 0.448124 dt = 0.024841, not at end yet tc id = 226, canon_type = 2, mot type = 1 secondary movement = 0.000154 time: 8.623000 primary movement = 3.391397452077e-05 time: 8.623000000001e+00 total movement = 1.876639745208e-04 vel = 1.877528618387e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.022753, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.022753, acc = -7.500000,T = 0.012925, P = 0.012891 on final decel tc id = 225, canon_type = 3, mot type = 2 tc state : vr = 0.165000, vf = 0.165000, maxvel = 8.343710, current_vel = 0.165000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.165000, acc = 7.500000,T = 0.009176, P = 0.001815 initial results: dx= 0.007361,dt = 0.024011, a_f = 11.791448, v_f = 0.448124 dt = 0.024011, not at end yet tc id = 226, canon_type = 2, mot type = 1 secondary movement = 0.000161 time: 8.624000 primary movement = 2.643341744063e-05 time: 8.624000000001e+00 total movement = 1.876834174407e-04 vel = 1.877528618387e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.015253, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.015253, acc = -7.500000,T = 0.012925, P = 0.012910 on final decel tc id = 225, canon_type = 3, mot type = 2 tc state : vr = 0.172500, vf = 0.172500, maxvel = 8.343710, current_vel = 0.172500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.172500, acc = 7.500000,T = 0.009176, P = 0.001984 initial results: dx= 0.007192,dt = 0.023177, a_f = 11.892140, v_f = 0.448124 dt = 0.023177, not at end yet tc id = 226, canon_type = 2, mot type = 1 secondary movement = 0.000169 time: 8.625000 primary movement = 1.895298153400e-05 time: 8.625000000001e+00 total movement = 1.877029815340e-04 vel = 1.877528618387e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.007753, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.007753, acc = -7.500000,T = 0.012925, P = 0.012921 on final decel tc id = 225, canon_type = 3, mot type = 2 tc state : vr = 0.180000, vf = 0.180000, maxvel = 8.343710, current_vel = 0.180000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.180000, acc = 7.500000,T = 0.009176, P = 0.002160 initial results: dx= 0.007016,dt = 0.022339, a_f = 12.002478, v_f = 0.448124 dt = 0.022339, not at end yet tc id = 226, canon_type = 2, mot type = 1 secondary movement = 0.000176 time: 8.626000 primary movement = 1.147263251022e-05 time: 8.626000000001e+00 total movement = 1.877226325102e-04 vel = 1.877528618387e-01 ------------------- tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.000253, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000253, acc = -7.500000,T = 0.012925, P = 0.012925 on final decel tc id = 225, canon_type = 3, mot type = 2 tc state : vr = 0.187500, vf = 0.187500, maxvel = 8.343710, current_vel = 0.187500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.187500, acc = 7.500000,T = 0.009176, P = 0.002344 initial results: dx= 0.006832,dt = 0.021497, a_f = 12.123573, v_f = 0.448124 dt = 0.021497, not at end yet tc id = 226, canon_type = 2, mot type = 1 secondary movement = 0.000184 time: 8.627000 primary movement = 3.992336078599e-06 time: 8.627000000001e+00 total movement = 1.877423360786e-04 vel = 1.877528618387e-01 ------------------- Found newvel = -0.000253, assuming segment is done segment 225 at target in runcycle tc state : vr = 0.550441, vf = 0.000000, maxvel = 0.550441, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.012925, P = 0.012925 tc id = 225, canon_type = 3, mot type = 2 tc state : vr = 0.187753, vf = 0.187753, maxvel = 8.343710, current_vel = 0.187753, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.187753, acc = 0.252862,T = 0.009176, P = 0.002531 initial results: dx= 0.006644,dt = 0.020899, a_f = 12.458778, v_f = 0.448124 dt = 0.020899, not at end yet tc id = 226, canon_type = 2, mot type = 1 secondary movement = 0.000188 time: 8.628000 primary movement = 4.251396774348e-09 time: 8.628000000001e+00 total movement = 1.876306823161e-04 vel = 1.877528618387e-01 Finished tc id 225 ------------------- tc state : vr = 4.369447, vf = 0.448124, maxvel = 8.343710, current_vel = 0.202772, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.202772, acc = 15.018738,T = 0.009176, P = 0.002727 initial results: dx= 0.006449,dt = 0.019816, a_f = 12.381270, v_f = 0.448124 dt = 0.019816, not at end yet tc id = 226, canon_type = 2, mot type = 1 time: 8.629000 primary movement = 1.952622309866e-04 time: 8.629000000001e+00 total movement = 1.952622309866e-04 vel = 2.027716001346e-01 ------------------- tc state : vr = 4.369447, vf = 0.448124, maxvel = 8.343710, current_vel = 0.217790, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.217790, acc = 15.018738,T = 0.009176, P = 0.002937 initial results: dx= 0.006239,dt = 0.018738, a_f = 12.292375, v_f = 0.448124 dt = 0.018738, not at end yet tc id = 226, canon_type = 2, mot type = 1 time: 8.630000 primary movement = 2.102809692826e-04 time: 8.630000000001e+00 total movement = 2.102809692826e-04 vel = 2.177903384304e-01 ------------------- tc state : vr = 4.369447, vf = 0.448124, maxvel = 8.343710, current_vel = 0.232809, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.232809, acc = 15.018738,T = 0.009176, P = 0.003162 initial results: dx= 0.006014,dt = 0.017663, a_f = 12.190232, v_f = 0.448124 dt = 0.017663, not at end yet tc id = 226, canon_type = 2, mot type = 1 time: 8.631000 primary movement = 2.252997075784e-04 time: 8.631000000001e+00 total movement = 2.252997075784e-04 vel = 2.328090767263e-01 ------------------- tc state : vr = 4.369447, vf = 0.448124, maxvel = 8.343710, current_vel = 0.247828, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.247828, acc = 15.018738,T = 0.009176, P = 0.003403 initial results: dx= 0.005773,dt = 0.016591, a_f = 12.072493, v_f = 0.448124 dt = 0.016591, not at end yet tc id = 226, canon_type = 2, mot type = 1 time: 8.632000 primary movement = 2.403184458742e-04 time: 8.632000000001e+00 total movement = 2.403184458742e-04 vel = 2.478278150222e-01 ------------------- tc state : vr = 4.369447, vf = 0.448124, maxvel = 8.343710, current_vel = 0.262847, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.262847, acc = 15.018738,T = 0.009176, P = 0.003658 initial results: dx= 0.005518,dt = 0.015522, a_f = 11.936159, v_f = 0.448124 dt = 0.015522, not at end yet tc id = 226, canon_type = 2, mot type = 1 time: 8.633000 primary movement = 2.553371841701e-04 time: 8.633000000001e+00 total movement = 2.553371841701e-04 vel = 2.628465533181e-01 ------------------- tc state : vr = 4.369447, vf = 0.448124, maxvel = 8.343710, current_vel = 0.277865, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.277865, acc = 15.018738,T = 0.009176, P = 0.003928 initial results: dx= 0.005248,dt = 0.014456, a_f = 11.777345, v_f = 0.448124 dt = 0.014456, not at end yet tc id = 226, canon_type = 2, mot type = 1 time: 8.634000 primary movement = 2.703559224660e-04 time: 8.634000000001e+00 total movement = 2.703559224660e-04 vel = 2.778652916139e-01 ------------------- tc state : vr = 4.369447, vf = 0.448124, maxvel = 8.343710, current_vel = 0.292884, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.292884, acc = 15.018738,T = 0.009176, P = 0.004214 initial results: dx= 0.004962,dt = 0.013393, a_f = 11.590935, v_f = 0.448124 dt = 0.013393, not at end yet tc id = 226, canon_type = 2, mot type = 1 time: 8.635000 primary movement = 2.853746607619e-04 time: 8.635000000001e+00 total movement = 2.853746607619e-04 vel = 2.928840299098e-01 ------------------- tc state : vr = 4.369447, vf = 0.448124, maxvel = 8.343710, current_vel = 0.307903, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.307903, acc = 15.018738,T = 0.009176, P = 0.004514 initial results: dx= 0.004662,dt = 0.012332, a_f = 11.370059, v_f = 0.448124 dt = 0.012332, not at end yet tc id = 226, canon_type = 2, mot type = 1 time: 8.636000 primary movement = 3.003933990578e-04 time: 8.636000000001e+00 total movement = 3.003933990578e-04 vel = 3.079027682057e-01 ------------------- tc state : vr = 4.369447, vf = 0.448124, maxvel = 8.343710, current_vel = 0.322922, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.322922, acc = 15.018738,T = 0.009176, P = 0.004829 initial results: dx= 0.004346,dt = 0.011274, a_f = 11.105281, v_f = 0.448124 dt = 0.011274, not at end yet tc id = 226, canon_type = 2, mot type = 1 time: 8.637000 primary movement = 3.154121373536e-04 time: 8.637000000001e+00 total movement = 3.154121373536e-04 vel = 3.229215065016e-01 ------------------- tc state : vr = 4.369447, vf = 0.448124, maxvel = 8.343710, current_vel = 0.337940, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.337940, acc = 15.018738,T = 0.009176, P = 0.005160 initial results: dx= 0.004016,dt = 0.010218, a_f = 10.783287, v_f = 0.448124 dt = 0.010218, not at end yet tc id = 226, canon_type = 2, mot type = 1 time: 8.638000 primary movement = 3.304308756495e-04 time: 8.638000000001e+00 total movement = 3.304308756495e-04 vel = 3.379402447974e-01 ------------------- tc state : vr = 4.369447, vf = 0.448124, maxvel = 8.343710, current_vel = 0.352959, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.352959, acc = 15.018738,T = 0.009176, P = 0.005505 initial results: dx= 0.003671,dt = 0.009164, a_f = 10.384672, v_f = 0.448124 dt = 0.009164, not at end yet tc id = 226, canon_type = 2, mot type = 1 time: 8.639000 primary movement = 3.454496139454e-04 time: 8.639000000001e+00 total movement = 3.454496139454e-04 vel = 3.529589830933e-01 ------------------- tc state : vr = 4.369447, vf = 0.448124, maxvel = 8.343710, current_vel = 0.367978, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.367978, acc = 15.018738,T = 0.009176, P = 0.005866 initial results: dx= 0.003310,dt = 0.008112, a_f = 9.880021, v_f = 0.448124 dt = 0.008112, not at end yet tc id = 226, canon_type = 2, mot type = 1 time: 8.640000 primary movement = 3.604683522413e-04 time: 8.640000000001e+00 total movement = 3.604683522413e-04 vel = 3.679777213892e-01 ------------------- tc state : vr = 4.369447, vf = 0.448124, maxvel = 8.343710, current_vel = 0.382996, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.382996, acc = 15.018738,T = 0.009176, P = 0.006241 initial results: dx= 0.002935,dt = 0.007062, a_f = 9.222512, v_f = 0.448124 dt = 0.007062, not at end yet tc id = 226, canon_type = 2, mot type = 1 time: 8.641000 primary movement = 3.754870905370e-04 time: 8.641000000001e+00 total movement = 3.754870905370e-04 vel = 3.829964596851e-01 ------------------- tc state : vr = 4.369447, vf = 0.448124, maxvel = 8.343710, current_vel = 0.398015, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.398015, acc = 15.018738,T = 0.009176, P = 0.006632 initial results: dx= 0.002544,dt = 0.006013, a_f = 8.332817, v_f = 0.448124 dt = 0.006013, not at end yet tc id = 226, canon_type = 2, mot type = 1 time: 8.642000 primary movement = 3.905058288330e-04 time: 8.642000000001e+00 total movement = 3.905058288330e-04 vel = 3.980151979809e-01 ------------------- tc state : vr = 4.369447, vf = 0.448124, maxvel = 8.343710, current_vel = 0.413034, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.413034, acc = 15.018738,T = 0.009176, P = 0.007037 initial results: dx= 0.002139,dt = 0.004967, a_f = 7.064999, v_f = 0.448124 dt = 0.004967, not at end yet tc id = 226, canon_type = 2, mot type = 1 time: 8.643000 primary movement = 4.055245671289e-04 time: 8.643000000001e+00 total movement = 4.055245671289e-04 vel = 4.130339362768e-01 ------------------- tc state : vr = 4.369447, vf = 0.448124, maxvel = 8.343710, current_vel = 0.428053, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.428053, acc = 15.018738,T = 0.009176, P = 0.007458 initial results: dx= 0.001718,dt = 0.003922, a_f = 5.118051, v_f = 0.448124 dt = 0.003922, not at end yet tc id = 226, canon_type = 2, mot type = 1 time: 8.644000 primary movement = 4.205433054247e-04 time: 8.644000000001e+00 total movement = 4.205433054247e-04 vel = 4.280526745727e-01 ------------------- tc state : vr = 4.369447, vf = 0.448124, maxvel = 8.343710, current_vel = 0.443071, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.443071, acc = 15.018738,T = 0.009176, P = 0.007893 initial results: dx= 0.001282,dt = 0.002878, a_f = 1.755470, v_f = 0.448124 dt = 0.002878, not at end yet tc id = 226, canon_type = 2, mot type = 1 time: 8.645000 primary movement = 4.355620437207e-04 time: 8.645000000001e+00 total movement = 4.355620437207e-04 vel = 4.430714128686e-01 ------------------- tc state : vr = 4.369447, vf = 0.448124, maxvel = 8.343710, current_vel = 0.458090, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.458090, acc = 15.018738,T = 0.009176, P = 0.008344 initial results: dx= 0.000832,dt = 0.001836, a_f = -5.428508, v_f = 0.448124 dt = 0.001836, not at end yet tc id = 226, canon_type = 2, mot type = 1 time: 8.646000 primary movement = 4.505807820165e-04 time: 8.646000000001e+00 total movement = 4.505807820165e-04 vel = 4.580901511644e-01 ------------------- tc state : vr = 4.369447, vf = 0.448124, maxvel = 8.343710, current_vel = 0.460442, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.460442, acc = 2.352180,T = 0.009176, P = 0.008803 initial results: dx= 0.000373,dt = 0.000820, a_f = -15.018738, v_f = 0.448124 recalculating with a_f = -15.018738, a = -15.018738 revised dt = 0.000820 actual v_f = 0.448124, a = -15.018738 split time is 0.000820214 tc id = 226, canon_type = 2, mot type = 1 time: 8.647000 primary movement = 4.592662411356e-04 time: 8.647000000001e+00 total movement = 4.592662411356e-04 vel = 4.604423311067e-01 ------------------- tc id 226 done Finishing split-cycle on id 227 tc state : vr = 0.448124, vf = 0.448124, maxvel = 0.448124, current_vel = 0.448124, fs = 1.000000, tc = 0.000180, term = 3 tc result: v = 0.448124, acc = 0.000000,T = 0.005442, P = 0.000081 initial results: dx= 0.005361,dt = 0.011964, a_f = 0.000000, v_f = 0.448124 dt = 0.011964, not at end yet secondary movement = 0.000081 tc id = 227, canon_type = 3, mot type = 2 time: 8.648000 primary movement = 3.726091062634e-04 time: 8.648000000001e+00 total movement = 4.531753238474e-04 vel = 4.481237585396e-01 Finished tc id 226 ------------------- Activate tc id = 227 target_vel = 0.448124 final_vel = 0.448124 length = 0.005442 tc state : vr = 0.448124, vf = 0.448124, maxvel = 0.448124, current_vel = 0.448124, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.448124, acc = 0.000000,T = 0.005442, P = 0.000529 initial results: dx= 0.004913,dt = 0.010964, a_f = 0.000000, v_f = 0.448124 dt = 0.010964, not at end yet tc id = 227, canon_type = 3, mot type = 2 time: 8.649000 primary movement = 4.480609994964e-04 time: 8.649000000001e+00 total movement = 4.480609994964e-04 vel = 4.481237585396e-01 ------------------- tc state : vr = 0.448124, vf = 0.448124, maxvel = 0.448124, current_vel = 0.448124, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.448124, acc = 0.000000,T = 0.005442, P = 0.000977 initial results: dx= 0.004465,dt = 0.009964, a_f = 0.000000, v_f = 0.448124 dt = 0.009964, not at end yet tc id = 227, canon_type = 3, mot type = 2 time: 8.650000 primary movement = 4.480609994964e-04 time: 8.650000000001e+00 total movement = 4.480609994964e-04 vel = 4.481237585396e-01 ------------------- tc state : vr = 0.448124, vf = 0.448124, maxvel = 0.448124, current_vel = 0.448124, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.448124, acc = 0.000000,T = 0.005442, P = 0.001425 initial results: dx= 0.004017,dt = 0.008964, a_f = 0.000000, v_f = 0.448124 dt = 0.008964, not at end yet tc id = 227, canon_type = 3, mot type = 2 time: 8.651000 primary movement = 4.480609994964e-04 time: 8.651000000001e+00 total movement = 4.480609994964e-04 vel = 4.481237585396e-01 ------------------- tc state : vr = 0.448124, vf = 0.448124, maxvel = 0.448124, current_vel = 0.448124, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.448124, acc = 0.000000,T = 0.005442, P = 0.001873 initial results: dx= 0.003569,dt = 0.007964, a_f = 0.000000, v_f = 0.448124 dt = 0.007964, not at end yet tc id = 227, canon_type = 3, mot type = 2 time: 8.652000 primary movement = 4.480609994965e-04 time: 8.652000000001e+00 total movement = 4.480609994965e-04 vel = 4.481237585396e-01 ------------------- tc state : vr = 0.448124, vf = 0.448124, maxvel = 0.448124, current_vel = 0.448124, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.448124, acc = 0.000000,T = 0.005442, P = 0.002321 initial results: dx= 0.003121,dt = 0.006964, a_f = 0.000000, v_f = 0.448124 dt = 0.006964, not at end yet tc id = 227, canon_type = 3, mot type = 2 time: 8.653000 primary movement = 4.480609994964e-04 time: 8.653000000001e+00 total movement = 4.480609994964e-04 vel = 4.481237585396e-01 ------------------- tc state : vr = 0.448124, vf = 0.448124, maxvel = 0.448124, current_vel = 0.448124, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.448124, acc = 0.000000,T = 0.005442, P = 0.002769 initial results: dx= 0.002672,dt = 0.005964, a_f = 0.000000, v_f = 0.448124 dt = 0.005964, not at end yet tc id = 227, canon_type = 3, mot type = 2 time: 8.654000 primary movement = 4.480609994964e-04 time: 8.654000000001e+00 total movement = 4.480609994964e-04 vel = 4.481237585396e-01 ------------------- tc state : vr = 0.448124, vf = 0.448124, maxvel = 0.448124, current_vel = 0.448124, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.448124, acc = 0.000000,T = 0.005442, P = 0.003217 initial results: dx= 0.002224,dt = 0.004964, a_f = 0.000000, v_f = 0.448124 dt = 0.004964, not at end yet tc id = 227, canon_type = 3, mot type = 2 time: 8.655000 primary movement = 4.480609994965e-04 time: 8.655000000001e+00 total movement = 4.480609994965e-04 vel = 4.481237585396e-01 ------------------- tc state : vr = 0.448124, vf = 0.448124, maxvel = 0.448124, current_vel = 0.448124, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.448124, acc = 0.000000,T = 0.005442, P = 0.003666 initial results: dx= 0.001776,dt = 0.003964, a_f = 0.000000, v_f = 0.448124 dt = 0.003964, not at end yet tc id = 227, canon_type = 3, mot type = 2 time: 8.656000 primary movement = 4.480609994964e-04 time: 8.656000000001e+00 total movement = 4.480609994964e-04 vel = 4.481237585396e-01 ------------------- tc state : vr = 0.448124, vf = 0.448124, maxvel = 0.448124, current_vel = 0.448124, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.448124, acc = 0.000000,T = 0.005442, P = 0.004114 initial results: dx= 0.001328,dt = 0.002964, a_f = 0.000000, v_f = 0.448124 dt = 0.002964, not at end yet tc id = 227, canon_type = 3, mot type = 2 time: 8.657000 primary movement = 4.480609994964e-04 time: 8.657000000001e+00 total movement = 4.480609994964e-04 vel = 4.481237585396e-01 ------------------- tc state : vr = 0.448124, vf = 0.448124, maxvel = 0.448124, current_vel = 0.448124, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.448124, acc = 0.000000,T = 0.005442, P = 0.004562 initial results: dx= 0.000880,dt = 0.001964, a_f = 0.000000, v_f = 0.448124 dt = 0.001964, not at end yet tc id = 227, canon_type = 3, mot type = 2 time: 8.658000 primary movement = 4.480609994964e-04 time: 8.658000000001e+00 total movement = 4.480609994964e-04 vel = 4.481237585396e-01 ------------------- tc state : vr = 0.448124, vf = 0.448124, maxvel = 0.448124, current_vel = 0.448124, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.448124, acc = 0.000000,T = 0.005442, P = 0.005010 initial results: dx= 0.000432,dt = 0.000964, a_f = 0.000000, v_f = 0.448124 actual v_f = 0.448124, a = 0.000000 split time is 0.00096372 tc id = 227, canon_type = 3, mot type = 2 time: 8.659000 primary movement = 4.480609994965e-04 time: 8.659000000001e+00 total movement = 4.480609994965e-04 vel = 4.481237585396e-01 ------------------- tc id 227 done Finishing split-cycle on id 227 tc state : vr = 1.168327, vf = 0.368379, maxvel = 10.500546, current_vel = 0.449495, fs = 1.000000, tc = 0.000036, term = 3 tc result: v = 0.449495, acc = 37.802116,T = 0.002453, P = 0.000016 initial results: dx= 0.002437,dt = 0.005960, a_f = -13.610454, v_f = 0.368379 dt = 0.005960, not at end yet secondary movement = 0.000016 tc id = 227, canon_type = 2, mot type = 1 time: 8.660000 primary movement = 4.318096633381e-04 time: 8.660000000001e+00 total movement = 4.480924634725e-04 vel = 4.494952186373e-01 Finished tc id 227 ------------------- Activate tc id = 227 target_vel = 1.168327 final_vel = 0.368379 length = 0.002453 tc state : vr = 1.168327, vf = 0.368379, maxvel = 10.500546, current_vel = 0.487297, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.487297, acc = 37.802116,T = 0.002453, P = 0.000485 initial results: dx= 0.001969,dt = 0.004602, a_f = -25.841951, v_f = 0.368379 dt = 0.004602, not at end yet tc id = 227, canon_type = 2, mot type = 1 time: 8.661000 primary movement = 4.683962768087e-04 time: 8.661000000001e+00 total movement = 4.683962768087e-04 vel = 4.872973349802e-01 ------------------- tc state : vr = 1.168327, vf = 0.368379, maxvel = 10.500546, current_vel = 0.497325, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.497325, acc = 10.027900,T = 0.002453, P = 0.000977 initial results: dx= 0.001476,dt = 0.003411, a_f = -37.802116, v_f = 0.368379 dt = 0.003411, not at end yet tc id = 227, canon_type = 2, mot type = 1 time: 8.662000 primary movement = 4.923112849979e-04 time: 8.662000000001e+00 total movement = 4.923112849979e-04 vel = 4.973252350155e-01 ------------------- tc state : vr = 1.168327, vf = 0.368379, maxvel = 10.500546, current_vel = 0.459523, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.459523, acc = -37.802116,T = 0.002453, P = 0.001455 on final decel initial results: dx= 0.000998,dt = 0.002411, a_f = -37.802116, v_f = 0.368379 dt = 0.002411, not at end yet tc id = 227, canon_type = 2, mot type = 1 time: 8.663000 primary movement = 4.784241768440e-04 time: 8.663000000001e+00 total movement = 4.784241768440e-04 vel = 4.595231186726e-01 ------------------- tc state : vr = 1.168327, vf = 0.368379, maxvel = 10.500546, current_vel = 0.421721, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.421721, acc = -37.802116,T = 0.002453, P = 0.001896 on final decel initial results: dx= 0.000557,dt = 0.001411, a_f = -37.802116, v_f = 0.368379 dt = 0.001411, not at end yet tc id = 227, canon_type = 2, mot type = 1 time: 8.664000 primary movement = 4.406220605012e-04 time: 8.664000000001e+00 total movement = 4.406220605012e-04 vel = 4.217210023297e-01 ------------------- tc state : vr = 1.168327, vf = 0.368379, maxvel = 10.500546, current_vel = 0.383919, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.383919, acc = -37.802116,T = 0.002453, P = 0.002299 on final decel initial results: dx= 0.000155,dt = 0.000411, a_f = -37.802116, v_f = 0.368379 recalculating with a_f = -37.802116, a = -37.802116 revised dt = 0.000411 actual v_f = 0.368379, a = -37.802116 split time is 0.000411086 tc id = 227, canon_type = 2, mot type = 1 time: 8.665000 primary movement = 4.028199441583e-04 time: 8.665000000001e+00 total movement = 4.028199441583e-04 vel = 3.839188859869e-01 ------------------- tc id 227 done Finishing split-cycle on id 228 tc state : vr = 0.368379, vf = 0.368379, maxvel = 0.368379, current_vel = 0.368379, fs = 1.000000, tc = 0.000589, term = 3 tc result: v = 0.368379, acc = 0.000000,T = 0.004279, P = 0.000217 initial results: dx= 0.004062,dt = 0.011027, a_f = 0.000000, v_f = 0.368379 dt = 0.011027, not at end yet secondary movement = 0.000217 tc id = 228, canon_type = 3, mot type = 2 time: 8.666000 primary movement = 1.546295475963e-04 time: 8.666000000001e+00 total movement = 3.715574941951e-04 vel = 3.683789661759e-01 Finished tc id 227 ------------------- Activate tc id = 228 target_vel = 0.368379 final_vel = 0.368379 length = 0.004279 tc state : vr = 0.368379, vf = 0.368379, maxvel = 0.368379, current_vel = 0.368379, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.368379, acc = 0.000000,T = 0.004279, P = 0.000585 initial results: dx= 0.003694,dt = 0.010027, a_f = 0.000000, v_f = 0.368379 dt = 0.010027, not at end yet tc id = 228, canon_type = 3, mot type = 2 time: 8.667000 primary movement = 3.683026229155e-04 time: 8.667000000001e+00 total movement = 3.683026229155e-04 vel = 3.683789661759e-01 ------------------- tc state : vr = 0.368379, vf = 0.368379, maxvel = 0.368379, current_vel = 0.368379, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.368379, acc = 0.000000,T = 0.004279, P = 0.000954 initial results: dx= 0.003325,dt = 0.009027, a_f = 0.000000, v_f = 0.368379 dt = 0.009027, not at end yet tc id = 228, canon_type = 3, mot type = 2 time: 8.668000 primary movement = 3.683026229155e-04 time: 8.668000000001e+00 total movement = 3.683026229155e-04 vel = 3.683789661759e-01 ------------------- tc state : vr = 0.368379, vf = 0.368379, maxvel = 0.368379, current_vel = 0.368379, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.368379, acc = 0.000000,T = 0.004279, P = 0.001322 initial results: dx= 0.002957,dt = 0.008027, a_f = 0.000000, v_f = 0.368379 dt = 0.008027, not at end yet tc id = 228, canon_type = 3, mot type = 2 time: 8.669000 primary movement = 3.683026229155e-04 time: 8.669000000001e+00 total movement = 3.683026229155e-04 vel = 3.683789661759e-01 ------------------- tc state : vr = 0.368379, vf = 0.368379, maxvel = 0.368379, current_vel = 0.368379, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.368379, acc = 0.000000,T = 0.004279, P = 0.001690 initial results: dx= 0.002589,dt = 0.007027, a_f = 0.000000, v_f = 0.368379 dt = 0.007027, not at end yet tc id = 228, canon_type = 3, mot type = 2 time: 8.670000 primary movement = 3.683026229156e-04 time: 8.670000000001e+00 total movement = 3.683026229156e-04 vel = 3.683789661759e-01 ------------------- tc state : vr = 0.368379, vf = 0.368379, maxvel = 0.368379, current_vel = 0.368379, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.368379, acc = 0.000000,T = 0.004279, P = 0.002059 initial results: dx= 0.002220,dt = 0.006027, a_f = 0.000000, v_f = 0.368379 dt = 0.006027, not at end yet tc id = 228, canon_type = 3, mot type = 2 time: 8.671000 primary movement = 3.683026229155e-04 time: 8.671000000001e+00 total movement = 3.683026229155e-04 vel = 3.683789661759e-01 ------------------- tc state : vr = 0.368379, vf = 0.368379, maxvel = 0.368379, current_vel = 0.368379, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.368379, acc = 0.000000,T = 0.004279, P = 0.002427 initial results: dx= 0.001852,dt = 0.005027, a_f = 0.000000, v_f = 0.368379 dt = 0.005027, not at end yet tc id = 228, canon_type = 3, mot type = 2 time: 8.672000 primary movement = 3.683026229154e-04 time: 8.672000000001e+00 total movement = 3.683026229154e-04 vel = 3.683789661759e-01 ------------------- tc state : vr = 0.368379, vf = 0.368379, maxvel = 0.368379, current_vel = 0.368379, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.368379, acc = 0.000000,T = 0.004279, P = 0.002796 initial results: dx= 0.001483,dt = 0.004027, a_f = 0.000000, v_f = 0.368379 dt = 0.004027, not at end yet tc id = 228, canon_type = 3, mot type = 2 time: 8.673000 primary movement = 3.683026229155e-04 time: 8.673000000001e+00 total movement = 3.683026229155e-04 vel = 3.683789661759e-01 ------------------- tc state : vr = 0.368379, vf = 0.368379, maxvel = 0.368379, current_vel = 0.368379, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.368379, acc = 0.000000,T = 0.004279, P = 0.003164 initial results: dx= 0.001115,dt = 0.003027, a_f = 0.000000, v_f = 0.368379 dt = 0.003027, not at end yet tc id = 228, canon_type = 3, mot type = 2 time: 8.674000 primary movement = 3.683026229155e-04 time: 8.674000000001e+00 total movement = 3.683026229155e-04 vel = 3.683789661759e-01 ------------------- tc state : vr = 0.368379, vf = 0.368379, maxvel = 0.368379, current_vel = 0.368379, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.368379, acc = 0.000000,T = 0.004279, P = 0.003532 initial results: dx= 0.000747,dt = 0.002027, a_f = 0.000000, v_f = 0.368379 dt = 0.002027, not at end yet tc id = 228, canon_type = 3, mot type = 2 time: 8.675000 primary movement = 3.683026229156e-04 time: 8.675000000001e+00 total movement = 3.683026229156e-04 vel = 3.683789661759e-01 ------------------- tc state : vr = 0.368379, vf = 0.368379, maxvel = 0.368379, current_vel = 0.368379, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.368379, acc = 0.000000,T = 0.004279, P = 0.003901 initial results: dx= 0.000378,dt = 0.001027, a_f = 0.000000, v_f = 0.368379 dt = 0.001027, not at end yet tc id = 228, canon_type = 3, mot type = 2 time: 8.676000 primary movement = 3.683026229155e-04 time: 8.676000000001e+00 total movement = 3.683026229155e-04 vel = 3.683789661759e-01 ------------------- tc state : vr = 0.368379, vf = 0.368379, maxvel = 0.368379, current_vel = 0.368379, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.368379, acc = 0.000000,T = 0.004279, P = 0.004269 initial results: dx= 0.000010,dt = 0.000027, a_f = 0.000000, v_f = 0.368379 actual v_f = 0.368379, a = 0.000000 split time is 2.68968e-05 tc id = 228, canon_type = 3, mot type = 2 time: 8.677000 primary movement = 3.683026229154e-04 time: 8.677000000001e+00 total movement = 3.683026229154e-04 vel = 3.683789661759e-01 ------------------- tc id 228 done Finishing split-cycle on id 228 tc state : vr = 1.510793, vf = 0.193030, maxvel = 8.448247, current_vel = 0.397975, fs = 1.000000, tc = 0.000973, term = 3 tc result: v = 0.397975, acc = 30.413813,T = 0.003173, P = 0.000373 initial results: dx= 0.002800,dt = 0.009475, a_f = -21.630773, v_f = 0.193030 dt = 0.009475, not at end yet secondary movement = 0.000373 tc id = 228, canon_type = 2, mot type = 1 time: 8.678000 primary movement = 9.908200209023e-06 time: 8.678000000001e+00 total movement = 3.827788391309e-04 vel = 3.979747457210e-01 Finished tc id 228 ------------------- Activate tc id = 228 target_vel = 1.510793 final_vel = 0.193030 length = 0.003173 tc state : vr = 1.510793, vf = 0.193030, maxvel = 8.448247, current_vel = 0.427165, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.427165, acc = 29.189957,T = 0.003173, P = 0.000785 initial results: dx= 0.002387,dt = 0.007698, a_f = -30.413813, v_f = 0.193030 dt = 0.007698, not at end yet tc id = 228, canon_type = 2, mot type = 1 time: 8.679000 primary movement = 4.125697244133e-04 time: 8.679000000001e+00 total movement = 4.125697244133e-04 vel = 4.271647031058e-01 ------------------- tc state : vr = 1.510793, vf = 0.193030, maxvel = 8.448247, current_vel = 0.396751, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.396751, acc = -30.413813,T = 0.003173, P = 0.001197 on final decel initial results: dx= 0.001975,dt = 0.006698, a_f = -30.413813, v_f = 0.193030 dt = 0.006698, not at end yet tc id = 228, canon_type = 2, mot type = 1 time: 8.680000 primary movement = 4.119577967801e-04 time: 8.680000000001e+00 total movement = 4.119577967801e-04 vel = 3.967508904543e-01 ------------------- tc state : vr = 1.510793, vf = 0.193030, maxvel = 8.448247, current_vel = 0.366337, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.366337, acc = -30.413813,T = 0.003173, P = 0.001579 on final decel initial results: dx= 0.001594,dt = 0.005698, a_f = -30.413813, v_f = 0.193030 dt = 0.005698, not at end yet tc id = 228, canon_type = 2, mot type = 1 time: 8.681000 primary movement = 3.815439841286e-04 time: 8.681000000001e+00 total movement = 3.815439841286e-04 vel = 3.663370778028e-01 ------------------- tc state : vr = 1.510793, vf = 0.193030, maxvel = 8.448247, current_vel = 0.335923, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.335923, acc = -30.413813,T = 0.003173, P = 0.001930 on final decel initial results: dx= 0.001243,dt = 0.004698, a_f = -30.413813, v_f = 0.193030 dt = 0.004698, not at end yet tc id = 228, canon_type = 2, mot type = 1 time: 8.682000 primary movement = 3.511301714770e-04 time: 8.682000000001e+00 total movement = 3.511301714770e-04 vel = 3.359232651513e-01 ------------------- tc state : vr = 1.510793, vf = 0.193030, maxvel = 8.448247, current_vel = 0.305509, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.305509, acc = -30.413813,T = 0.003173, P = 0.002251 on final decel initial results: dx= 0.000922,dt = 0.003698, a_f = -30.413813, v_f = 0.193030 dt = 0.003698, not at end yet tc id = 228, canon_type = 2, mot type = 1 time: 8.683000 primary movement = 3.207163588256e-04 time: 8.683000000001e+00 total movement = 3.207163588256e-04 vel = 3.055094524998e-01 ------------------- tc state : vr = 1.510793, vf = 0.193030, maxvel = 8.448247, current_vel = 0.275096, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.275096, acc = -30.413813,T = 0.003173, P = 0.002541 on final decel initial results: dx= 0.000632,dt = 0.002698, a_f = -30.413813, v_f = 0.193030 recalculating with a_f = -30.413813, a = -30.413813 revised dt = 0.002698 dt = 0.002698, not at end yet tc id = 228, canon_type = 2, mot type = 1 time: 8.684000 primary movement = 2.903025461741e-04 time: 8.684000000001e+00 total movement = 2.903025461741e-04 vel = 2.750956398483e-01 ------------------- tc state : vr = 1.510793, vf = 0.193030, maxvel = 8.448247, current_vel = 0.244682, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.244682, acc = -30.413813,T = 0.003173, P = 0.002801 on final decel initial results: dx= 0.000372,dt = 0.001698, a_f = -30.413813, v_f = 0.193030 recalculating with a_f = -30.413813, a = -30.413813 revised dt = 0.001698 dt = 0.001698, not at end yet tc id = 228, canon_type = 2, mot type = 1 time: 8.685000 primary movement = 2.598887335226e-04 time: 8.685000000001e+00 total movement = 2.598887335226e-04 vel = 2.446818271968e-01 ------------------- tc state : vr = 1.510793, vf = 0.193030, maxvel = 8.448247, current_vel = 0.214268, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.214268, acc = -30.413813,T = 0.003173, P = 0.003030 on final decel initial results: dx= 0.000142,dt = 0.000698, a_f = -30.413813, v_f = 0.193030 recalculating with a_f = -30.413813, a = -30.413813 revised dt = 0.000698 actual v_f = 0.193030, a = -30.413813 split time is 0.000698313 tc id = 228, canon_type = 2, mot type = 1 time: 8.686000 primary movement = 2.294749208710e-04 time: 8.686000000001e+00 total movement = 2.294749208710e-04 vel = 2.142680145453e-01 ------------------- tc id 228 done Finishing split-cycle on id 229 tc state : vr = 0.226534, vf = 0.000000, maxvel = 0.226534, current_vel = 0.188504, fs = 1.000000, tc = 0.000302, term = 3 tc result: v = 0.188504, acc = -15.000000,T = 0.001242, P = 0.000058 on final decel initial results: dx= 0.001184,dt = 0.012567, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.012567 dt = 0.012567, not at end yet secondary movement = 0.000058 tc id = 229, canon_type = 3, mot type = 2 time: 8.687000 primary movement = 1.422106747198e-04 time: 8.687000000001e+00 total movement = 1.997605157643e-04 vel = 1.885043450873e-01 Finished tc id 228 ------------------- Activate tc id = 229 target_vel = 0.226534 final_vel = 0.000000 length = 0.001242 tc state : vr = 0.226534, vf = 0.000000, maxvel = 0.226534, current_vel = 0.173504, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.173504, acc = -15.000000,T = 0.001242, P = 0.000239 on final decel initial results: dx= 0.001003,dt = 0.011567, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.011567 dt = 0.011567, not at end yet tc id = 229, canon_type = 3, mot type = 2 time: 8.688000 primary movement = 1.809410198891e-04 time: 8.688000000001e+00 total movement = 1.809410198891e-04 vel = 1.735043450873e-01 ------------------- tc state : vr = 0.226534, vf = 0.000000, maxvel = 0.226534, current_vel = 0.158504, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.158504, acc = -15.000000,T = 0.001242, P = 0.000405 on final decel initial results: dx= 0.000837,dt = 0.010567, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.010567 dt = 0.010567, not at end yet tc id = 229, canon_type = 3, mot type = 2 time: 8.689000 primary movement = 1.659554938954e-04 time: 8.689000000001e+00 total movement = 1.659554938954e-04 vel = 1.585043450873e-01 ------------------- tc state : vr = 0.226534, vf = 0.000000, maxvel = 0.226534, current_vel = 0.143504, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.143504, acc = -15.000000,T = 0.001242, P = 0.000556 on final decel initial results: dx= 0.000686,dt = 0.009567, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.009567 dt = 0.009567, not at end yet tc id = 229, canon_type = 3, mot type = 2 time: 8.690000 primary movement = 1.509675752466e-04 time: 8.690000000001e+00 total movement = 1.509675752466e-04 vel = 1.435043450873e-01 ------------------- tc state : vr = 0.226534, vf = 0.000000, maxvel = 0.226534, current_vel = 0.128504, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.128504, acc = -15.000000,T = 0.001242, P = 0.000692 on final decel initial results: dx= 0.000550,dt = 0.008567, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.008567 dt = 0.008567, not at end yet tc id = 229, canon_type = 3, mot type = 2 time: 8.691000 primary movement = 1.359774800310e-04 time: 8.691000000001e+00 total movement = 1.359774800310e-04 vel = 1.285043450873e-01 ------------------- tc state : vr = 0.226534, vf = 0.000000, maxvel = 0.226534, current_vel = 0.113504, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.113504, acc = -15.000000,T = 0.001242, P = 0.000813 on final decel initial results: dx= 0.000429,dt = 0.007567, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.007567 dt = 0.007567, not at end yet tc id = 229, canon_type = 3, mot type = 2 time: 8.692000 primary movement = 1.209854243669e-04 time: 8.692000000001e+00 total movement = 1.209854243669e-04 vel = 1.135043450873e-01 ------------------- tc state : vr = 0.226534, vf = 0.000000, maxvel = 0.226534, current_vel = 0.098504, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.098504, acc = -15.000000,T = 0.001242, P = 0.000919 on final decel initial results: dx= 0.000323,dt = 0.006567, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.006567 dt = 0.006567, not at end yet tc id = 229, canon_type = 3, mot type = 2 time: 8.693000 primary movement = 1.059916244020e-04 time: 8.693000000001e+00 total movement = 1.059916244020e-04 vel = 9.850434508728e-02 ------------------- tc state : vr = 0.226534, vf = 0.000000, maxvel = 0.226534, current_vel = 0.083504, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.083504, acc = -15.000000,T = 0.001242, P = 0.001010 on final decel initial results: dx= 0.000232,dt = 0.005567, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.005567 dt = 0.005567, not at end yet tc id = 229, canon_type = 3, mot type = 2 time: 8.694000 primary movement = 9.099629630824e-05 time: 8.694000000001e+00 total movement = 9.099629630824e-05 vel = 8.350434508728e-02 ------------------- tc state : vr = 0.226534, vf = 0.000000, maxvel = 0.226534, current_vel = 0.068504, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.068504, acc = -15.000000,T = 0.001242, P = 0.001086 on final decel initial results: dx= 0.000156,dt = 0.004567, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.004567 dt = 0.004567, not at end yet tc id = 229, canon_type = 3, mot type = 2 time: 8.695000 primary movement = 7.599965628012e-05 time: 8.695000000001e+00 total movement = 7.599965628012e-05 vel = 6.850434508728e-02 ------------------- tc state : vr = 0.226534, vf = 0.000000, maxvel = 0.226534, current_vel = 0.053504, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.053504, acc = -15.000000,T = 0.001242, P = 0.001147 on final decel initial results: dx= 0.000095,dt = 0.003567, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.003567 dt = 0.003567, not at end yet tc id = 229, canon_type = 3, mot type = 2 time: 8.696000 primary movement = 6.100192053101e-05 time: 8.696000000001e+00 total movement = 6.100192053101e-05 vel = 5.350434508728e-02 ------------------- tc state : vr = 0.226534, vf = 0.000000, maxvel = 0.226534, current_vel = 0.038504, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.038504, acc = -15.000000,T = 0.001242, P = 0.001193 on final decel initial results: dx= 0.000049,dt = 0.002567, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.002567 dt = 0.002567, not at end yet tc id = 229, canon_type = 3, mot type = 2 time: 8.697000 primary movement = 4.600330528983e-05 time: 8.697000000001e+00 total movement = 4.600330528983e-05 vel = 3.850434508728e-02 ------------------- tc state : vr = 0.226534, vf = 0.000000, maxvel = 0.226534, current_vel = 0.023504, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.023504, acc = -15.000000,T = 0.001242, P = 0.001224 on final decel initial results: dx= 0.000018,dt = 0.001567, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.001567 dt = 0.001567, not at end yet tc id = 229, canon_type = 3, mot type = 2 time: 8.698000 primary movement = 3.100402679834e-05 time: 8.698000000001e+00 total movement = 3.100402679834e-05 vel = 2.350434508728e-02 ------------------- tc state : vr = 0.226534, vf = 0.000000, maxvel = 0.226534, current_vel = 0.008504, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.008504, acc = -15.000000,T = 0.001242, P = 0.001240 on final decel initial results: dx= 0.000002,dt = 0.000567, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.000567 actual v_f = 0.000000, a = -15.000000 split time is 0.000566956 tc id = 229, canon_type = 3, mot type = 2 time: 8.699000 primary movement = 1.600430130800e-05 time: 8.699000000001e+00 total movement = 1.600430130800e-05 vel = 8.504345087282e-03 ------------------- tc id 229 done Finishing split-cycle on id 229 tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.007262, fs = 1.000000, tc = 0.000433, term = 2 tc result: v = 0.007262, acc = 16.770510,T = 0.001594, P = 0.000002 secondary movement = 0.000002 tc id = 229, canon_type = 2, mot type = 1 time: 8.700000 primary movement = 2.410796029180e-06 time: 8.700000000001e+00 total movement = 3.983258669016e-06 vel = 7.262368781691e-03 Finished tc id 229 ------------------- Activate tc id = 229 target_vel = 9.316913 final_vel = 0.000000 length = 0.001594 Activate nexttc id 230 tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.024033, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.024033, acc = 16.770510,T = 0.001594, P = 0.000017 tc id = 229, canon_type = 2, mot type = 1 time: 8.701000 primary movement = 1.564762369730e-05 time: 8.701000000001e+00 total movement = 1.564762369730e-05 vel = 2.403287861294e-02 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.040803, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.040803, acc = 16.770510,T = 0.001594, P = 0.000050 tc id = 229, canon_type = 2, mot type = 1 time: 8.702000 primary movement = 3.241813352855e-05 time: 8.702000000001e+00 total movement = 3.241813352855e-05 vel = 4.080338844419e-02 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.057574, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.057574, acc = 16.770510,T = 0.001594, P = 0.000099 tc id = 229, canon_type = 2, mot type = 1 time: 8.703000 primary movement = 4.918864335987e-05 time: 8.703000000001e+00 total movement = 4.918864335987e-05 vel = 5.757389827544e-02 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.074344, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.074344, acc = 16.770510,T = 0.001594, P = 0.000165 tc id = 229, canon_type = 2, mot type = 1 time: 8.704000 primary movement = 6.595915319102e-05 time: 8.704000000001e+00 total movement = 6.595915319102e-05 vel = 7.434440810668e-02 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.091115, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.091115, acc = 16.770510,T = 0.001594, P = 0.000248 tc id = 229, canon_type = 2, mot type = 1 time: 8.705000 primary movement = 8.272966302236e-05 time: 8.705000000001e+00 total movement = 8.272966302236e-05 vel = 9.111491793793e-02 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.107885, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.107885, acc = 16.770510,T = 0.001594, P = 0.000347 tc id = 229, canon_type = 2, mot type = 1 time: 8.706000 primary movement = 9.950017285348e-05 time: 8.706000000001e+00 total movement = 9.950017285348e-05 vel = 1.078854277692e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.124656, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.124656, acc = 16.770510,T = 0.001594, P = 0.000463 tc id = 229, canon_type = 2, mot type = 1 time: 8.707000 primary movement = 1.162706826848e-04 time: 8.707000000001e+00 total movement = 1.162706826848e-04 vel = 1.246559376004e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.141426, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.141426, acc = 16.770510,T = 0.001594, P = 0.000596 tc id = 229, canon_type = 2, mot type = 1 time: 8.708000 primary movement = 1.330411925161e-04 time: 8.708000000001e+00 total movement = 1.330411925161e-04 vel = 1.414264474317e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.158197, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.158197, acc = 16.770510,T = 0.001594, P = 0.000746 tc id = 229, canon_type = 2, mot type = 1 time: 8.709000 primary movement = 1.498117023473e-04 time: 8.709000000001e+00 total movement = 1.498117023473e-04 vel = 1.581969572629e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.152385, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.152385, acc = -5.811545,T = 0.001594, P = 0.000901 on final decel tc id = 229, canon_type = 2, mot type = 1 tc state : vr = 0.005812, vf = 0.005812, maxvel = 9.229923, current_vel = 0.005812, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.005812, acc = 5.811545,T = 0.004014, P = 0.000003 initial results: dx= 0.004011,dt = 0.040283, a_f = 4.654933, v_f = 0.193326 dt = 0.040283, not at end yet tc id = 229, canon_type = 2, mot type = 1 secondary movement = 0.000003 time: 8.710000 primary movement = 1.552911848008e-04 time: 8.710000000001e+00 total movement = 1.581969572629e-04 vel = 1.581969572629e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.135615, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.135615, acc = -16.770510,T = 0.001594, P = 0.001045 on final decel tc id = 229, canon_type = 2, mot type = 1 tc state : vr = 0.022582, vf = 0.022582, maxvel = 9.229923, current_vel = 0.022425, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.022425, acc = 16.613862,T = 0.004014, P = 0.000017 initial results: dx= 0.003997,dt = 0.037050, a_f = 4.612689, v_f = 0.193326 dt = 0.037050, not at end yet tc id = 229, canon_type = 2, mot type = 1 secondary movement = 0.000014 time: 8.711000 primary movement = 1.440001574231e-04 time: 8.711000000001e+00 total movement = 1.581186333113e-04 vel = 1.580403093597e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.118844, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.118844, acc = -16.770510,T = 0.001594, P = 0.001173 on final decel tc id = 229, canon_type = 2, mot type = 1 tc state : vr = 0.039353, vf = 0.039353, maxvel = 9.229923, current_vel = 0.039039, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.039039, acc = 16.613862,T = 0.004014, P = 0.000048 initial results: dx= 0.003966,dt = 0.034137, a_f = 4.519694, v_f = 0.193326 dt = 0.034137, not at end yet tc id = 229, canon_type = 2, mot type = 1 secondary movement = 0.000031 time: 8.712000 primary movement = 1.272296475918e-04 time: 8.712000000001e+00 total movement = 1.579619854081e-04 vel = 1.578836614565e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.102074, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.102074, acc = -16.770510,T = 0.001594, P = 0.001283 on final decel tc id = 229, canon_type = 2, mot type = 1 tc state : vr = 0.056123, vf = 0.056123, maxvel = 9.229923, current_vel = 0.055653, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.055653, acc = 16.613862,T = 0.004014, P = 0.000095 initial results: dx= 0.003919,dt = 0.031478, a_f = 4.373572, v_f = 0.193326 dt = 0.031478, not at end yet tc id = 229, canon_type = 2, mot type = 1 secondary movement = 0.000047 time: 8.713000 primary movement = 1.104591377606e-04 time: 8.713000000001e+00 total movement = 1.578053375049e-04 vel = 1.577270135532e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.085303, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.085303, acc = -16.770510,T = 0.001594, P = 0.001377 on final decel tc id = 229, canon_type = 2, mot type = 1 tc state : vr = 0.072894, vf = 0.072894, maxvel = 9.229923, current_vel = 0.072267, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.072267, acc = 16.613862,T = 0.004014, P = 0.000159 initial results: dx= 0.003855,dt = 0.029028, a_f = 4.170476, v_f = 0.193326 dt = 0.029028, not at end yet tc id = 229, canon_type = 2, mot type = 1 secondary movement = 0.000064 time: 8.714000 primary movement = 9.368862792937e-05 time: 8.714000000001e+00 total movement = 1.576486896017e-04 vel = 1.575703656500e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.068533, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.068533, acc = -16.770510,T = 0.001594, P = 0.001454 on final decel tc id = 229, canon_type = 2, mot type = 1 tc state : vr = 0.089664, vf = 0.089664, maxvel = 9.229923, current_vel = 0.088881, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.088881, acc = 16.613862,T = 0.004014, P = 0.000240 initial results: dx= 0.003774,dt = 0.026748, a_f = 3.904827, v_f = 0.193326 dt = 0.026748, not at end yet tc id = 230, canon_type = 2, mot type = 1 secondary movement = 0.000081 time: 8.715000 primary movement = 7.691811809803e-05 time: 8.715000000001e+00 total movement = 1.574920416983e-04 vel = 1.574137177468e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.051762, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.051762, acc = -16.770510,T = 0.001594, P = 0.001514 on final decel tc id = 229, canon_type = 2, mot type = 1 tc state : vr = 0.106435, vf = 0.106435, maxvel = 9.229923, current_vel = 0.105495, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.105495, acc = 16.613862,T = 0.004014, P = 0.000337 initial results: dx= 0.003677,dt = 0.024610, a_f = 3.568912, v_f = 0.193326 dt = 0.024610, not at end yet tc id = 230, canon_type = 2, mot type = 1 secondary movement = 0.000097 time: 8.716000 primary movement = 6.014760826689e-05 time: 8.716000000001e+00 total movement = 1.573353937952e-04 vel = 1.572570698435e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.034992, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.034992, acc = -16.770510,T = 0.001594, P = 0.001557 on final decel tc id = 229, canon_type = 2, mot type = 1 tc state : vr = 0.123205, vf = 0.123205, maxvel = 9.229923, current_vel = 0.122109, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.122109, acc = 16.613862,T = 0.004014, P = 0.000451 initial results: dx= 0.003563,dt = 0.022592, a_f = 3.152283, v_f = 0.193326 dt = 0.022592, not at end yet tc id = 230, canon_type = 2, mot type = 1 secondary movement = 0.000114 time: 8.717000 primary movement = 4.337709843556e-05 time: 8.717000000001e+00 total movement = 1.571787458919e-04 vel = 1.571004219403e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.018221, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.018221, acc = -16.770510,T = 0.001594, P = 0.001584 on final decel tc id = 229, canon_type = 2, mot type = 1 tc state : vr = 0.139976, vf = 0.139976, maxvel = 9.229923, current_vel = 0.138722, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.138722, acc = 16.613862,T = 0.004014, P = 0.000581 initial results: dx= 0.003433,dt = 0.020676, a_f = 2.640863, v_f = 0.193326 dt = 0.020676, not at end yet tc id = 230, canon_type = 2, mot type = 1 secondary movement = 0.000130 time: 8.718000 primary movement = 2.660658860431e-05 time: 8.718000000001e+00 total movement = 1.570220979886e-04 vel = 1.569437740371e-01 ------------------- tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.001451, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.001451, acc = -16.770510,T = 0.001594, P = 0.001594 on final decel tc id = 229, canon_type = 2, mot type = 1 tc state : vr = 0.156746, vf = 0.156746, maxvel = 9.229923, current_vel = 0.155336, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.155336, acc = 16.613862,T = 0.004014, P = 0.000728 initial results: dx= 0.003286,dt = 0.018848, a_f = 2.015608, v_f = 0.193326 dt = 0.018848, not at end yet tc id = 230, canon_type = 2, mot type = 1 secondary movement = 0.000147 time: 8.719000 primary movement = 9.836078773090e-06 time: 8.719000000001e+00 total movement = 1.568654500855e-04 vel = 1.567871261339e-01 ------------------- Found newvel = -0.001451, assuming segment is done segment 229 at target in runcycle tc state : vr = 9.316913, vf = 0.000000, maxvel = 9.316913, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.001594, P = 0.001594 tc id = 229, canon_type = 2, mot type = 1 tc state : vr = 0.158197, vf = 0.158197, maxvel = 9.229923, current_vel = 0.158197, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.158197, acc = 2.860655,T = 0.004014, P = 0.000885 initial results: dx= 0.003129,dt = 0.017803, a_f = 1.973270, v_f = 0.193326 dt = 0.017803, not at end yet tc id = 230, canon_type = 2, mot type = 1 secondary movement = 0.000157 time: 8.720000 primary movement = 6.275569101166e-08 time: 8.720000000001e+00 total movement = 1.568293854607e-04 vel = 1.581969572629e-01 Finished tc id 229 ------------------- tc state : vr = 1.911350, vf = 0.193326, maxvel = 9.229923, current_vel = 0.174811, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.174811, acc = 16.613862,T = 0.004014, P = 0.001051 initial results: dx= 0.002962,dt = 0.016095, a_f = 1.150410, v_f = 0.193326 dt = 0.016095, not at end yet tc id = 230, canon_type = 2, mot type = 1 time: 8.721000 primary movement = 1.665038882269e-04 time: 8.721000000001e+00 total movement = 1.665038882269e-04 vel = 1.748108191909e-01 ------------------- tc state : vr = 1.911350, vf = 0.193326, maxvel = 9.229923, current_vel = 0.191425, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.191425, acc = 16.613862,T = 0.004014, P = 0.001234 initial results: dx= 0.002779,dt = 0.014448, a_f = 0.131609, v_f = 0.193326 dt = 0.014448, not at end yet tc id = 230, canon_type = 2, mot type = 1 time: 8.722000 primary movement = 1.831177501550e-04 time: 8.722000000001e+00 total movement = 1.831177501550e-04 vel = 1.914246811190e-01 ------------------- tc state : vr = 1.911350, vf = 0.193326, maxvel = 9.229923, current_vel = 0.208039, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.208039, acc = 16.613862,T = 0.004014, P = 0.001434 initial results: dx= 0.002580,dt = 0.012854, a_f = -1.144546, v_f = 0.193326 dt = 0.012854, not at end yet tc id = 230, canon_type = 2, mot type = 1 time: 8.723000 primary movement = 1.997316120830e-04 time: 8.723000000001e+00 total movement = 1.997316120830e-04 vel = 2.080385430470e-01 ------------------- tc state : vr = 1.911350, vf = 0.193326, maxvel = 9.229923, current_vel = 0.224652, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.224652, acc = 16.613862,T = 0.004014, P = 0.001651 initial results: dx= 0.002363,dt = 0.011308, a_f = -2.770219, v_f = 0.193326 dt = 0.011308, not at end yet tc id = 230, canon_type = 2, mot type = 1 time: 8.724000 primary movement = 2.163454740110e-04 time: 8.724000000001e+00 total movement = 2.163454740110e-04 vel = 2.246524049750e-01 ------------------- tc state : vr = 1.911350, vf = 0.193326, maxvel = 9.229923, current_vel = 0.241266, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.241266, acc = 16.613862,T = 0.004014, P = 0.001883 initial results: dx= 0.002130,dt = 0.009804, a_f = -4.889929, v_f = 0.193326 dt = 0.009804, not at end yet tc id = 230, canon_type = 2, mot type = 1 time: 8.725000 primary movement = 2.329593359390e-04 time: 8.725000000001e+00 total movement = 2.329593359390e-04 vel = 2.412662669030e-01 ------------------- tc state : vr = 1.911350, vf = 0.193326, maxvel = 9.229923, current_vel = 0.257880, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.257880, acc = 16.613862,T = 0.004014, P = 0.002133 initial results: dx= 0.001881,dt = 0.008337, a_f = -7.743431, v_f = 0.193326 dt = 0.008337, not at end yet tc id = 230, canon_type = 2, mot type = 1 time: 8.726000 primary movement = 2.495731978670e-04 time: 8.726000000001e+00 total movement = 2.495731978670e-04 vel = 2.578801288310e-01 ------------------- tc state : vr = 1.911350, vf = 0.193326, maxvel = 9.229923, current_vel = 0.274494, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.274494, acc = 16.613862,T = 0.004014, P = 0.002399 initial results: dx= 0.001615,dt = 0.006903, a_f = -11.759087, v_f = 0.193326 dt = 0.006903, not at end yet tc id = 230, canon_type = 2, mot type = 1 time: 8.727000 primary movement = 2.661870597951e-04 time: 8.727000000001e+00 total movement = 2.661870597951e-04 vel = 2.744939907591e-01 ------------------- tc state : vr = 1.911350, vf = 0.193326, maxvel = 9.229923, current_vel = 0.285857, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.285857, acc = 11.362965,T = 0.004014, P = 0.002679 initial results: dx= 0.001334,dt = 0.005569, a_f = -16.613862, v_f = 0.193326 recalculating with a_f = -16.613862, a = -16.613862 revised dt = 0.005569 dt = 0.005569, not at end yet tc id = 230, canon_type = 2, mot type = 1 time: 8.728000 primary movement = 2.801754732878e-04 time: 8.728000000001e+00 total movement = 2.801754732878e-04 vel = 2.858569558166e-01 ------------------- tc state : vr = 1.911350, vf = 0.193326, maxvel = 9.229923, current_vel = 0.269243, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.269243, acc = -16.613862,T = 0.004014, P = 0.002957 on final decel initial results: dx= 0.001057,dt = 0.004569, a_f = -16.613862, v_f = 0.193326 recalculating with a_f = -16.613862, a = -16.613862 revised dt = 0.004569 dt = 0.004569, not at end yet tc id = 230, canon_type = 2, mot type = 1 time: 8.729000 primary movement = 2.775500248526e-04 time: 8.729000000001e+00 total movement = 2.775500248526e-04 vel = 2.692430938886e-01 ------------------- tc state : vr = 1.911350, vf = 0.193326, maxvel = 9.229923, current_vel = 0.252629, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.252629, acc = -16.613862,T = 0.004014, P = 0.003218 on final decel initial results: dx= 0.000796,dt = 0.003569, a_f = -16.613862, v_f = 0.193326 recalculating with a_f = -16.613862, a = -16.613862 revised dt = 0.003569 dt = 0.003569, not at end yet tc id = 230, canon_type = 2, mot type = 1 time: 8.730000 primary movement = 2.609361629245e-04 time: 8.730000000001e+00 total movement = 2.609361629245e-04 vel = 2.526292319605e-01 ------------------- tc state : vr = 1.911350, vf = 0.193326, maxvel = 9.229923, current_vel = 0.236015, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.236015, acc = -16.613862,T = 0.004014, P = 0.003462 on final decel initial results: dx= 0.000552,dt = 0.002569, a_f = -16.613862, v_f = 0.193326 recalculating with a_f = -16.613862, a = -16.613862 revised dt = 0.002569 dt = 0.002569, not at end yet tc id = 230, canon_type = 2, mot type = 1 time: 8.731000 primary movement = 2.443223009966e-04 time: 8.731000000001e+00 total movement = 2.443223009966e-04 vel = 2.360153700325e-01 ------------------- tc state : vr = 1.911350, vf = 0.193326, maxvel = 9.229923, current_vel = 0.219402, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.219402, acc = -16.613862,T = 0.004014, P = 0.003690 on final decel initial results: dx= 0.000324,dt = 0.001569, a_f = -16.613862, v_f = 0.193326 recalculating with a_f = -16.613862, a = -16.613862 revised dt = 0.001569 dt = 0.001569, not at end yet tc id = 230, canon_type = 2, mot type = 1 time: 8.732000 primary movement = 2.277084390685e-04 time: 8.732000000001e+00 total movement = 2.277084390685e-04 vel = 2.194015081045e-01 ------------------- tc state : vr = 1.911350, vf = 0.193326, maxvel = 9.229923, current_vel = 0.202788, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.202788, acc = -16.613862,T = 0.004014, P = 0.003901 on final decel initial results: dx= 0.000113,dt = 0.000569, a_f = -16.613862, v_f = 0.193326 recalculating with a_f = -16.613862, a = -16.613862 revised dt = 0.000569 actual v_f = 0.193326, a = -16.613862 split time is 0.000569496 tc id = 230, canon_type = 2, mot type = 1 time: 8.733000 primary movement = 2.110945771405e-04 time: 8.733000000001e+00 total movement = 2.110945771405e-04 vel = 2.027876461765e-01 ------------------- tc id 230 done Finishing split-cycle on id 231 tc state : vr = 0.193326, vf = 0.193326, maxvel = 0.193326, current_vel = 0.193326, fs = 1.000000, tc = 0.000431, term = 3 tc result: v = 0.193326, acc = -0.000000,T = 0.001201, P = 0.000083 initial results: dx= 0.001118,dt = 0.005782, a_f = 0.000000, v_f = 0.193326 dt = 0.005782, not at end yet secondary movement = 0.000083 tc id = 231, canon_type = 3, mot type = 2 time: 8.734000 primary movement = 1.127925379253e-04 time: 8.734000000001e+00 total movement = 1.960086648877e-04 vel = 1.933261237872e-01 Finished tc id 230 ------------------- Activate tc id = 231 target_vel = 0.193326 final_vel = 0.193326 length = 0.001201 tc state : vr = 0.193326, vf = 0.193326, maxvel = 0.193326, current_vel = 0.193326, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.193326, acc = 0.000000,T = 0.001201, P = 0.000277 initial results: dx= 0.000925,dt = 0.004782, a_f = 0.000000, v_f = 0.193326 dt = 0.004782, not at end yet tc id = 231, canon_type = 3, mot type = 2 time: 8.735000 primary movement = 1.931806770631e-04 time: 8.735000000001e+00 total movement = 1.931806770631e-04 vel = 1.933261237872e-01 ------------------- tc state : vr = 0.193326, vf = 0.193326, maxvel = 0.193326, current_vel = 0.193326, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.193326, acc = 0.000000,T = 0.001201, P = 0.000470 initial results: dx= 0.000731,dt = 0.003782, a_f = 0.000000, v_f = 0.193326 dt = 0.003782, not at end yet tc id = 231, canon_type = 3, mot type = 2 time: 8.736000 primary movement = 1.931806770631e-04 time: 8.736000000001e+00 total movement = 1.931806770631e-04 vel = 1.933261237872e-01 ------------------- tc state : vr = 0.193326, vf = 0.193326, maxvel = 0.193326, current_vel = 0.193326, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.193326, acc = 0.000000,T = 0.001201, P = 0.000663 initial results: dx= 0.000538,dt = 0.002782, a_f = 0.000000, v_f = 0.193326 dt = 0.002782, not at end yet tc id = 231, canon_type = 3, mot type = 2 time: 8.737000 primary movement = 1.931806770631e-04 time: 8.737000000001e+00 total movement = 1.931806770631e-04 vel = 1.933261237872e-01 ------------------- tc state : vr = 0.193326, vf = 0.193326, maxvel = 0.193326, current_vel = 0.193326, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.193326, acc = 0.000000,T = 0.001201, P = 0.000857 initial results: dx= 0.000345,dt = 0.001782, a_f = 0.000000, v_f = 0.193326 dt = 0.001782, not at end yet tc id = 231, canon_type = 3, mot type = 2 time: 8.738000 primary movement = 1.931806770632e-04 time: 8.738000000001e+00 total movement = 1.931806770632e-04 vel = 1.933261237872e-01 ------------------- tc state : vr = 0.193326, vf = 0.193326, maxvel = 0.193326, current_vel = 0.193326, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.193326, acc = 0.000000,T = 0.001201, P = 0.001050 initial results: dx= 0.000151,dt = 0.000782, a_f = 0.000000, v_f = 0.193326 actual v_f = 0.193326, a = 0.000000 split time is 0.000782243 tc id = 231, canon_type = 3, mot type = 2 time: 8.739000 primary movement = 1.931806770631e-04 time: 8.739000000001e+00 total movement = 1.931806770631e-04 vel = 1.933261237872e-01 ------------------- tc id 231 done Finishing split-cycle on id 231 tc state : vr = 0.278646, vf = 0.278646, maxvel = 8.700221, current_vel = 0.200146, fs = 1.000000, tc = 0.000218, term = 3 tc result: v = 0.200146, acc = 31.320920,T = 0.000643, P = 0.000043 initial results: dx= 0.000600,dt = 0.002506, a_f = 31.320920, v_f = 0.278646 dt = 0.002506, not at end yet secondary movement = 0.000043 tc id = 231, canon_type = 2, mot type = 1 time: 8.740000 primary movement = 1.511583749768e-04 time: 8.740000000001e+00 total movement = 1.939990881606e-04 vel = 2.001464743601e-01 Finished tc id 231 ------------------- Activate tc id = 231 target_vel = 0.278646 final_vel = 0.278646 length = 0.000643 tc state : vr = 0.278646, vf = 0.278646, maxvel = 8.700221, current_vel = 0.231467, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.231467, acc = 31.320920,T = 0.000643, P = 0.000259 initial results: dx= 0.000384,dt = 0.001506, a_f = 31.320920, v_f = 0.278646 dt = 0.001506, not at end yet tc id = 231, canon_type = 2, mot type = 1 time: 8.741000 primary movement = 2.158069341236e-04 time: 8.741000000001e+00 total movement = 2.158069341236e-04 vel = 2.314673938869e-01 ------------------- tc state : vr = 0.278646, vf = 0.278646, maxvel = 8.700221, current_vel = 0.262788, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.262788, acc = 31.320920,T = 0.000643, P = 0.000506 initial results: dx= 0.000137,dt = 0.000506, a_f = 31.320920, v_f = 0.278646 recalculating with a_f = 31.320920, a = 31.320920 revised dt = 0.000506 actual v_f = 0.278646, a = 31.320920 split time is 0.000506282 tc id = 231, canon_type = 2, mot type = 1 time: 8.742000 primary movement = 2.471278536502e-04 time: 8.742000000001e+00 total movement = 2.471278536502e-04 vel = 2.627883134136e-01 ------------------- tc id 231 done Finishing split-cycle on id 232 tc state : vr = 0.296503, vf = 0.296503, maxvel = 0.306112, current_vel = 0.286051, fs = 1.000000, tc = 0.000494, term = 3 tc result: v = 0.286051, acc = 15.000000,T = 0.001588, P = 0.000139 initial results: dx= 0.001449,dt = 0.004974, a_f = 2.101314, v_f = 0.296503 dt = 0.004974, not at end yet secondary movement = 0.000139 tc id = 232, canon_type = 3, mot type = 2 time: 8.743000 primary movement = 1.370590656525e-04 time: 8.743000000001e+00 total movement = 2.764509223014e-04 vel = 2.860512988971e-01 Finished tc id 231 ------------------- Activate tc id = 232 target_vel = 0.296503 final_vel = 0.296503 length = 0.001588 tc state : vr = 0.296503, vf = 0.296503, maxvel = 0.306112, current_vel = 0.296503, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.296503, acc = 10.451774,T = 0.001588, P = 0.000431 initial results: dx= 0.001158,dt = 0.003904, a_f = 0.000000, v_f = 0.296503 dt = 0.003904, not at end yet tc id = 232, canon_type = 3, mot type = 2 time: 8.744000 primary movement = 2.911980347359e-04 time: 8.744000000001e+00 total movement = 2.911980347359e-04 vel = 2.965030727276e-01 ------------------- tc state : vr = 0.296503, vf = 0.296503, maxvel = 0.306112, current_vel = 0.296503, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.296503, acc = 0.000000,T = 0.001588, P = 0.000727 initial results: dx= 0.000861,dt = 0.002904, a_f = 0.000000, v_f = 0.296503 dt = 0.002904, not at end yet tc id = 232, canon_type = 3, mot type = 2 time: 8.745000 primary movement = 2.964195847906e-04 time: 8.745000000001e+00 total movement = 2.964195847906e-04 vel = 2.965030727276e-01 ------------------- tc state : vr = 0.296503, vf = 0.296503, maxvel = 0.306112, current_vel = 0.296503, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.296503, acc = 0.000000,T = 0.001588, P = 0.001024 initial results: dx= 0.000565,dt = 0.001904, a_f = 0.000000, v_f = 0.296503 dt = 0.001904, not at end yet tc id = 232, canon_type = 3, mot type = 2 time: 8.746000 primary movement = 2.964195847907e-04 time: 8.746000000001e+00 total movement = 2.964195847907e-04 vel = 2.965030727276e-01 ------------------- tc state : vr = 0.296503, vf = 0.296503, maxvel = 0.306112, current_vel = 0.296503, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.296503, acc = 0.000000,T = 0.001588, P = 0.001320 initial results: dx= 0.000268,dt = 0.000904, a_f = 0.000000, v_f = 0.296503 actual v_f = 0.296503, a = 0.000000 split time is 0.000903883 tc id = 232, canon_type = 3, mot type = 2 time: 8.747000 primary movement = 2.964195847907e-04 time: 8.747000000001e+00 total movement = 2.964195847907e-04 vel = 2.965030727276e-01 ------------------- tc id 232 done Finishing split-cycle on id 232 tc state : vr = 0.970949, vf = 0.260495, maxvel = 8.426528, current_vel = 0.299419, fs = 1.000000, tc = 0.000096, term = 3 tc result: v = 0.299419, acc = 30.335623,T = 0.002039, P = 0.000029 initial results: dx= 0.002010,dt = 0.007181, a_f = -5.420451, v_f = 0.260495 dt = 0.007181, not at end yet secondary movement = 0.000029 tc id = 232, canon_type = 2, mot type = 1 time: 8.748000 primary movement = 2.679424969574e-04 time: 8.748000000001e+00 total movement = 2.965815447013e-04 vel = 2.994188351228e-01 Finished tc id 232 ------------------- Activate tc id = 232 target_vel = 0.970949 final_vel = 0.260495 length = 0.002039 tc state : vr = 0.970949, vf = 0.260495, maxvel = 8.426528, current_vel = 0.329754, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.329754, acc = 30.335623,T = 0.002039, P = 0.000343 initial results: dx= 0.001696,dt = 0.005746, a_f = -12.053666, v_f = 0.260495 dt = 0.005746, not at end yet tc id = 232, canon_type = 2, mot type = 1 time: 8.749000 primary movement = 3.145866464349e-04 time: 8.749000000001e+00 total movement = 3.145866464349e-04 vel = 3.297544577470e-01 ------------------- tc state : vr = 0.970949, vf = 0.260495, maxvel = 8.426528, current_vel = 0.360090, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.360090, acc = 30.335623,T = 0.002039, P = 0.000688 initial results: dx= 0.001351,dt = 0.004353, a_f = -22.877276, v_f = 0.260495 dt = 0.004353, not at end yet tc id = 232, canon_type = 2, mot type = 1 time: 8.750000 primary movement = 3.449222690590e-04 time: 8.750000000001e+00 total movement = 3.449222690590e-04 vel = 3.600900803712e-01 ------------------- tc state : vr = 0.970949, vf = 0.260495, maxvel = 8.426528, current_vel = 0.357822, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.357822, acc = -2.267947,T = 0.002039, P = 0.001047 on final decel initial results: dx= 0.000992,dt = 0.003208, a_f = -30.335623, v_f = 0.260495 dt = 0.003208, not at end yet tc id = 232, canon_type = 2, mot type = 1 time: 8.751000 primary movement = 3.589561067016e-04 time: 8.751000000001e+00 total movement = 3.589561067016e-04 vel = 3.578221330320e-01 ------------------- tc state : vr = 0.970949, vf = 0.260495, maxvel = 8.426528, current_vel = 0.327487, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.327487, acc = -30.335623,T = 0.002039, P = 0.001390 on final decel initial results: dx= 0.000649,dt = 0.002208, a_f = -30.335623, v_f = 0.260495 dt = 0.002208, not at end yet tc id = 232, canon_type = 2, mot type = 1 time: 8.752000 primary movement = 3.426543217199e-04 time: 8.752000000001e+00 total movement = 3.426543217199e-04 vel = 3.274865104078e-01 ------------------- tc state : vr = 0.970949, vf = 0.260495, maxvel = 8.426528, current_vel = 0.297151, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.297151, acc = -30.335623,T = 0.002039, P = 0.001702 on final decel initial results: dx= 0.000337,dt = 0.001208, a_f = -30.335623, v_f = 0.260495 dt = 0.001208, not at end yet tc id = 232, canon_type = 2, mot type = 1 time: 8.753000 primary movement = 3.123186990956e-04 time: 8.753000000001e+00 total movement = 3.123186990956e-04 vel = 2.971508877835e-01 ------------------- tc state : vr = 0.970949, vf = 0.260495, maxvel = 8.426528, current_vel = 0.266815, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.266815, acc = -30.335623,T = 0.002039, P = 0.001984 on final decel initial results: dx= 0.000055,dt = 0.000208, a_f = -30.335623, v_f = 0.260495 actual v_f = 0.260495, a = -30.335623 split time is 0.000208348 tc id = 232, canon_type = 2, mot type = 1 time: 8.754000 primary movement = 2.819830764714e-04 time: 8.754000000001e+00 total movement = 2.819830764714e-04 vel = 2.668152651593e-01 ------------------- tc id 232 done Finishing split-cycle on id 233 tc state : vr = 0.268007, vf = 0.000000, maxvel = 0.268007, current_vel = 0.248620, fs = 1.000000, tc = 0.000792, term = 3 tc result: v = 0.248620, acc = -15.000000,T = 0.002262, P = 0.000202 on final decel initial results: dx= 0.002060,dt = 0.016575, a_f = -15.000000, v_f = 0.000000 dt = 0.016575, not at end yet secondary movement = 0.000201 tc id = 233, canon_type = 3, mot type = 2 time: 8.755000 primary movement = 5.493188963440e-05 time: 8.755000000001e+00 total movement = 2.564083647652e-04 vel = 2.486201258855e-01 Finished tc id 232 ------------------- Activate tc id = 233 target_vel = 0.268007 final_vel = 0.000000 length = 0.002262 tc state : vr = 0.268007, vf = 0.000000, maxvel = 0.268007, current_vel = 0.233620, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.233620, acc = -15.000000,T = 0.002262, P = 0.000443 on final decel initial results: dx= 0.001819,dt = 0.015575, a_f = -15.000000, v_f = 0.000000 dt = 0.015575, not at end yet tc id = 233, canon_type = 3, mot type = 2 time: 8.756000 primary movement = 2.410437129782e-04 time: 8.756000000001e+00 total movement = 2.410437129782e-04 vel = 2.336201258855e-01 ------------------- tc state : vr = 0.268007, vf = 0.000000, maxvel = 0.268007, current_vel = 0.218620, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.218620, acc = -15.000000,T = 0.002262, P = 0.000669 on final decel initial results: dx= 0.001593,dt = 0.014575, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.014575 dt = 0.014575, not at end yet tc id = 233, canon_type = 3, mot type = 2 time: 8.757000 primary movement = 2.260571043512e-04 time: 8.757000000001e+00 total movement = 2.260571043512e-04 vel = 2.186201258855e-01 ------------------- tc state : vr = 0.268007, vf = 0.000000, maxvel = 0.268007, current_vel = 0.203620, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.203620, acc = -15.000000,T = 0.002262, P = 0.000880 on final decel initial results: dx= 0.001382,dt = 0.013575, a_f = -15.000000, v_f = 0.000000 dt = 0.013575, not at end yet tc id = 233, canon_type = 3, mot type = 2 time: 8.758000 primary movement = 2.110688320844e-04 time: 8.758000000001e+00 total movement = 2.110688320844e-04 vel = 2.036201258855e-01 ------------------- tc state : vr = 0.268007, vf = 0.000000, maxvel = 0.268007, current_vel = 0.188620, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.188620, acc = -15.000000,T = 0.002262, P = 0.001076 on final decel initial results: dx= 0.001186,dt = 0.012575, a_f = -15.000000, v_f = 0.000000 dt = 0.012575, not at end yet tc id = 233, canon_type = 3, mot type = 2 time: 8.759000 primary movement = 1.960790064823e-04 time: 8.759000000001e+00 total movement = 1.960790064823e-04 vel = 1.886201258855e-01 ------------------- tc state : vr = 0.268007, vf = 0.000000, maxvel = 0.268007, current_vel = 0.173620, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.173620, acc = -15.000000,T = 0.002262, P = 0.001257 on final decel initial results: dx= 0.001005,dt = 0.011575, a_f = -15.000000, v_f = 0.000000 dt = 0.011575, not at end yet tc id = 233, canon_type = 3, mot type = 2 time: 8.760000 primary movement = 1.810877378604e-04 time: 8.760000000001e+00 total movement = 1.810877378604e-04 vel = 1.736201258855e-01 ------------------- tc state : vr = 0.268007, vf = 0.000000, maxvel = 0.268007, current_vel = 0.158620, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.158620, acc = -15.000000,T = 0.002262, P = 0.001423 on final decel initial results: dx= 0.000839,dt = 0.010575, a_f = -15.000000, v_f = 0.000000 dt = 0.010575, not at end yet tc id = 233, canon_type = 3, mot type = 2 time: 8.761000 primary movement = 1.660951365455e-04 time: 8.761000000001e+00 total movement = 1.660951365455e-04 vel = 1.586201258855e-01 ------------------- tc state : vr = 0.268007, vf = 0.000000, maxvel = 0.268007, current_vel = 0.143620, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.143620, acc = -15.000000,T = 0.002262, P = 0.001574 on final decel initial results: dx= 0.000688,dt = 0.009575, a_f = -15.000000, v_f = 0.000000 dt = 0.009575, not at end yet tc id = 233, canon_type = 3, mot type = 2 time: 8.762000 primary movement = 1.511013128736e-04 time: 8.762000000001e+00 total movement = 1.511013128736e-04 vel = 1.436201258855e-01 ------------------- tc state : vr = 0.268007, vf = 0.000000, maxvel = 0.268007, current_vel = 0.128620, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.128620, acc = -15.000000,T = 0.002262, P = 0.001710 on final decel initial results: dx= 0.000551,dt = 0.008575, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.008575 dt = 0.008575, not at end yet tc id = 233, canon_type = 3, mot type = 2 time: 8.763000 primary movement = 1.361063771898e-04 time: 8.763000000001e+00 total movement = 1.361063771898e-04 vel = 1.286201258855e-01 ------------------- tc state : vr = 0.268007, vf = 0.000000, maxvel = 0.268007, current_vel = 0.113620, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.113620, acc = -15.000000,T = 0.002262, P = 0.001832 on final decel initial results: dx= 0.000430,dt = 0.007575, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.007575 dt = 0.007575, not at end yet tc id = 233, canon_type = 3, mot type = 2 time: 8.764000 primary movement = 1.211104398478e-04 time: 8.764000000001e+00 total movement = 1.211104398478e-04 vel = 1.136201258855e-01 ------------------- tc state : vr = 0.268007, vf = 0.000000, maxvel = 0.268007, current_vel = 0.098620, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.098620, acc = -15.000000,T = 0.002262, P = 0.001938 on final decel initial results: dx= 0.000324,dt = 0.006575, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.006575 dt = 0.006575, not at end yet tc id = 233, canon_type = 3, mot type = 2 time: 8.765000 primary movement = 1.061136112083e-04 time: 8.765000000001e+00 total movement = 1.061136112083e-04 vel = 9.862012588550e-02 ------------------- tc state : vr = 0.268007, vf = 0.000000, maxvel = 0.268007, current_vel = 0.083620, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.083620, acc = -15.000000,T = 0.002262, P = 0.002029 on final decel initial results: dx= 0.000233,dt = 0.005575, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.005575 dt = 0.005575, not at end yet tc id = 233, canon_type = 3, mot type = 2 time: 8.766000 primary movement = 9.111600163852e-05 time: 8.766000000001e+00 total movement = 9.111600163852e-05 vel = 8.362012588550e-02 ------------------- tc state : vr = 0.268007, vf = 0.000000, maxvel = 0.268007, current_vel = 0.068620, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.068620, acc = -15.000000,T = 0.002262, P = 0.002105 on final decel initial results: dx= 0.000157,dt = 0.004575, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.004575 dt = 0.004575, not at end yet tc id = 233, canon_type = 3, mot type = 2 time: 8.767000 primary movement = 7.611772151157e-05 time: 8.767000000001e+00 total movement = 7.611772151157e-05 vel = 6.862012588550e-02 ------------------- tc state : vr = 0.268007, vf = 0.000000, maxvel = 0.268007, current_vel = 0.053620, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.053620, acc = -15.000000,T = 0.002262, P = 0.002166 on final decel initial results: dx= 0.000096,dt = 0.003575, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.003575 dt = 0.003575, not at end yet tc id = 233, canon_type = 3, mot type = 2 time: 8.768000 primary movement = 6.111888120558e-05 time: 8.768000000001e+00 total movement = 6.111888120558e-05 vel = 5.362012588550e-02 ------------------- tc state : vr = 0.268007, vf = 0.000000, maxvel = 0.268007, current_vel = 0.038620, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.038620, acc = -15.000000,T = 0.002262, P = 0.002212 on final decel initial results: dx= 0.000050,dt = 0.002575, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.002575 dt = 0.002575, not at end yet tc id = 233, canon_type = 3, mot type = 2 time: 8.769000 primary movement = 4.611959110251e-05 time: 8.769000000001e+00 total movement = 4.611959110251e-05 vel = 3.862012588550e-02 ------------------- tc state : vr = 0.268007, vf = 0.000000, maxvel = 0.268007, current_vel = 0.023620, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.023620, acc = -15.000000,T = 0.002262, P = 0.002243 on final decel initial results: dx= 0.000019,dt = 0.001575, a_f = -15.000000, v_f = 0.000000 dt = 0.001575, not at end yet tc id = 233, canon_type = 3, mot type = 2 time: 8.770000 primary movement = 3.111996158801e-05 time: 8.770000000001e+00 total movement = 3.111996158801e-05 vel = 2.362012588550e-02 ------------------- tc state : vr = 0.268007, vf = 0.000000, maxvel = 0.268007, current_vel = 0.008620, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.008620, acc = -15.000000,T = 0.002262, P = 0.002259 on final decel initial results: dx= 0.000002,dt = 0.000575, a_f = -15.000000, v_f = 0.000000 actual v_f = 0.000000, a = -15.000000 split time is 0.000574675 tc id = 233, canon_type = 3, mot type = 2 time: 8.771000 primary movement = 1.612010304987e-05 time: 8.771000000001e+00 total movement = 1.612010304987e-05 vel = 8.620125885503e-03 ------------------- tc id 233 done Finishing split-cycle on id 233 tc state : vr = 10.122939, vf = 0.000000, maxvel = 10.122939, current_vel = 0.007750, fs = 1.000000, tc = 0.000425, term = 2 tc result: v = 0.007750, acc = 18.221291,T = 0.002324, P = 0.000002 secondary movement = 0.000002 tc id = 233, canon_type = 2, mot type = 1 time: 8.772000 primary movement = 2.476885593224e-06 time: 8.772000000001e+00 total movement = 4.125013287259e-06 vel = 7.749969659914e-03 Finished tc id 233 ------------------- Activate tc id = 233 target_vel = 10.122939 final_vel = 0.000000 length = 0.002324 Activate nexttc id 234 tc state : vr = 10.122939, vf = 0.000000, maxvel = 10.122939, current_vel = 0.025971, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.025971, acc = 18.221291,T = 0.002324, P = 0.000019 tc id = 233, canon_type = 2, mot type = 1 time: 8.773000 primary movement = 1.686061532568e-05 time: 8.773000000001e+00 total movement = 1.686061532568e-05 vel = 2.597126099144e-02 ------------------- tc state : vr = 10.122939, vf = 0.000000, maxvel = 10.122939, current_vel = 0.044193, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.044193, acc = 18.221291,T = 0.002324, P = 0.000054 tc id = 233, canon_type = 2, mot type = 1 time: 8.774000 primary movement = 3.508190665720e-05 time: 8.774000000001e+00 total movement = 3.508190665720e-05 vel = 4.419255232297e-02 ------------------- tc state : vr = 10.122939, vf = 0.000000, maxvel = 10.122939, current_vel = 0.062414, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.062414, acc = 18.221291,T = 0.002324, P = 0.000107 tc id = 233, canon_type = 2, mot type = 1 time: 8.775000 primary movement = 5.330319798874e-05 time: 8.775000000001e+00 total movement = 5.330319798874e-05 vel = 6.241384365449e-02 ------------------- tc state : vr = 10.122939, vf = 0.000000, maxvel = 10.122939, current_vel = 0.080635, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.080635, acc = 18.221291,T = 0.002324, P = 0.000178 tc id = 233, canon_type = 2, mot type = 1 time: 8.776000 primary movement = 7.152448932026e-05 time: 8.776000000001e+00 total movement = 7.152448932026e-05 vel = 8.063513498602e-02 ------------------- tc state : vr = 10.122939, vf = 0.000000, maxvel = 10.122939, current_vel = 0.098856, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.098856, acc = 18.221291,T = 0.002324, P = 0.000268 tc id = 233, canon_type = 2, mot type = 1 time: 8.777000 primary movement = 8.974578065175e-05 time: 8.777000000001e+00 total movement = 8.974578065175e-05 vel = 9.885642631755e-02 ------------------- tc state : vr = 10.122939, vf = 0.000000, maxvel = 10.122939, current_vel = 0.117078, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.117078, acc = 18.221291,T = 0.002324, P = 0.000376 tc id = 233, canon_type = 2, mot type = 1 time: 8.778000 primary movement = 1.079670719833e-04 time: 8.778000000001e+00 total movement = 1.079670719833e-04 vel = 1.170777176491e-01 ------------------- tc state : vr = 10.122939, vf = 0.000000, maxvel = 10.122939, current_vel = 0.135299, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.135299, acc = 18.221291,T = 0.002324, P = 0.000502 tc id = 233, canon_type = 2, mot type = 1 time: 8.779000 primary movement = 1.261883633148e-04 time: 8.779000000001e+00 total movement = 1.261883633148e-04 vel = 1.352990089806e-01 ------------------- tc state : vr = 10.122939, vf = 0.000000, maxvel = 10.122939, current_vel = 0.153520, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.153520, acc = 18.221291,T = 0.002324, P = 0.000647 tc id = 233, canon_type = 2, mot type = 1 time: 8.780000 primary movement = 1.444096546464e-04 time: 8.780000000001e+00 total movement = 1.444096546464e-04 vel = 1.535203003121e-01 ------------------- tc state : vr = 10.122939, vf = 0.000000, maxvel = 10.122939, current_vel = 0.171742, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.171742, acc = 18.221291,T = 0.002324, P = 0.000809 tc id = 233, canon_type = 2, mot type = 1 time: 8.781000 primary movement = 1.626309459779e-04 time: 8.781000000001e+00 total movement = 1.626309459779e-04 vel = 1.717415916437e-01 ------------------- tc state : vr = 10.122939, vf = 0.000000, maxvel = 10.122939, current_vel = 0.189963, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.189963, acc = 18.221291,T = 0.002324, P = 0.000990 tc id = 233, canon_type = 2, mot type = 1 time: 8.782000 primary movement = 1.808522373094e-04 time: 8.782000000001e+00 total movement = 1.808522373094e-04 vel = 1.899628829752e-01 ------------------- tc state : vr = 10.122939, vf = 0.000000, maxvel = 10.122939, current_vel = 0.203576, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.203576, acc = 13.613609,T = 0.002324, P = 0.001187 tc id = 233, canon_type = 2, mot type = 1 time: 8.783000 primary movement = 1.967696873971e-04 time: 8.783000000001e+00 total movement = 1.967696873971e-04 vel = 2.035764918189e-01 ------------------- tc state : vr = 10.122939, vf = 0.000000, maxvel = 10.122939, current_vel = 0.185355, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.185355, acc = -18.221291,T = 0.002324, P = 0.001381 on final decel tc id = 233, canon_type = 2, mot type = 1 time: 8.784000 primary movement = 1.944658461531e-04 time: 8.784000000001e+00 total movement = 1.944658461531e-04 vel = 1.853552004874e-01 ------------------- tc state : vr = 10.122939, vf = 0.000000, maxvel = 10.122939, current_vel = 0.167134, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.167134, acc = -18.221291,T = 0.002324, P = 0.001558 on final decel tc id = 233, canon_type = 2, mot type = 1 tc state : vr = 0.018221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.015660, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.015660, acc = 15.660460,T = 0.002088, P = 0.000008 tc id = 233, canon_type = 2, mot type = 1 secondary movement = 0.000008 time: 8.785000 primary movement = 1.762445548216e-04 time: 8.785000000001e+00 total movement = 1.840747847033e-04 vel = 1.827943689192e-01 ------------------- tc state : vr = 10.122939, vf = 0.000000, maxvel = 10.122939, current_vel = 0.148913, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.148913, acc = -18.221291,T = 0.002324, P = 0.001716 on final decel tc id = 233, canon_type = 2, mot type = 1 tc state : vr = 0.036443, vf = 0.000000, maxvel = 8.700221, current_vel = 0.031321, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.031321, acc = 15.660460,T = 0.002088, P = 0.000031 tc id = 233, canon_type = 2, mot type = 1 secondary movement = 0.000023 time: 8.786000 primary movement = 1.580232634901e-04 time: 8.786000000001e+00 total movement = 1.815139531351e-04 vel = 1.802335373511e-01 ------------------- tc state : vr = 10.122939, vf = 0.000000, maxvel = 10.122939, current_vel = 0.130691, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.130691, acc = -18.221291,T = 0.002324, P = 0.001856 on final decel tc id = 233, canon_type = 2, mot type = 1 tc state : vr = 0.054664, vf = 0.000000, maxvel = 8.700221, current_vel = 0.046981, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.046981, acc = 15.660460,T = 0.002088, P = 0.000070 tc id = 233, canon_type = 2, mot type = 1 secondary movement = 0.000039 time: 8.787000 primary movement = 1.398019721586e-04 time: 8.787000000001e+00 total movement = 1.789531215670e-04 vel = 1.776727057829e-01 ------------------- tc state : vr = 10.122939, vf = 0.000000, maxvel = 10.122939, current_vel = 0.112470, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.112470, acc = -18.221291,T = 0.002324, P = 0.001977 on final decel tc id = 233, canon_type = 2, mot type = 1 tc state : vr = 0.072885, vf = 0.000000, maxvel = 8.700221, current_vel = 0.062642, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.062642, acc = 15.660460,T = 0.002088, P = 0.000125 tc id = 233, canon_type = 2, mot type = 1 secondary movement = 0.000055 time: 8.788000 primary movement = 1.215806808270e-04 time: 8.788000000001e+00 total movement = 1.763922899988e-04 vel = 1.751118742147e-01 ------------------- tc state : vr = 10.122939, vf = 0.000000, maxvel = 10.122939, current_vel = 0.094249, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.094249, acc = -18.221291,T = 0.002324, P = 0.002080 on final decel tc id = 233, canon_type = 2, mot type = 1 tc state : vr = 0.091106, vf = 0.000000, maxvel = 8.700221, current_vel = 0.078302, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.078302, acc = 15.660460,T = 0.002088, P = 0.000196 tc id = 233, canon_type = 2, mot type = 1 secondary movement = 0.000070 time: 8.789000 primary movement = 1.033593894956e-04 time: 8.789000000001e+00 total movement = 1.738314584307e-04 vel = 1.725510426466e-01 ------------------- tc state : vr = 10.122939, vf = 0.000000, maxvel = 10.122939, current_vel = 0.076027, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.076027, acc = -18.221291,T = 0.002324, P = 0.002166 on final decel tc id = 233, canon_type = 2, mot type = 1 tc state : vr = 0.109328, vf = 0.000000, maxvel = 8.700221, current_vel = 0.093963, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.093963, acc = 15.660460,T = 0.002088, P = 0.000282 tc id = 234, canon_type = 2, mot type = 1 secondary movement = 0.000086 time: 8.790000 primary movement = 8.513809816397e-05 time: 8.790000000001e+00 total movement = 1.712706268625e-04 vel = 1.699902110784e-01 ------------------- tc state : vr = 10.122939, vf = 0.000000, maxvel = 10.122939, current_vel = 0.057806, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.057806, acc = -18.221291,T = 0.002324, P = 0.002233 on final decel tc id = 233, canon_type = 2, mot type = 1 tc state : vr = 0.127549, vf = 0.000000, maxvel = 8.700221, current_vel = 0.109623, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.109623, acc = 15.660460,T = 0.002088, P = 0.000384 tc id = 234, canon_type = 2, mot type = 1 secondary movement = 0.000102 time: 8.791000 primary movement = 6.691680683243e-05 time: 8.791000000001e+00 total movement = 1.687097952943e-04 vel = 1.674293795103e-01 ------------------- tc state : vr = 10.122939, vf = 0.000000, maxvel = 10.122939, current_vel = 0.039585, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.039585, acc = -18.221291,T = 0.002324, P = 0.002281 on final decel tc id = 233, canon_type = 2, mot type = 1 tc state : vr = 0.145770, vf = 0.000000, maxvel = 8.700221, current_vel = 0.125284, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.125284, acc = 15.660460,T = 0.002088, P = 0.000501 tc id = 234, canon_type = 2, mot type = 1 secondary movement = 0.000117 time: 8.792000 primary movement = 4.869551550097e-05 time: 8.792000000001e+00 total movement = 1.661489637263e-04 vel = 1.648685479421e-01 ------------------- tc state : vr = 10.122939, vf = 0.000000, maxvel = 10.122939, current_vel = 0.021364, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.021364, acc = -18.221291,T = 0.002324, P = 0.002312 on final decel tc id = 233, canon_type = 2, mot type = 1 tc state : vr = 0.163992, vf = 0.000000, maxvel = 8.700221, current_vel = 0.140944, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.140944, acc = 15.660460,T = 0.002088, P = 0.000634 tc id = 234, canon_type = 2, mot type = 1 secondary movement = 0.000133 time: 8.793000 primary movement = 3.047422416936e-05 time: 8.793000000001e+00 total movement = 1.635881321579e-04 vel = 1.623077163739e-01 ------------------- tc state : vr = 10.122939, vf = 0.000000, maxvel = 10.122939, current_vel = 0.003142, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.003142, acc = -18.221291,T = 0.002324, P = 0.002324 on final decel tc id = 233, canon_type = 2, mot type = 1 tc state : vr = 0.182213, vf = 0.000000, maxvel = 8.700221, current_vel = 0.156605, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.156605, acc = 15.660460,T = 0.002088, P = 0.000783 tc id = 234, canon_type = 2, mot type = 1 secondary movement = 0.000149 time: 8.794000 primary movement = 1.225293283790e-05 time: 8.794000000001e+00 total movement = 1.610273005899e-04 vel = 1.597468848058e-01 ------------------- Found newvel = -0.003142, assuming segment is done segment 233 at target in runcycle tc state : vr = 10.122939, vf = 0.000000, maxvel = 10.122939, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.002324, P = 0.002324 tc id = 233, canon_type = 2, mot type = 1 tc state : vr = 0.185355, vf = 0.000000, maxvel = 8.700221, current_vel = 0.172265, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.172265, acc = 15.660460,T = 0.002088, P = 0.000947 tc id = 234, canon_type = 2, mot type = 1 secondary movement = 0.000164 time: 8.795000 primary movement = 2.709459086181e-07 time: 8.795000000001e+00 total movement = 1.647057734239e-04 vel = 1.722650573970e-01 Finished tc id 233 ------------------- Activate nexttc id 235 tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.174072, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.174072, acc = 1.806644,T = 0.002088, P = 0.001121 tc id = 234, canon_type = 2, mot type = 1 time: 8.796000 primary movement = 1.731683792556e-04 time: 8.796000000001e+00 total movement = 1.731683792556e-04 vel = 1.740717011141e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.158411, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.158411, acc = -15.660460,T = 0.002088, P = 0.001287 on final decel tc id = 234, canon_type = 2, mot type = 1 tc state : vr = 0.015660, vf = 0.015660, maxvel = 8.352143, current_vel = 0.015034, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.015034, acc = 15.033858,T = 0.110275, P = 0.000008 initial results: dx= 0.110268,dt = 0.200658, a_f = 5.327436, v_f = 1.084027 dt = 0.200658, not at end yet tc id = 234, canon_type = 2, mot type = 1 secondary movement = 0.000008 time: 8.797000 primary movement = 1.662414712324e-04 time: 8.797000000001e+00 total movement = 1.737584000823e-04 vel = 1.734450990506e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.142751, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.142751, acc = -15.660460,T = 0.002088, P = 0.001437 on final decel tc id = 234, canon_type = 2, mot type = 1 tc state : vr = 0.031321, vf = 0.031321, maxvel = 8.352143, current_vel = 0.030068, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.030068, acc = 15.033858,T = 0.110275, P = 0.000030 initial results: dx= 0.110245,dt = 0.197910, a_f = 5.325451, v_f = 1.084027 dt = 0.197910, not at end yet tc id = 234, canon_type = 2, mot type = 1 secondary movement = 0.000023 time: 8.798000 primary movement = 1.505810114691e-04 time: 8.798000000001e+00 total movement = 1.731317980189e-04 vel = 1.728184969871e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.127090, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.127090, acc = -15.660460,T = 0.002088, P = 0.001572 on final decel tc id = 234, canon_type = 2, mot type = 1 tc state : vr = 0.046981, vf = 0.046981, maxvel = 8.352143, current_vel = 0.045102, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.045102, acc = 15.033858,T = 0.110275, P = 0.000068 initial results: dx= 0.110208,dt = 0.195208, a_f = 5.322140, v_f = 1.084027 dt = 0.195208, not at end yet tc id = 234, canon_type = 2, mot type = 1 secondary movement = 0.000038 time: 8.799000 primary movement = 1.349205517057e-04 time: 8.799000000001e+00 total movement = 1.725051959553e-04 vel = 1.721918949235e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.111430, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.111430, acc = -15.660460,T = 0.002088, P = 0.001692 on final decel tc id = 234, canon_type = 2, mot type = 1 tc state : vr = 0.062642, vf = 0.062642, maxvel = 8.352143, current_vel = 0.060135, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.060135, acc = 15.033858,T = 0.110275, P = 0.000120 initial results: dx= 0.110155,dt = 0.192551, a_f = 5.317501, v_f = 1.084027 dt = 0.192551, not at end yet tc id = 234, canon_type = 2, mot type = 1 secondary movement = 0.000053 time: 8.800000 primary movement = 1.192600919423e-04 time: 8.800000000001e+00 total movement = 1.718785938918e-04 vel = 1.715652928600e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.095769, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.095769, acc = -15.660460,T = 0.002088, P = 0.001795 on final decel tc id = 234, canon_type = 2, mot type = 1 tc state : vr = 0.078302, vf = 0.078302, maxvel = 8.352143, current_vel = 0.075169, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.075169, acc = 15.033858,T = 0.110275, P = 0.000188 initial results: dx= 0.110087,dt = 0.189937, a_f = 5.311530, v_f = 1.084027 dt = 0.189937, not at end yet tc id = 234, canon_type = 2, mot type = 1 secondary movement = 0.000068 time: 8.801000 primary movement = 1.035996321790e-04 time: 8.801000000001e+00 total movement = 1.712519918283e-04 vel = 1.709386907965e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.080109, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.080109, acc = -15.660460,T = 0.002088, P = 0.001883 on final decel tc id = 234, canon_type = 2, mot type = 1 tc state : vr = 0.093963, vf = 0.093963, maxvel = 8.352143, current_vel = 0.090203, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.090203, acc = 15.033858,T = 0.110275, P = 0.000271 initial results: dx= 0.110005,dt = 0.187365, a_f = 5.304222, v_f = 1.084027 dt = 0.187365, not at end yet tc id = 235, canon_type = 2, mot type = 1 secondary movement = 0.000083 time: 8.802000 primary movement = 8.793917241562e-05 time: 8.802000000001e+00 total movement = 1.706253897647e-04 vel = 1.703120887330e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.064448, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.064448, acc = -15.660460,T = 0.002088, P = 0.001955 on final decel tc id = 234, canon_type = 2, mot type = 1 tc state : vr = 0.109623, vf = 0.109623, maxvel = 8.352143, current_vel = 0.105237, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.105237, acc = 15.033858,T = 0.110275, P = 0.000368 initial results: dx= 0.109907,dt = 0.184832, a_f = 5.295571, v_f = 1.084027 dt = 0.184832, not at end yet tc id = 235, canon_type = 2, mot type = 1 secondary movement = 0.000098 time: 8.803000 primary movement = 7.227871265216e-05 time: 8.803000000001e+00 total movement = 1.699987877011e-04 vel = 1.696854866695e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.048788, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.048788, acc = -15.660460,T = 0.002088, P = 0.002012 on final decel tc id = 234, canon_type = 2, mot type = 1 tc state : vr = 0.125284, vf = 0.125284, maxvel = 8.352143, current_vel = 0.120271, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.120271, acc = 15.033858,T = 0.110275, P = 0.000481 initial results: dx= 0.109794,dt = 0.182337, a_f = 5.285570, v_f = 1.084027 dt = 0.182337, not at end yet tc id = 235, canon_type = 2, mot type = 1 secondary movement = 0.000113 time: 8.804000 primary movement = 5.661825288891e-05 time: 8.804000000001e+00 total movement = 1.693721856378e-04 vel = 1.690588846059e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.033128, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.033128, acc = -15.660460,T = 0.002088, P = 0.002053 on final decel tc id = 234, canon_type = 2, mot type = 1 tc state : vr = 0.140944, vf = 0.140944, maxvel = 8.352143, current_vel = 0.135305, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.135305, acc = 15.033858,T = 0.110275, P = 0.000609 initial results: dx= 0.109666,dt = 0.179879, a_f = 5.274211, v_f = 1.084027 dt = 0.179879, not at end yet tc id = 235, canon_type = 2, mot type = 1 secondary movement = 0.000128 time: 8.805000 primary movement = 4.095779312544e-05 time: 8.805000000001e+00 total movement = 1.687455835741e-04 vel = 1.684322825424e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.017467, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.017467, acc = -15.660460,T = 0.002088, P = 0.002078 on final decel tc id = 234, canon_type = 2, mot type = 1 tc state : vr = 0.156605, vf = 0.156605, maxvel = 8.352143, current_vel = 0.150339, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.150339, acc = 15.033858,T = 0.110275, P = 0.000752 initial results: dx= 0.109523,dt = 0.177457, a_f = 5.261484, v_f = 1.084027 dt = 0.177457, not at end yet tc id = 235, canon_type = 2, mot type = 1 secondary movement = 0.000143 time: 8.806000 primary movement = 2.529733336221e-05 time: 8.806000000001e+00 total movement = 1.681189815107e-04 vel = 1.678056804789e-01 ------------------- tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.001807, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.001807, acc = -15.660460,T = 0.002088, P = 0.002088 on final decel tc id = 234, canon_type = 2, mot type = 1 tc state : vr = 0.172265, vf = 0.172265, maxvel = 8.352143, current_vel = 0.165372, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.165372, acc = 15.033858,T = 0.110275, P = 0.000910 initial results: dx= 0.109366,dt = 0.175069, a_f = 5.247379, v_f = 1.084027 dt = 0.175069, not at end yet tc id = 235, canon_type = 2, mot type = 1 secondary movement = 0.000158 time: 8.807000 primary movement = 9.636873598740e-06 time: 8.807000000001e+00 total movement = 1.674923794471e-04 vel = 1.671790784154e-01 ------------------- Found newvel = -0.001807, assuming segment is done segment 234 at target in runcycle tc state : vr = 8.700221, vf = 0.000000, maxvel = 8.700221, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.002088, P = 0.002088 tc id = 234, canon_type = 2, mot type = 1 tc state : vr = 0.174072, vf = 0.174072, maxvel = 8.352143, current_vel = 0.174072, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.174072, acc = 8.699266,T = 0.110275, P = 0.001079 initial results: dx= 0.109196,dt = 0.173589, a_f = 5.242014, v_f = 1.084027 dt = 0.173589, not at end yet tc id = 235, canon_type = 2, mot type = 1 secondary movement = 0.000170 time: 8.808000 primary movement = 1.042102712542e-07 time: 8.808000000001e+00 total movement = 1.698262781775e-04 vel = 1.740717011141e-01 Finished tc id 234 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.189106, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.189106, acc = 15.033858,T = 0.110275, P = 0.001261 initial results: dx= 0.109014,dt = 0.171254, a_f = 5.225703, v_f = 1.084027 dt = 0.171254, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.809000 primary movement = 1.815886299640e-04 time: 8.809000000001e+00 total movement = 1.815886299640e-04 vel = 1.891055588140e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.204139, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.204139, acc = 15.033858,T = 0.110275, P = 0.001457 initial results: dx= 0.108818,dt = 0.168950, a_f = 5.207981, v_f = 1.084027 dt = 0.168950, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.810000 primary movement = 1.966224876639e-04 time: 8.810000000001e+00 total movement = 1.966224876639e-04 vel = 2.041394165138e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.219173, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.219173, acc = 15.033858,T = 0.110275, P = 0.001669 initial results: dx= 0.108606,dt = 0.166676, a_f = 5.188832, v_f = 1.084027 dt = 0.166676, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.811000 primary movement = 2.116563453637e-04 time: 8.811000000001e+00 total movement = 2.116563453637e-04 vel = 2.191732742136e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.234207, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.234207, acc = 15.033858,T = 0.110275, P = 0.001896 initial results: dx= 0.108379,dt = 0.164431, a_f = 5.168240, v_f = 1.084027 dt = 0.164431, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.812000 primary movement = 2.266902030635e-04 time: 8.812000000001e+00 total movement = 2.266902030635e-04 vel = 2.342071319135e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.249241, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.249241, acc = 15.033858,T = 0.110275, P = 0.002138 initial results: dx= 0.108138,dt = 0.162214, a_f = 5.146187, v_f = 1.084027 dt = 0.162214, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.813000 primary movement = 2.417240607634e-04 time: 8.813000000001e+00 total movement = 2.417240607634e-04 vel = 2.492409896133e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.264275, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.264275, acc = 15.033858,T = 0.110275, P = 0.002394 initial results: dx= 0.107881,dt = 0.160025, a_f = 5.122654, v_f = 1.084027 dt = 0.160025, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.814000 primary movement = 2.567579184633e-04 time: 8.814000000001e+00 total movement = 2.567579184633e-04 vel = 2.642748473132e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.279309, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.279309, acc = 15.033858,T = 0.110275, P = 0.002666 initial results: dx= 0.107609,dt = 0.157861, a_f = 5.097621, v_f = 1.084027 dt = 0.157861, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.815000 primary movement = 2.717917761631e-04 time: 8.815000000001e+00 total movement = 2.717917761631e-04 vel = 2.793087050130e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.294343, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.294343, acc = 15.033858,T = 0.110275, P = 0.002953 initial results: dx= 0.107322,dt = 0.155724, a_f = 5.071066, v_f = 1.084027 dt = 0.155724, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.816000 primary movement = 2.868256338629e-04 time: 8.816000000001e+00 total movement = 2.868256338629e-04 vel = 2.943425627129e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.309376, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.309376, acc = 15.033858,T = 0.110275, P = 0.003255 initial results: dx= 0.107020,dt = 0.153610, a_f = 5.042965, v_f = 1.084027 dt = 0.153610, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.817000 primary movement = 3.018594915628e-04 time: 8.817000000001e+00 total movement = 3.018594915628e-04 vel = 3.093764204127e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.324410, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.324410, acc = 15.033858,T = 0.110275, P = 0.003572 initial results: dx= 0.106704,dt = 0.151520, a_f = 5.013293, v_f = 1.084027 dt = 0.151520, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.818000 primary movement = 3.168933492626e-04 time: 8.818000000001e+00 total movement = 3.168933492626e-04 vel = 3.244102781126e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.339444, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.339444, acc = 15.033858,T = 0.110275, P = 0.003904 initial results: dx= 0.106372,dt = 0.149454, a_f = 4.982025, v_f = 1.084027 dt = 0.149454, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.819000 primary movement = 3.319272069625e-04 time: 8.819000000001e+00 total movement = 3.319272069625e-04 vel = 3.394441358124e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.354478, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.354478, acc = 15.033858,T = 0.110275, P = 0.004251 initial results: dx= 0.106025,dt = 0.147409, a_f = 4.949130, v_f = 1.084027 dt = 0.147409, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.820000 primary movement = 3.469610646623e-04 time: 8.820000000001e+00 total movement = 3.469610646623e-04 vel = 3.544779935122e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.369512, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.369512, acc = 15.033858,T = 0.110275, P = 0.004613 initial results: dx= 0.105663,dt = 0.145387, a_f = 4.914581, v_f = 1.084027 dt = 0.145387, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.821000 primary movement = 3.619949223622e-04 time: 8.821000000001e+00 total movement = 3.619949223622e-04 vel = 3.695118512121e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.384546, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.384546, acc = 15.033858,T = 0.110275, P = 0.004990 initial results: dx= 0.105286,dt = 0.143385, a_f = 4.878343, v_f = 1.084027 dt = 0.143385, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.822000 primary movement = 3.770287800620e-04 time: 8.822000000001e+00 total movement = 3.770287800620e-04 vel = 3.845457089119e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.399580, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.399580, acc = 15.033858,T = 0.110275, P = 0.005382 initial results: dx= 0.104894,dt = 0.141403, a_f = 4.840385, v_f = 1.084027 dt = 0.141403, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.823000 primary movement = 3.920626377619e-04 time: 8.823000000001e+00 total movement = 3.920626377619e-04 vel = 3.995795666118e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.414613, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.414613, acc = 15.033858,T = 0.110275, P = 0.005789 initial results: dx= 0.104486,dt = 0.139442, a_f = 4.800669, v_f = 1.084027 dt = 0.139442, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.824000 primary movement = 4.070964954617e-04 time: 8.824000000001e+00 total movement = 4.070964954617e-04 vel = 4.146134243116e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.429647, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.429647, acc = 15.033858,T = 0.110275, P = 0.006211 initial results: dx= 0.104064,dt = 0.137499, a_f = 4.759159, v_f = 1.084027 dt = 0.137499, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.825000 primary movement = 4.221303531616e-04 time: 8.825000000001e+00 total movement = 4.221303531616e-04 vel = 4.296472820115e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.444681, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.444681, acc = 15.033858,T = 0.110275, P = 0.006648 initial results: dx= 0.103627,dt = 0.135575, a_f = 4.715814, v_f = 1.084027 dt = 0.135575, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.826000 primary movement = 4.371642108614e-04 time: 8.826000000001e+00 total movement = 4.371642108614e-04 vel = 4.446811397113e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.459715, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.459715, acc = 15.033858,T = 0.110275, P = 0.007100 initial results: dx= 0.103175,dt = 0.133669, a_f = 4.670592, v_f = 1.084027 dt = 0.133669, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.827000 primary movement = 4.521980685612e-04 time: 8.827000000001e+00 total movement = 4.521980685612e-04 vel = 4.597149974111e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.474749, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.474749, acc = 15.033858,T = 0.110275, P = 0.007567 initial results: dx= 0.102708,dt = 0.131780, a_f = 4.623448, v_f = 1.084027 dt = 0.131780, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.828000 primary movement = 4.672319262611e-04 time: 8.828000000001e+00 total movement = 4.672319262611e-04 vel = 4.747488551110e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.489783, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.489783, acc = 15.033858,T = 0.110275, P = 0.008050 initial results: dx= 0.102225,dt = 0.129908, a_f = 4.574335, v_f = 1.084027 dt = 0.129908, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.829000 primary movement = 4.822657839609e-04 time: 8.829000000001e+00 total movement = 4.822657839609e-04 vel = 4.897827128108e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.504817, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.504817, acc = 15.033858,T = 0.110275, P = 0.008547 initial results: dx= 0.101728,dt = 0.128053, a_f = 4.523204, v_f = 1.084027 dt = 0.128053, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.830000 primary movement = 4.972996416608e-04 time: 8.830000000001e+00 total movement = 4.972996416608e-04 vel = 5.048165705107e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.519850, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.519850, acc = 15.033858,T = 0.110275, P = 0.009059 initial results: dx= 0.101216,dt = 0.126214, a_f = 4.470001, v_f = 1.084027 dt = 0.126214, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.831000 primary movement = 5.123334993606e-04 time: 8.831000000001e+00 total movement = 5.123334993606e-04 vel = 5.198504282105e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.534884, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.534884, acc = 15.033858,T = 0.110275, P = 0.009587 initial results: dx= 0.100688,dt = 0.124390, a_f = 4.414671, v_f = 1.084027 dt = 0.124390, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.832000 primary movement = 5.273673570604e-04 time: 8.832000000001e+00 total movement = 5.273673570604e-04 vel = 5.348842859104e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.549918, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.549918, acc = 15.033858,T = 0.110275, P = 0.010129 initial results: dx= 0.100146,dt = 0.122582, a_f = 4.357157, v_f = 1.084027 dt = 0.122582, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.833000 primary movement = 5.424012147603e-04 time: 8.833000000001e+00 total movement = 5.424012147603e-04 vel = 5.499181436102e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.564952, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.564952, acc = 15.033858,T = 0.110275, P = 0.010687 initial results: dx= 0.099589,dt = 0.120788, a_f = 4.297395, v_f = 1.084027 dt = 0.120788, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.834000 primary movement = 5.574350724601e-04 time: 8.834000000001e+00 total movement = 5.574350724601e-04 vel = 5.649520013101e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.579986, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.579986, acc = 15.033858,T = 0.110275, P = 0.011259 initial results: dx= 0.099016,dt = 0.119009, a_f = 4.235322, v_f = 1.084027 dt = 0.119009, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.835000 primary movement = 5.724689301600e-04 time: 8.835000000001e+00 total movement = 5.724689301600e-04 vel = 5.799858590099e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.595020, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.595020, acc = 15.033858,T = 0.110275, P = 0.011847 initial results: dx= 0.098429,dt = 0.117243, a_f = 4.170867, v_f = 1.084027 dt = 0.117243, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.836000 primary movement = 5.875027878598e-04 time: 8.836000000001e+00 total movement = 5.875027878598e-04 vel = 5.950197167097e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.610054, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.610054, acc = 15.033858,T = 0.110275, P = 0.012449 initial results: dx= 0.097826,dt = 0.115492, a_f = 4.103959, v_f = 1.084027 dt = 0.115492, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.837000 primary movement = 6.025366455597e-04 time: 8.837000000001e+00 total movement = 6.025366455597e-04 vel = 6.100535744096e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.625087, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.625087, acc = 15.033858,T = 0.110275, P = 0.013067 initial results: dx= 0.097209,dt = 0.113753, a_f = 4.034521, v_f = 1.084027 dt = 0.113753, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.838000 primary movement = 6.175705032595e-04 time: 8.838000000001e+00 total movement = 6.175705032595e-04 vel = 6.250874321094e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.640121, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.640121, acc = 15.033858,T = 0.110275, P = 0.013699 initial results: dx= 0.096576,dt = 0.112027, a_f = 3.962472, v_f = 1.084027 dt = 0.112027, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.839000 primary movement = 6.326043609594e-04 time: 8.839000000001e+00 total movement = 6.326043609594e-04 vel = 6.401212898093e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.655155, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.655155, acc = 15.033858,T = 0.110275, P = 0.014347 initial results: dx= 0.095928,dt = 0.110314, a_f = 3.887726, v_f = 1.084027 dt = 0.110314, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.840000 primary movement = 6.476382186592e-04 time: 8.840000000001e+00 total movement = 6.476382186592e-04 vel = 6.551551475091e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.670189, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.670189, acc = 15.033858,T = 0.110275, P = 0.015010 initial results: dx= 0.095266,dt = 0.108613, a_f = 3.810193, v_f = 1.084027 dt = 0.108613, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.841000 primary movement = 6.626720763590e-04 time: 8.841000000001e+00 total movement = 6.626720763590e-04 vel = 6.701890052090e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.685223, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.685223, acc = 15.033858,T = 0.110275, P = 0.015687 initial results: dx= 0.094588,dt = 0.106924, a_f = 3.729777, v_f = 1.084027 dt = 0.106924, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.842000 primary movement = 6.777059340589e-04 time: 8.842000000001e+00 total movement = 6.777059340589e-04 vel = 6.852228629088e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.700257, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.700257, acc = 15.033858,T = 0.110275, P = 0.016380 initial results: dx= 0.093895,dt = 0.105247, a_f = 3.646378, v_f = 1.084027 dt = 0.105247, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.843000 primary movement = 6.927397917587e-04 time: 8.843000000001e+00 total movement = 6.927397917587e-04 vel = 7.002567206087e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.715291, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.715291, acc = 15.033858,T = 0.110275, P = 0.017088 initial results: dx= 0.093187,dt = 0.103581, a_f = 3.559888, v_f = 1.084027 dt = 0.103581, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.844000 primary movement = 7.077736494586e-04 time: 8.844000000001e+00 total movement = 7.077736494586e-04 vel = 7.152905783085e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.730324, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.730324, acc = 15.033858,T = 0.110275, P = 0.017811 initial results: dx= 0.092465,dt = 0.101926, a_f = 3.470194, v_f = 1.084027 dt = 0.101926, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.845000 primary movement = 7.228075071584e-04 time: 8.845000000001e+00 total movement = 7.228075071584e-04 vel = 7.303244360083e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.745358, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.745358, acc = 15.033858,T = 0.110275, P = 0.018548 initial results: dx= 0.091727,dt = 0.100282, a_f = 3.377177, v_f = 1.084027 dt = 0.100282, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.846000 primary movement = 7.378413648583e-04 time: 8.846000000001e+00 total movement = 7.378413648583e-04 vel = 7.453582937082e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.760392, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.760392, acc = 15.033858,T = 0.110275, P = 0.019301 initial results: dx= 0.090974,dt = 0.098648, a_f = 3.280710, v_f = 1.084027 dt = 0.098648, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.847000 primary movement = 7.528752225581e-04 time: 8.847000000001e+00 total movement = 7.528752225581e-04 vel = 7.603921514080e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.775426, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.775426, acc = 15.033858,T = 0.110275, P = 0.020069 initial results: dx= 0.090206,dt = 0.097024, a_f = 3.180657, v_f = 1.084027 dt = 0.097024, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.848000 primary movement = 7.679090802580e-04 time: 8.848000000001e+00 total movement = 7.679090802580e-04 vel = 7.754260091079e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.790460, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.790460, acc = 15.033858,T = 0.110275, P = 0.020852 initial results: dx= 0.089423,dt = 0.095411, a_f = 3.076877, v_f = 1.084027 dt = 0.095411, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.849000 primary movement = 7.829429379578e-04 time: 8.849000000001e+00 total movement = 7.829429379578e-04 vel = 7.904598668077e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.805494, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.805494, acc = 15.033858,T = 0.110275, P = 0.021650 initial results: dx= 0.088625,dt = 0.093807, a_f = 2.969216, v_f = 1.084027 dt = 0.093807, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.850000 primary movement = 7.979767956576e-04 time: 8.850000000001e+00 total movement = 7.979767956576e-04 vel = 8.054937245076e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.820528, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.820528, acc = 15.033858,T = 0.110275, P = 0.022463 initial results: dx= 0.087812,dt = 0.092213, a_f = 2.857515, v_f = 1.084027 dt = 0.092213, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.851000 primary movement = 8.130106533575e-04 time: 8.851000000001e+00 total movement = 8.130106533575e-04 vel = 8.205275822074e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.835561, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.835561, acc = 15.033858,T = 0.110275, P = 0.023291 initial results: dx= 0.086984,dt = 0.090628, a_f = 2.741603, v_f = 1.084027 dt = 0.090628, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.852000 primary movement = 8.280445110573e-04 time: 8.852000000001e+00 total movement = 8.280445110573e-04 vel = 8.355614399073e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.850595, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.850595, acc = 15.033858,T = 0.110275, P = 0.024134 initial results: dx= 0.086141,dt = 0.089052, a_f = 2.621296, v_f = 1.084027 dt = 0.089052, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.853000 primary movement = 8.430783687572e-04 time: 8.853000000001e+00 total movement = 8.430783687572e-04 vel = 8.505952976071e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.865629, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.865629, acc = 15.033858,T = 0.110275, P = 0.024992 initial results: dx= 0.085283,dt = 0.087485, a_f = 2.496401, v_f = 1.084027 dt = 0.087485, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.854000 primary movement = 8.581122264570e-04 time: 8.854000000001e+00 total movement = 8.581122264570e-04 vel = 8.656291553069e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.880663, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.880663, acc = 15.033858,T = 0.110275, P = 0.025866 initial results: dx= 0.084410,dt = 0.085927, a_f = 2.366712, v_f = 1.084027 dt = 0.085927, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.855000 primary movement = 8.731460841569e-04 time: 8.855000000001e+00 total movement = 8.731460841569e-04 vel = 8.806630130068e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.895697, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.895697, acc = 15.033858,T = 0.110275, P = 0.026754 initial results: dx= 0.083521,dt = 0.084377, a_f = 2.232008, v_f = 1.084027 dt = 0.084377, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.856000 primary movement = 8.881799418567e-04 time: 8.856000000001e+00 total movement = 8.881799418567e-04 vel = 8.956968707066e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.910731, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.910731, acc = 15.033858,T = 0.110275, P = 0.027657 initial results: dx= 0.082618,dt = 0.082835, a_f = 2.092053, v_f = 1.084027 dt = 0.082835, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.857000 primary movement = 9.032137995566e-04 time: 8.857000000001e+00 total movement = 9.032137995566e-04 vel = 9.107307284065e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.925765, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.925765, acc = 15.033858,T = 0.110275, P = 0.028575 initial results: dx= 0.081700,dt = 0.081302, a_f = 1.946597, v_f = 1.084027 dt = 0.081302, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.858000 primary movement = 9.182476572564e-04 time: 8.858000000001e+00 total movement = 9.182476572564e-04 vel = 9.257645861063e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.940798, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.940798, acc = 15.033858,T = 0.110275, P = 0.029508 initial results: dx= 0.080767,dt = 0.079776, a_f = 1.795370, v_f = 1.084027 dt = 0.079776, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.859000 primary movement = 9.332815149562e-04 time: 8.859000000001e+00 total movement = 9.332815149562e-04 vel = 9.407984438062e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.955832, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.955832, acc = 15.033858,T = 0.110275, P = 0.030457 initial results: dx= 0.079818,dt = 0.078259, a_f = 1.638084, v_f = 1.084027 dt = 0.078259, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.860000 primary movement = 9.483153726561e-04 time: 8.860000000001e+00 total movement = 9.483153726561e-04 vel = 9.558323015060e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.970866, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.970866, acc = 15.033858,T = 0.110275, P = 0.031420 initial results: dx= 0.078855,dt = 0.076749, a_f = 1.474432, v_f = 1.084027 dt = 0.076749, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.861000 primary movement = 9.633492303559e-04 time: 8.861000000001e+00 total movement = 9.633492303559e-04 vel = 9.708661592059e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 0.985900, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.985900, acc = 15.033858,T = 0.110275, P = 0.032399 initial results: dx= 0.077877,dt = 0.075246, a_f = 1.304082, v_f = 1.084027 dt = 0.075246, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.862000 primary movement = 9.783830880558e-04 time: 8.862000000001e+00 total movement = 9.783830880558e-04 vel = 9.859000169057e-01 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.000934, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.000934, acc = 15.033858,T = 0.110275, P = 0.033392 initial results: dx= 0.076883,dt = 0.073750, a_f = 1.126678, v_f = 1.084027 dt = 0.073750, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.863000 primary movement = 9.934169457556e-04 time: 8.863000000001e+00 total movement = 9.934169457556e-04 vel = 1.000933874606e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.015968, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.015968, acc = 15.033858,T = 0.110275, P = 0.034400 initial results: dx= 0.075875,dt = 0.072262, a_f = 0.941838, v_f = 1.084027 dt = 0.072262, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.864000 primary movement = 1.008450803455e-03 time: 8.864000000001e+00 total movement = 1.008450803455e-03 vel = 1.015967732305e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.031002, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.031002, acc = 15.033858,T = 0.110275, P = 0.035424 initial results: dx= 0.074851,dt = 0.070780, a_f = 0.749150, v_f = 1.084027 dt = 0.070780, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.865000 primary movement = 1.023484661155e-03 time: 8.865000000001e+00 total movement = 1.023484661155e-03 vel = 1.031001590005e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.046035, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.046035, acc = 15.033858,T = 0.110275, P = 0.036462 initial results: dx= 0.073813,dt = 0.069306, a_f = 0.548169, v_f = 1.084027 dt = 0.069306, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.866000 primary movement = 1.038518518855e-03 time: 8.866000000001e+00 total movement = 1.038518518855e-03 vel = 1.046035447705e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.061069, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.061069, acc = 15.033858,T = 0.110275, P = 0.037516 initial results: dx= 0.072759,dt = 0.067838, a_f = 0.338417, v_f = 1.084027 dt = 0.067838, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.867000 primary movement = 1.053552376555e-03 time: 8.867000000001e+00 total movement = 1.053552376555e-03 vel = 1.061069305405e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.076103, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.076103, acc = 15.033858,T = 0.110275, P = 0.038585 initial results: dx= 0.071691,dt = 0.066376, a_f = 0.119374, v_f = 1.084027 dt = 0.066376, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.868000 primary movement = 1.068586234255e-03 time: 8.868000000001e+00 total movement = 1.068586234255e-03 vel = 1.076103163105e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.091137, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.091137, acc = 15.033858,T = 0.110275, P = 0.039668 initial results: dx= 0.070607,dt = 0.064921, a_f = -0.109522, v_f = 1.084027 dt = 0.064921, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.869000 primary movement = 1.083620091955e-03 time: 8.869000000001e+00 total movement = 1.083620091955e-03 vel = 1.091137020805e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.106171, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.106171, acc = 15.033858,T = 0.110275, P = 0.040767 initial results: dx= 0.069508,dt = 0.063472, a_f = -0.348879, v_f = 1.084027 dt = 0.063472, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.870000 primary movement = 1.098653949655e-03 time: 8.870000000001e+00 total movement = 1.098653949655e-03 vel = 1.106170878504e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.121205, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.121205, acc = 15.033858,T = 0.110275, P = 0.041880 initial results: dx= 0.068395,dt = 0.062030, a_f = -0.599360, v_f = 1.084027 dt = 0.062030, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.871000 primary movement = 1.113687807354e-03 time: 8.871000000001e+00 total movement = 1.113687807354e-03 vel = 1.121204736204e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.136239, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.136239, acc = 15.033858,T = 0.110275, P = 0.043009 initial results: dx= 0.067266,dt = 0.060593, a_f = -0.861685, v_f = 1.084027 dt = 0.060593, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.872000 primary movement = 1.128721665054e-03 time: 8.872000000001e+00 total movement = 1.128721665054e-03 vel = 1.136238593904e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.151272, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.151272, acc = 15.033858,T = 0.110275, P = 0.044153 initial results: dx= 0.066122,dt = 0.059162, a_f = -1.136639, v_f = 1.084027 dt = 0.059162, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.873000 primary movement = 1.143755522754e-03 time: 8.873000000001e+00 total movement = 1.143755522754e-03 vel = 1.151272451604e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.166306, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.166306, acc = 15.033858,T = 0.110275, P = 0.045312 initial results: dx= 0.064963,dt = 0.057737, a_f = -1.425081, v_f = 1.084027 dt = 0.057737, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.874000 primary movement = 1.158789380454e-03 time: 8.874000000001e+00 total movement = 1.158789380454e-03 vel = 1.166306309304e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.181340, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.181340, acc = 15.033858,T = 0.110275, P = 0.046486 initial results: dx= 0.063790,dt = 0.056317, a_f = -1.727950, v_f = 1.084027 dt = 0.056317, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.875000 primary movement = 1.173823238154e-03 time: 8.875000000001e+00 total movement = 1.173823238154e-03 vel = 1.181340167004e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.196374, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.196374, acc = 15.033858,T = 0.110275, P = 0.047674 initial results: dx= 0.062601,dt = 0.054903, a_f = -2.046275, v_f = 1.084027 dt = 0.054903, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.876000 primary movement = 1.188857095854e-03 time: 8.876000000001e+00 total movement = 1.188857095854e-03 vel = 1.196374024704e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.211408, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.211408, acc = 15.033858,T = 0.110275, P = 0.048878 initial results: dx= 0.061397,dt = 0.053495, a_f = -2.381188, v_f = 1.084027 dt = 0.053495, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.877000 primary movement = 1.203890953553e-03 time: 8.877000000001e+00 total movement = 1.203890953553e-03 vel = 1.211407882403e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.226442, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.226442, acc = 15.033858,T = 0.110275, P = 0.050097 initial results: dx= 0.060178,dt = 0.052092, a_f = -2.733936, v_f = 1.084027 dt = 0.052092, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.878000 primary movement = 1.218924811253e-03 time: 8.878000000001e+00 total movement = 1.218924811253e-03 vel = 1.226441740103e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.241476, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.241476, acc = 15.033858,T = 0.110275, P = 0.051331 initial results: dx= 0.058944,dt = 0.050694, a_f = -3.105895, v_f = 1.084027 dt = 0.050694, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.879000 primary movement = 1.233958668953e-03 time: 8.879000000001e+00 total movement = 1.233958668953e-03 vel = 1.241475597803e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.256509, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.256509, acc = 15.033858,T = 0.110275, P = 0.052580 initial results: dx= 0.057695,dt = 0.049301, a_f = -3.498588, v_f = 1.084027 dt = 0.049301, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.880000 primary movement = 1.248992526653e-03 time: 8.880000000001e+00 total movement = 1.248992526653e-03 vel = 1.256509455503e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.271543, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.271543, acc = 15.033858,T = 0.110275, P = 0.053844 initial results: dx= 0.056431,dt = 0.047913, a_f = -3.913705, v_f = 1.084027 dt = 0.047913, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.881000 primary movement = 1.264026384353e-03 time: 8.881000000001e+00 total movement = 1.264026384353e-03 vel = 1.271543313203e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.286577, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.286577, acc = 15.033858,T = 0.110275, P = 0.055123 initial results: dx= 0.055152,dt = 0.046530, a_f = -4.353129, v_f = 1.084027 dt = 0.046530, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.882000 primary movement = 1.279060242053e-03 time: 8.882000000001e+00 total movement = 1.279060242053e-03 vel = 1.286577170903e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.301611, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.301611, acc = 15.033858,T = 0.110275, P = 0.056417 initial results: dx= 0.053858,dt = 0.045152, a_f = -4.818959, v_f = 1.084027 dt = 0.045152, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.883000 primary movement = 1.294094099753e-03 time: 8.883000000001e+00 total movement = 1.294094099753e-03 vel = 1.301611028602e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.316645, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.316645, acc = 15.033858,T = 0.110275, P = 0.057727 initial results: dx= 0.052549,dt = 0.043778, a_f = -5.313546, v_f = 1.084027 dt = 0.043778, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.884000 primary movement = 1.309127957452e-03 time: 8.884000000001e+00 total movement = 1.309127957452e-03 vel = 1.316644886302e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.331679, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.331679, acc = 15.033858,T = 0.110275, P = 0.059051 initial results: dx= 0.051225,dt = 0.042410, a_f = -5.839530, v_f = 1.084027 dt = 0.042410, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.885000 primary movement = 1.324161815152e-03 time: 8.885000000001e+00 total movement = 1.324161815152e-03 vel = 1.331678744002e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.346713, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.346713, acc = 15.033858,T = 0.110275, P = 0.060390 initial results: dx= 0.049885,dt = 0.041045, a_f = -6.399886, v_f = 1.084027 dt = 0.041045, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.886000 primary movement = 1.339195672852e-03 time: 8.886000000001e+00 total movement = 1.339195672852e-03 vel = 1.346712601702e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.361746, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.361746, acc = 15.033858,T = 0.110275, P = 0.061744 initial results: dx= 0.048531,dt = 0.039686, a_f = -6.997981, v_f = 1.084027 dt = 0.039686, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.887000 primary movement = 1.354229530552e-03 time: 8.887000000001e+00 total movement = 1.354229530552e-03 vel = 1.361746459402e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.376780, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.376780, acc = 15.033858,T = 0.110275, P = 0.063113 initial results: dx= 0.047162,dt = 0.038330, a_f = -7.637637, v_f = 1.084027 dt = 0.038330, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.888000 primary movement = 1.369263388252e-03 time: 8.888000000001e+00 total movement = 1.369263388252e-03 vel = 1.376780317102e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.391814, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.391814, acc = 15.033858,T = 0.110275, P = 0.064498 initial results: dx= 0.045778,dt = 0.036979, a_f = -8.323216, v_f = 1.084027 dt = 0.036979, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.889000 primary movement = 1.384297245952e-03 time: 8.889000000001e+00 total movement = 1.384297245952e-03 vel = 1.391814174802e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.406848, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.406848, acc = 15.033858,T = 0.110275, P = 0.065897 initial results: dx= 0.044378,dt = 0.035633, a_f = -9.059710, v_f = 1.084027 dt = 0.035633, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.890000 primary movement = 1.399331103651e-03 time: 8.890000000001e+00 total movement = 1.399331103651e-03 vel = 1.406848032501e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.421882, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.421882, acc = 15.033858,T = 0.110275, P = 0.067311 initial results: dx= 0.042964,dt = 0.034290, a_f = -9.852867, v_f = 1.084027 dt = 0.034290, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.891000 primary movement = 1.414364961351e-03 time: 8.891000000001e+00 total movement = 1.414364961351e-03 vel = 1.421881890201e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.436916, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.436916, acc = 15.033858,T = 0.110275, P = 0.068741 initial results: dx= 0.041534,dt = 0.032952, a_f = -10.709338, v_f = 1.084027 dt = 0.032952, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.892000 primary movement = 1.429398819051e-03 time: 8.892000000001e+00 total movement = 1.429398819051e-03 vel = 1.436915747901e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.451950, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.451950, acc = 15.033858,T = 0.110275, P = 0.070185 initial results: dx= 0.040090,dt = 0.031617, a_f = -11.636859, v_f = 1.084027 dt = 0.031617, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.893000 primary movement = 1.444432676751e-03 time: 8.893000000001e+00 total movement = 1.444432676751e-03 vel = 1.451949605601e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.466983, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.466983, acc = 15.033858,T = 0.110275, P = 0.071645 initial results: dx= 0.038631,dt = 0.030286, a_f = -12.644482, v_f = 1.084027 dt = 0.030286, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.894000 primary movement = 1.459466534451e-03 time: 8.894000000001e+00 total movement = 1.459466534451e-03 vel = 1.466983463301e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.482017, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.482017, acc = 15.033858,T = 0.110275, P = 0.073119 initial results: dx= 0.037156,dt = 0.028960, a_f = -13.742869, v_f = 1.084027 dt = 0.028960, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.895000 primary movement = 1.474500392151e-03 time: 8.895000000001e+00 total movement = 1.474500392151e-03 vel = 1.482017321001e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.497051, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.497051, acc = 15.033858,T = 0.110275, P = 0.074609 initial results: dx= 0.035667,dt = 0.027637, a_f = -14.944666, v_f = 1.084027 dt = 0.027637, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.896000 primary movement = 1.489534249850e-03 time: 8.896000000001e+00 total movement = 1.489534249850e-03 vel = 1.497051178700e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.484151, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.484151, acc = -12.899717,T = 0.110275, P = 0.076099 on final decel initial results: dx= 0.034176,dt = 0.026615, a_f = -15.033858, v_f = 1.084027 recalculating with a_f = -15.033858, a = -15.033858 revised dt = 0.026615 dt = 0.026615, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.897000 primary movement = 1.490601320002e-03 time: 8.897000000001e+00 total movement = 1.490601320002e-03 vel = 1.484151461304e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.469118, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.469118, acc = -15.033858,T = 0.110275, P = 0.077576 on final decel initial results: dx= 0.032699,dt = 0.025615, a_f = -15.033858, v_f = 1.084027 recalculating with a_f = -15.033858, a = -15.033858 revised dt = 0.025615 dt = 0.025615, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.898000 primary movement = 1.476634532454e-03 time: 8.898000000001e+00 total movement = 1.476634532454e-03 vel = 1.469117603604e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.454084, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.454084, acc = -15.033858,T = 0.110275, P = 0.079038 on final decel initial results: dx= 0.031238,dt = 0.024615, a_f = -15.033858, v_f = 1.084027 recalculating with a_f = -15.033858, a = -15.033858 revised dt = 0.024615 dt = 0.024615, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.899000 primary movement = 1.461600674754e-03 time: 8.899000000001e+00 total movement = 1.461600674754e-03 vel = 1.454083745904e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.439050, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.439050, acc = -15.033858,T = 0.110275, P = 0.080484 on final decel initial results: dx= 0.029791,dt = 0.023615, a_f = -15.033858, v_f = 1.084027 recalculating with a_f = -15.033858, a = -15.033858 revised dt = 0.023615 dt = 0.023615, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.900000 primary movement = 1.446566817054e-03 time: 8.900000000001e+00 total movement = 1.446566817054e-03 vel = 1.439049888204e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.424016, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.424016, acc = -15.033858,T = 0.110275, P = 0.081916 on final decel initial results: dx= 0.028360,dt = 0.022615, a_f = -15.033858, v_f = 1.084027 recalculating with a_f = -15.033858, a = -15.033858 revised dt = 0.022615 dt = 0.022615, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.901000 primary movement = 1.431532959354e-03 time: 8.901000000001e+00 total movement = 1.431532959354e-03 vel = 1.424016030504e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.408982, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.408982, acc = -15.033858,T = 0.110275, P = 0.083332 on final decel initial results: dx= 0.026943,dt = 0.021615, a_f = -15.033858, v_f = 1.084027 recalculating with a_f = -15.033858, a = -15.033858 revised dt = 0.021615 dt = 0.021615, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.902000 primary movement = 1.416499101654e-03 time: 8.902000000001e+00 total movement = 1.416499101654e-03 vel = 1.408982172804e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.393948, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.393948, acc = -15.033858,T = 0.110275, P = 0.084734 on final decel initial results: dx= 0.025542,dt = 0.020615, a_f = -15.033858, v_f = 1.084027 recalculating with a_f = -15.033858, a = -15.033858 revised dt = 0.020615 dt = 0.020615, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.903000 primary movement = 1.401465243954e-03 time: 8.903000000001e+00 total movement = 1.401465243954e-03 vel = 1.393948315104e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.378914, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.378914, acc = -15.033858,T = 0.110275, P = 0.086120 on final decel initial results: dx= 0.024155,dt = 0.019615, a_f = -15.033858, v_f = 1.084027 recalculating with a_f = -15.033858, a = -15.033858 revised dt = 0.019615 dt = 0.019615, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.904000 primary movement = 1.386431386255e-03 time: 8.904000000001e+00 total movement = 1.386431386255e-03 vel = 1.378914457405e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.363881, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.363881, acc = -15.033858,T = 0.110275, P = 0.087491 on final decel initial results: dx= 0.022784,dt = 0.018615, a_f = -15.033858, v_f = 1.084027 recalculating with a_f = -15.033858, a = -15.033858 revised dt = 0.018615 dt = 0.018615, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.905000 primary movement = 1.371397528555e-03 time: 8.905000000001e+00 total movement = 1.371397528555e-03 vel = 1.363880599705e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.348847, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.348847, acc = -15.033858,T = 0.110275, P = 0.088848 on final decel initial results: dx= 0.021427,dt = 0.017615, a_f = -15.033858, v_f = 1.084027 recalculating with a_f = -15.033858, a = -15.033858 revised dt = 0.017615 dt = 0.017615, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.906000 primary movement = 1.356363670855e-03 time: 8.906000000001e+00 total movement = 1.356363670855e-03 vel = 1.348846742005e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.333813, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.333813, acc = -15.033858,T = 0.110275, P = 0.090189 on final decel initial results: dx= 0.020086,dt = 0.016615, a_f = -15.033858, v_f = 1.084027 recalculating with a_f = -15.033858, a = -15.033858 revised dt = 0.016615 dt = 0.016615, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.907000 primary movement = 1.341329813155e-03 time: 8.907000000001e+00 total movement = 1.341329813155e-03 vel = 1.333812884305e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.318779, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.318779, acc = -15.033858,T = 0.110275, P = 0.091515 on final decel initial results: dx= 0.018760,dt = 0.015615, a_f = -15.033858, v_f = 1.084027 recalculating with a_f = -15.033858, a = -15.033858 revised dt = 0.015615 dt = 0.015615, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.908000 primary movement = 1.326295955455e-03 time: 8.908000000001e+00 total movement = 1.326295955455e-03 vel = 1.318779026605e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.303745, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.303745, acc = -15.033858,T = 0.110275, P = 0.092827 on final decel initial results: dx= 0.017449,dt = 0.014615, a_f = -15.033858, v_f = 1.084027 recalculating with a_f = -15.033858, a = -15.033858 revised dt = 0.014615 dt = 0.014615, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.909000 primary movement = 1.311262097755e-03 time: 8.909000000001e+00 total movement = 1.311262097755e-03 vel = 1.303745168905e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.288711, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.288711, acc = -15.033858,T = 0.110275, P = 0.094123 on final decel initial results: dx= 0.016152,dt = 0.013615, a_f = -15.033858, v_f = 1.084027 recalculating with a_f = -15.033858, a = -15.033858 revised dt = 0.013615 dt = 0.013615, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.910000 primary movement = 1.296228240055e-03 time: 8.910000000001e+00 total movement = 1.296228240055e-03 vel = 1.288711311206e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.273677, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.273677, acc = -15.033858,T = 0.110275, P = 0.095404 on final decel initial results: dx= 0.014871,dt = 0.012615, a_f = -15.033858, v_f = 1.084027 recalculating with a_f = -15.033858, a = -15.033858 revised dt = 0.012615 dt = 0.012615, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.911000 primary movement = 1.281194382356e-03 time: 8.911000000001e+00 total movement = 1.281194382356e-03 vel = 1.273677453506e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.258644, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.258644, acc = -15.033858,T = 0.110275, P = 0.096670 on final decel initial results: dx= 0.013605,dt = 0.011615, a_f = -15.033858, v_f = 1.084027 recalculating with a_f = -15.033858, a = -15.033858 revised dt = 0.011615 dt = 0.011615, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.912000 primary movement = 1.266160524656e-03 time: 8.912000000000e+00 total movement = 1.266160524656e-03 vel = 1.258643595806e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.243610, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.243610, acc = -15.033858,T = 0.110275, P = 0.097921 on final decel initial results: dx= 0.012354,dt = 0.010615, a_f = -15.033858, v_f = 1.084027 recalculating with a_f = -15.033858, a = -15.033858 revised dt = 0.010615 dt = 0.010615, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.913000 primary movement = 1.251126666956e-03 time: 8.913000000000e+00 total movement = 1.251126666956e-03 vel = 1.243609738106e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.228576, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.228576, acc = -15.033858,T = 0.110275, P = 0.099157 on final decel initial results: dx= 0.011118,dt = 0.009615, a_f = -15.033858, v_f = 1.084027 recalculating with a_f = -15.033858, a = -15.033858 revised dt = 0.009615 dt = 0.009615, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.914000 primary movement = 1.236092809256e-03 time: 8.914000000000e+00 total movement = 1.236092809256e-03 vel = 1.228575880406e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.213542, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.213542, acc = -15.033858,T = 0.110275, P = 0.100379 on final decel initial results: dx= 0.009897,dt = 0.008615, a_f = -15.033858, v_f = 1.084027 recalculating with a_f = -15.033858, a = -15.033858 revised dt = 0.008615 dt = 0.008615, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.915000 primary movement = 1.221058951556e-03 time: 8.915000000000e+00 total movement = 1.221058951556e-03 vel = 1.213542022706e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.198508, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.198508, acc = -15.033858,T = 0.110275, P = 0.101585 on final decel initial results: dx= 0.008691,dt = 0.007615, a_f = -15.033858, v_f = 1.084027 recalculating with a_f = -15.033858, a = -15.033858 revised dt = 0.007615 dt = 0.007615, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.916000 primary movement = 1.206025093856e-03 time: 8.916000000000e+00 total movement = 1.206025093856e-03 vel = 1.198508165006e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.183474, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.183474, acc = -15.033858,T = 0.110275, P = 0.102776 on final decel initial results: dx= 0.007500,dt = 0.006615, a_f = -15.033858, v_f = 1.084027 recalculating with a_f = -15.033858, a = -15.033858 revised dt = 0.006615 dt = 0.006615, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.917000 primary movement = 1.190991236157e-03 time: 8.917000000000e+00 total movement = 1.190991236157e-03 vel = 1.183474307307e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.168440, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.168440, acc = -15.033858,T = 0.110275, P = 0.103951 on final decel initial results: dx= 0.006324,dt = 0.005615, a_f = -15.033858, v_f = 1.084027 recalculating with a_f = -15.033858, a = -15.033858 revised dt = 0.005615 dt = 0.005615, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.918000 primary movement = 1.175957378457e-03 time: 8.918000000000e+00 total movement = 1.175957378457e-03 vel = 1.168440449607e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.153407, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.153407, acc = -15.033858,T = 0.110275, P = 0.105112 on final decel initial results: dx= 0.005163,dt = 0.004615, a_f = -15.033858, v_f = 1.084027 recalculating with a_f = -15.033858, a = -15.033858 revised dt = 0.004615 dt = 0.004615, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.919000 primary movement = 1.160923520757e-03 time: 8.919000000000e+00 total movement = 1.160923520757e-03 vel = 1.153406591907e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.138373, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.138373, acc = -15.033858,T = 0.110275, P = 0.106258 on final decel initial results: dx= 0.004017,dt = 0.003615, a_f = -15.033858, v_f = 1.084027 recalculating with a_f = -15.033858, a = -15.033858 revised dt = 0.003615 dt = 0.003615, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.920000 primary movement = 1.145889663057e-03 time: 8.920000000000e+00 total movement = 1.145889663057e-03 vel = 1.138372734207e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.123339, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.123339, acc = -15.033858,T = 0.110275, P = 0.107389 on final decel initial results: dx= 0.002886,dt = 0.002615, a_f = -15.033858, v_f = 1.084027 recalculating with a_f = -15.033858, a = -15.033858 revised dt = 0.002615 dt = 0.002615, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.921000 primary movement = 1.130855805357e-03 time: 8.921000000000e+00 total movement = 1.130855805357e-03 vel = 1.123338876507e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.108305, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.108305, acc = -15.033858,T = 0.110275, P = 0.108505 on final decel initial results: dx= 0.001770,dt = 0.001615, a_f = -15.033858, v_f = 1.084027 recalculating with a_f = -15.033858, a = -15.033858 revised dt = 0.001615 dt = 0.001615, not at end yet tc id = 235, canon_type = 2, mot type = 1 time: 8.922000 primary movement = 1.115821947657e-03 time: 8.922000000000e+00 total movement = 1.115821947657e-03 vel = 1.108305018807e+00 ------------------- tc state : vr = 8.352143, vf = 1.084027, maxvel = 8.352143, current_vel = 1.093271, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.093271, acc = -15.033858,T = 0.110275, P = 0.109606 on final decel initial results: dx= 0.000669,dt = 0.000615, a_f = -15.033858, v_f = 1.084027 recalculating with a_f = -15.033858, a = -15.033858 revised dt = 0.000615 actual v_f = 1.084027, a = -15.033858 split time is 0.000614906 tc id = 235, canon_type = 2, mot type = 1 time: 8.923000 primary movement = 1.100788089957e-03 time: 8.923000000000e+00 total movement = 1.100788089957e-03 vel = 1.093271161108e+00 ------------------- tc id 235 done Finishing split-cycle on id 236 tc state : vr = 1.084027, vf = 1.084027, maxvel = 1.084027, current_vel = 1.084027, fs = 1.000000, tc = 0.000385, term = 3 tc result: v = 1.084027, acc = -0.000000,T = 0.017755, P = 0.000417 initial results: dx= 0.017338,dt = 0.015994, a_f = 0.000000, v_f = 1.084027 dt = 0.015994, not at end yet secondary movement = 0.000417 tc id = 236, canon_type = 3, mot type = 2 time: 8.924000 primary movement = 6.694166793116e-04 time: 8.924000000000e+00 total movement = 1.086867492016e-03 vel = 1.084026753135e+00 Finished tc id 235 ------------------- Activate tc id = 236 target_vel = 1.084027 final_vel = 1.084027 length = 0.017755 tc state : vr = 1.084027, vf = 1.084027, maxvel = 1.084027, current_vel = 1.084027, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.084027, acc = 0.000000,T = 0.017755, P = 0.001501 initial results: dx= 0.016254,dt = 0.014994, a_f = 0.000000, v_f = 1.084027 dt = 0.014994, not at end yet tc id = 236, canon_type = 3, mot type = 2 time: 8.925000 primary movement = 1.084000808390e-03 time: 8.925000000000e+00 total movement = 1.084000808390e-03 vel = 1.084026753135e+00 ------------------- tc state : vr = 1.084027, vf = 1.084027, maxvel = 1.084027, current_vel = 1.084027, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.084027, acc = 0.000000,T = 0.017755, P = 0.002586 initial results: dx= 0.015170,dt = 0.013994, a_f = 0.000000, v_f = 1.084027 dt = 0.013994, not at end yet tc id = 236, canon_type = 3, mot type = 2 time: 8.926000 primary movement = 1.084000808390e-03 time: 8.926000000000e+00 total movement = 1.084000808390e-03 vel = 1.084026753135e+00 ------------------- tc state : vr = 1.084027, vf = 1.084027, maxvel = 1.084027, current_vel = 1.084027, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.084027, acc = 0.000000,T = 0.017755, P = 0.003670 initial results: dx= 0.014086,dt = 0.012994, a_f = 0.000000, v_f = 1.084027 dt = 0.012994, not at end yet tc id = 236, canon_type = 3, mot type = 2 time: 8.927000 primary movement = 1.084000808390e-03 time: 8.927000000000e+00 total movement = 1.084000808390e-03 vel = 1.084026753135e+00 ------------------- tc state : vr = 1.084027, vf = 1.084027, maxvel = 1.084027, current_vel = 1.084027, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.084027, acc = 0.000000,T = 0.017755, P = 0.004754 initial results: dx= 0.013002,dt = 0.011994, a_f = 0.000000, v_f = 1.084027 dt = 0.011994, not at end yet tc id = 236, canon_type = 3, mot type = 2 time: 8.928000 primary movement = 1.084000808390e-03 time: 8.928000000000e+00 total movement = 1.084000808390e-03 vel = 1.084026753135e+00 ------------------- tc state : vr = 1.084027, vf = 1.084027, maxvel = 1.084027, current_vel = 1.084027, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.084027, acc = 0.000000,T = 0.017755, P = 0.005838 initial results: dx= 0.011918,dt = 0.010994, a_f = 0.000000, v_f = 1.084027 dt = 0.010994, not at end yet tc id = 236, canon_type = 3, mot type = 2 time: 8.929000 primary movement = 1.084000808390e-03 time: 8.929000000000e+00 total movement = 1.084000808390e-03 vel = 1.084026753135e+00 ------------------- tc state : vr = 1.084027, vf = 1.084027, maxvel = 1.084027, current_vel = 1.084027, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.084027, acc = 0.000000,T = 0.017755, P = 0.006922 initial results: dx= 0.010834,dt = 0.009994, a_f = 0.000000, v_f = 1.084027 dt = 0.009994, not at end yet tc id = 236, canon_type = 3, mot type = 2 time: 8.930000 primary movement = 1.084000808390e-03 time: 8.930000000000e+00 total movement = 1.084000808390e-03 vel = 1.084026753135e+00 ------------------- tc state : vr = 1.084027, vf = 1.084027, maxvel = 1.084027, current_vel = 1.084027, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.084027, acc = 0.000000,T = 0.017755, P = 0.008006 initial results: dx= 0.009750,dt = 0.008994, a_f = 0.000000, v_f = 1.084027 dt = 0.008994, not at end yet tc id = 236, canon_type = 3, mot type = 2 time: 8.931000 primary movement = 1.084000808390e-03 time: 8.931000000000e+00 total movement = 1.084000808390e-03 vel = 1.084026753135e+00 ------------------- tc state : vr = 1.084027, vf = 1.084027, maxvel = 1.084027, current_vel = 1.084027, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.084027, acc = 0.000000,T = 0.017755, P = 0.009090 initial results: dx= 0.008666,dt = 0.007994, a_f = 0.000000, v_f = 1.084027 dt = 0.007994, not at end yet tc id = 236, canon_type = 3, mot type = 2 time: 8.932000 primary movement = 1.084000808390e-03 time: 8.932000000000e+00 total movement = 1.084000808390e-03 vel = 1.084026753135e+00 ------------------- tc state : vr = 1.084027, vf = 1.084027, maxvel = 1.084027, current_vel = 1.084027, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.084027, acc = 0.000000,T = 0.017755, P = 0.010174 initial results: dx= 0.007582,dt = 0.006994, a_f = 0.000000, v_f = 1.084027 dt = 0.006994, not at end yet tc id = 236, canon_type = 3, mot type = 2 time: 8.933000 primary movement = 1.084000808390e-03 time: 8.933000000000e+00 total movement = 1.084000808390e-03 vel = 1.084026753135e+00 ------------------- tc state : vr = 1.084027, vf = 1.084027, maxvel = 1.084027, current_vel = 1.084027, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.084027, acc = 0.000000,T = 0.017755, P = 0.011258 initial results: dx= 0.006498,dt = 0.005994, a_f = 0.000000, v_f = 1.084027 dt = 0.005994, not at end yet tc id = 236, canon_type = 3, mot type = 2 time: 8.934000 primary movement = 1.084000808390e-03 time: 8.934000000000e+00 total movement = 1.084000808390e-03 vel = 1.084026753135e+00 ------------------- tc state : vr = 1.084027, vf = 1.084027, maxvel = 1.084027, current_vel = 1.084027, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.084027, acc = 0.000000,T = 0.017755, P = 0.012342 initial results: dx= 0.005414,dt = 0.004994, a_f = 0.000000, v_f = 1.084027 dt = 0.004994, not at end yet tc id = 236, canon_type = 3, mot type = 2 time: 8.935000 primary movement = 1.084000808390e-03 time: 8.935000000000e+00 total movement = 1.084000808390e-03 vel = 1.084026753135e+00 ------------------- tc state : vr = 1.084027, vf = 1.084027, maxvel = 1.084027, current_vel = 1.084027, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.084027, acc = 0.000000,T = 0.017755, P = 0.013426 initial results: dx= 0.004329,dt = 0.003994, a_f = 0.000000, v_f = 1.084027 dt = 0.003994, not at end yet tc id = 236, canon_type = 3, mot type = 2 time: 8.936000 primary movement = 1.084000808389e-03 time: 8.936000000000e+00 total movement = 1.084000808389e-03 vel = 1.084026753135e+00 ------------------- tc state : vr = 1.084027, vf = 1.084027, maxvel = 1.084027, current_vel = 1.084027, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.084027, acc = 0.000000,T = 0.017755, P = 0.014510 initial results: dx= 0.003245,dt = 0.002994, a_f = 0.000000, v_f = 1.084027 dt = 0.002994, not at end yet tc id = 236, canon_type = 3, mot type = 2 time: 8.937000 primary movement = 1.084000808390e-03 time: 8.937000000000e+00 total movement = 1.084000808390e-03 vel = 1.084026753135e+00 ------------------- tc state : vr = 1.084027, vf = 1.084027, maxvel = 1.084027, current_vel = 1.084027, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.084027, acc = 0.000000,T = 0.017755, P = 0.015594 initial results: dx= 0.002161,dt = 0.001994, a_f = 0.000000, v_f = 1.084027 dt = 0.001994, not at end yet tc id = 236, canon_type = 3, mot type = 2 time: 8.938000 primary movement = 1.084000808389e-03 time: 8.938000000000e+00 total movement = 1.084000808389e-03 vel = 1.084026753135e+00 ------------------- tc state : vr = 1.084027, vf = 1.084027, maxvel = 1.084027, current_vel = 1.084027, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.084027, acc = 0.000000,T = 0.017755, P = 0.016678 initial results: dx= 0.001077,dt = 0.000994, a_f = 0.000000, v_f = 1.084027 actual v_f = 1.084027, a = 0.000000 split time is 0.00099389 tc id = 236, canon_type = 3, mot type = 2 time: 8.939000 primary movement = 1.084000808390e-03 time: 8.939000000000e+00 total movement = 1.084000808390e-03 vel = 1.084026753135e+00 ------------------- tc id 236 done Finishing split-cycle on id 236 tc state : vr = 4.686817, vf = 0.862367, maxvel = 9.298573, current_vel = 1.084231, fs = 1.000000, tc = 0.000006, term = 3 tc result: v = 1.084231, acc = 33.474865,T = 0.009842, P = 0.000007 initial results: dx= 0.009836,dt = 0.010106, a_f = -21.954796, v_f = 0.862367 dt = 0.010106, not at end yet secondary movement = 0.000007 tc id = 236, canon_type = 2, mot type = 1 time: 8.940000 primary movement = 1.077377602046e-03 time: 8.940000000000e+00 total movement = 1.084001905970e-03 vel = 1.084231293072e+00 Finished tc id 236 ------------------- Activate tc id = 236 target_vel = 4.686817 final_vel = 0.862367 length = 0.009842 tc state : vr = 4.686817, vf = 0.862367, maxvel = 9.298573, current_vel = 1.117706, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.117706, acc = 33.474865,T = 0.009842, P = 0.001108 initial results: dx= 0.008735,dt = 0.008823, a_f = -28.941431, v_f = 0.862367 dt = 0.008823, not at end yet tc id = 236, canon_type = 2, mot type = 1 time: 8.941000 primary movement = 1.100968725754e-03 time: 8.941000000000e+00 total movement = 1.100968725754e-03 vel = 1.117706158435e+00 ------------------- tc state : vr = 4.686817, vf = 0.862367, maxvel = 9.298573, current_vel = 1.119629, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.119629, acc = 1.922869,T = 0.009842, P = 0.002226 initial results: dx= 0.007616,dt = 0.007685, a_f = -33.474865, v_f = 0.862367 dt = 0.007685, not at end yet tc id = 236, canon_type = 2, mot type = 1 time: 8.942000 primary movement = 1.118667592829e-03 time: 8.942000000000e+00 total movement = 1.118667592829e-03 vel = 1.119629027223e+00 ------------------- tc state : vr = 4.686817, vf = 0.862367, maxvel = 9.298573, current_vel = 1.086154, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.086154, acc = -33.474865,T = 0.009842, P = 0.003329 on final decel initial results: dx= 0.006513,dt = 0.006685, a_f = -33.474865, v_f = 0.862367 recalculating with a_f = -33.474865, a = -33.474865 revised dt = 0.006685 dt = 0.006685, not at end yet tc id = 236, canon_type = 2, mot type = 1 time: 8.943000 primary movement = 1.102891594541e-03 time: 8.943000000000e+00 total movement = 1.102891594541e-03 vel = 1.086154161860e+00 ------------------- tc state : vr = 4.686817, vf = 0.862367, maxvel = 9.298573, current_vel = 1.052679, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.052679, acc = -33.474865,T = 0.009842, P = 0.004399 on final decel initial results: dx= 0.005444,dt = 0.005685, a_f = -33.474865, v_f = 0.862367 recalculating with a_f = -33.474865, a = -33.474865 revised dt = 0.005685 dt = 0.005685, not at end yet tc id = 236, canon_type = 2, mot type = 1 time: 8.944000 primary movement = 1.069416729178e-03 time: 8.944000000000e+00 total movement = 1.069416729178e-03 vel = 1.052679296496e+00 ------------------- tc state : vr = 4.686817, vf = 0.862367, maxvel = 9.298573, current_vel = 1.019204, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 1.019204, acc = -33.474865,T = 0.009842, P = 0.005435 on final decel initial results: dx= 0.004408,dt = 0.004685, a_f = -33.474865, v_f = 0.862367 dt = 0.004685, not at end yet tc id = 236, canon_type = 2, mot type = 1 time: 8.945000 primary movement = 1.035941863814e-03 time: 8.945000000000e+00 total movement = 1.035941863814e-03 vel = 1.019204431132e+00 ------------------- tc state : vr = 4.686817, vf = 0.862367, maxvel = 9.298573, current_vel = 0.985730, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.985730, acc = -33.474865,T = 0.009842, P = 0.006437 on final decel initial results: dx= 0.003405,dt = 0.003685, a_f = -33.474865, v_f = 0.862367 dt = 0.003685, not at end yet tc id = 236, canon_type = 2, mot type = 1 time: 8.946000 primary movement = 1.002466998450e-03 time: 8.946000000000e+00 total movement = 1.002466998450e-03 vel = 9.857295657686e-01 ------------------- tc state : vr = 4.686817, vf = 0.862367, maxvel = 9.298573, current_vel = 0.952255, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.952255, acc = -33.474865,T = 0.009842, P = 0.007406 on final decel initial results: dx= 0.002436,dt = 0.002685, a_f = -33.474865, v_f = 0.862367 dt = 0.002685, not at end yet tc id = 236, canon_type = 2, mot type = 1 time: 8.947000 primary movement = 9.689921330867e-04 time: 8.947000000000e+00 total movement = 9.689921330867e-04 vel = 9.522547004049e-01 ------------------- tc state : vr = 4.686817, vf = 0.862367, maxvel = 9.298573, current_vel = 0.918780, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.918780, acc = -33.474865,T = 0.009842, P = 0.008341 on final decel initial results: dx= 0.001501,dt = 0.001685, a_f = -33.474865, v_f = 0.862367 dt = 0.001685, not at end yet tc id = 236, canon_type = 2, mot type = 1 time: 8.948000 primary movement = 9.355172677230e-04 time: 8.948000000000e+00 total movement = 9.355172677230e-04 vel = 9.187798350412e-01 ------------------- tc state : vr = 4.686817, vf = 0.862367, maxvel = 9.298573, current_vel = 0.885305, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.885305, acc = -33.474865,T = 0.009842, P = 0.009244 on final decel initial results: dx= 0.000599,dt = 0.000685, a_f = -33.474865, v_f = 0.862367 actual v_f = 0.862367, a = -33.474865 split time is 0.00068524 tc id = 236, canon_type = 2, mot type = 1 time: 8.949000 primary movement = 9.020424023593e-04 time: 8.949000000000e+00 total movement = 9.020424023593e-04 vel = 8.853049696775e-01 ------------------- tc id 236 done Finishing split-cycle on id 237 tc state : vr = 1.202741, vf = 0.722331, maxvel = 1.202741, current_vel = 0.857645, fs = 1.000000, tc = 0.000315, term = 3 tc result: v = 0.857645, acc = -15.000000,T = 0.007397, P = 0.000271 on final decel initial results: dx= 0.007126,dt = 0.009021, a_f = -15.000000, v_f = 0.722331 dt = 0.009021, not at end yet secondary movement = 0.000271 tc id = 237, canon_type = 3, mot type = 2 time: 8.950000 primary movement = 5.987868625576e-04 time: 8.950000000000e+00 total movement = 8.694824611144e-04 vel = 8.576452612648e-01 Finished tc id 236 ------------------- Activate tc id = 237 target_vel = 1.202741 final_vel = 0.722331 length = 0.007397 tc state : vr = 1.202741, vf = 0.722331, maxvel = 1.202741, current_vel = 0.842645, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.842645, acc = -15.000000,T = 0.007397, P = 0.001121 on final decel initial results: dx= 0.006276,dt = 0.008021, a_f = -15.000000, v_f = 0.722331 dt = 0.008021, not at end yet tc id = 237, canon_type = 3, mot type = 2 time: 8.951000 primary movement = 8.501370031266e-04 time: 8.951000000000e+00 total movement = 8.501370031266e-04 vel = 8.426452612648e-01 ------------------- tc state : vr = 1.202741, vf = 0.722331, maxvel = 1.202741, current_vel = 0.827645, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.827645, acc = -15.000000,T = 0.007397, P = 0.001956 on final decel initial results: dx= 0.005441,dt = 0.007021, a_f = -15.000000, v_f = 0.722331 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.007021 dt = 0.007021, not at end yet tc id = 237, canon_type = 3, mot type = 2 time: 8.952000 primary movement = 8.351374325794e-04 time: 8.952000000000e+00 total movement = 8.351374325794e-04 vel = 8.276452612648e-01 ------------------- tc state : vr = 1.202741, vf = 0.722331, maxvel = 1.202741, current_vel = 0.812645, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.812645, acc = -15.000000,T = 0.007397, P = 0.002776 on final decel initial results: dx= 0.004621,dt = 0.006021, a_f = -15.000000, v_f = 0.722331 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.006021 dt = 0.006021, not at end yet tc id = 237, canon_type = 3, mot type = 2 time: 8.953000 primary movement = 8.201378468794e-04 time: 8.953000000000e+00 total movement = 8.201378468794e-04 vel = 8.126452612648e-01 ------------------- tc state : vr = 1.202741, vf = 0.722331, maxvel = 1.202741, current_vel = 0.797645, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.797645, acc = -15.000000,T = 0.007397, P = 0.003581 on final decel initial results: dx= 0.003816,dt = 0.005021, a_f = -15.000000, v_f = 0.722331 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.005021 dt = 0.005021, not at end yet tc id = 237, canon_type = 3, mot type = 2 time: 8.954000 primary movement = 8.051382462985e-04 time: 8.954000000000e+00 total movement = 8.051382462985e-04 vel = 7.976452612648e-01 ------------------- tc state : vr = 1.202741, vf = 0.722331, maxvel = 1.202741, current_vel = 0.782645, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.782645, acc = -15.000000,T = 0.007397, P = 0.004371 on final decel initial results: dx= 0.003026,dt = 0.004021, a_f = -15.000000, v_f = 0.722331 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.004021 dt = 0.004021, not at end yet tc id = 237, canon_type = 3, mot type = 2 time: 8.955000 primary movement = 7.901386311091e-04 time: 8.955000000000e+00 total movement = 7.901386311091e-04 vel = 7.826452612648e-01 ------------------- tc state : vr = 1.202741, vf = 0.722331, maxvel = 1.202741, current_vel = 0.767645, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.767645, acc = -15.000000,T = 0.007397, P = 0.005147 on final decel initial results: dx= 0.002251,dt = 0.003021, a_f = -15.000000, v_f = 0.722331 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.003021 dt = 0.003021, not at end yet tc id = 237, canon_type = 3, mot type = 2 time: 8.956000 primary movement = 7.751390015833e-04 time: 8.956000000000e+00 total movement = 7.751390015833e-04 vel = 7.676452612648e-01 ------------------- tc state : vr = 1.202741, vf = 0.722331, maxvel = 1.202741, current_vel = 0.752645, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.752645, acc = -15.000000,T = 0.007397, P = 0.005907 on final decel initial results: dx= 0.001490,dt = 0.002021, a_f = -15.000000, v_f = 0.722331 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.002021 dt = 0.002021, not at end yet tc id = 237, canon_type = 3, mot type = 2 time: 8.957000 primary movement = 7.601393579932e-04 time: 8.957000000000e+00 total movement = 7.601393579932e-04 vel = 7.526452612648e-01 ------------------- tc state : vr = 1.202741, vf = 0.722331, maxvel = 1.202741, current_vel = 0.737645, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.737645, acc = -15.000000,T = 0.007397, P = 0.006652 on final decel initial results: dx= 0.000745,dt = 0.001021, a_f = -15.000000, v_f = 0.722331 dt = 0.001021, not at end yet tc id = 237, canon_type = 3, mot type = 2 time: 8.958000 primary movement = 7.451397006110e-04 time: 8.958000000000e+00 total movement = 7.451397006110e-04 vel = 7.376452612648e-01 ------------------- tc state : vr = 1.202741, vf = 0.722331, maxvel = 1.202741, current_vel = 0.722645, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.722645, acc = -15.000000,T = 0.007397, P = 0.007382 on final decel initial results: dx= 0.000015,dt = 0.000021, a_f = -15.000000, v_f = 0.722331 actual v_f = 0.722331, a = -15.000000 split time is 2.09274e-05 tc id = 237, canon_type = 3, mot type = 2 time: 8.959000 primary movement = 7.301400297088e-04 time: 8.959000000000e+00 total movement = 7.301400297088e-04 vel = 7.226452612648e-01 ------------------- tc id 237 done Finishing split-cycle on id 237 tc state : vr = 0.722331, vf = 0.491600, maxvel = 8.799106, current_vel = 0.691317, fs = 1.000000, tc = 0.000979, term = 3 tc result: v = 0.691317, acc = -31.676783,T = 0.004421, P = 0.000692 on final decel initial results: dx= 0.003729,dt = 0.006305, a_f = -31.676783, v_f = 0.491600 dt = 0.006305, not at end yet secondary movement = 0.000692 tc id = 237, canon_type = 2, mot type = 1 time: 8.960000 primary movement = 1.511979909018e-05 time: 8.960000000000e+00 total movement = 7.071522196947e-04 vel = 6.913174802733e-01 Finished tc id 237 ------------------- Activate tc id = 237 target_vel = 0.722331 final_vel = 0.491600 length = 0.004421 tc state : vr = 0.722331, vf = 0.491600, maxvel = 8.799106, current_vel = 0.659641, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.659641, acc = -31.676783,T = 0.004421, P = 0.001368 on final decel initial results: dx= 0.003054,dt = 0.005305, a_f = -31.676783, v_f = 0.491600 dt = 0.005305, not at end yet tc id = 237, canon_type = 2, mot type = 1 time: 8.961000 primary movement = 6.754790889575e-04 time: 8.961000000000e+00 total movement = 6.754790889575e-04 vel = 6.596406976417e-01 ------------------- tc state : vr = 0.722331, vf = 0.491600, maxvel = 8.799106, current_vel = 0.627964, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.627964, acc = -31.676783,T = 0.004421, P = 0.002011 on final decel initial results: dx= 0.002410,dt = 0.004305, a_f = -31.676783, v_f = 0.491600 recalculating with a_f = -31.676783, a = -31.676783 revised dt = 0.004305 dt = 0.004305, not at end yet tc id = 237, canon_type = 2, mot type = 1 time: 8.962000 primary movement = 6.438023063259e-04 time: 8.962000000000e+00 total movement = 6.438023063259e-04 vel = 6.279639150102e-01 ------------------- tc state : vr = 0.722331, vf = 0.491600, maxvel = 8.799106, current_vel = 0.596287, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.596287, acc = -31.676783,T = 0.004421, P = 0.002623 on final decel initial results: dx= 0.001798,dt = 0.003305, a_f = -31.676783, v_f = 0.491600 recalculating with a_f = -31.676783, a = -31.676783 revised dt = 0.003305 dt = 0.003305, not at end yet tc id = 237, canon_type = 2, mot type = 1 time: 8.963000 primary movement = 6.121255236944e-04 time: 8.963000000000e+00 total movement = 6.121255236944e-04 vel = 5.962871323787e-01 ------------------- tc state : vr = 0.722331, vf = 0.491600, maxvel = 8.799106, current_vel = 0.564610, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.564610, acc = -31.676783,T = 0.004421, P = 0.003204 on final decel initial results: dx= 0.001217,dt = 0.002305, a_f = -31.676783, v_f = 0.491600 dt = 0.002305, not at end yet tc id = 237, canon_type = 2, mot type = 1 time: 8.964000 primary movement = 5.804487410629e-04 time: 8.964000000000e+00 total movement = 5.804487410629e-04 vel = 5.646103497471e-01 ------------------- tc state : vr = 0.722331, vf = 0.491600, maxvel = 8.799106, current_vel = 0.532934, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.532934, acc = -31.676783,T = 0.004421, P = 0.003753 on final decel initial results: dx= 0.000668,dt = 0.001305, a_f = -31.676783, v_f = 0.491600 dt = 0.001305, not at end yet tc id = 237, canon_type = 2, mot type = 1 time: 8.965000 primary movement = 5.487719584313e-04 time: 8.965000000000e+00 total movement = 5.487719584313e-04 vel = 5.329335671156e-01 ------------------- tc state : vr = 0.722331, vf = 0.491600, maxvel = 8.799106, current_vel = 0.501257, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.501257, acc = -31.676783,T = 0.004421, P = 0.004270 on final decel initial results: dx= 0.000151,dt = 0.000305, a_f = -31.676783, v_f = 0.491600 actual v_f = 0.491600, a = -31.676783 split time is 0.000304843 tc id = 237, canon_type = 2, mot type = 1 time: 8.966000 primary movement = 5.170951757998e-04 time: 8.966000000000e+00 total movement = 5.170951757998e-04 vel = 5.012567844840e-01 ------------------- tc id 237 done Finishing split-cycle on id 238 tc state : vr = 0.491600, vf = 0.491600, maxvel = 0.491600, current_vel = 0.491600, fs = 1.000000, tc = 0.000695, term = 3 tc result: v = 0.491600, acc = 0.000000,T = 0.008112, P = 0.000342 initial results: dx= 0.007771,dt = 0.015807, a_f = 0.000000, v_f = 0.491600 dt = 0.015807, not at end yet secondary movement = 0.000342 tc id = 238, canon_type = 3, mot type = 2 time: 8.967000 primary movement = 1.513328738928e-04 time: 8.967000000000e+00 total movement = 4.930529657920e-04 vel = 4.916003324741e-01 Finished tc id 237 ------------------- Activate tc id = 238 target_vel = 0.491600 final_vel = 0.491600 length = 0.008112 tc state : vr = 0.491600, vf = 0.491600, maxvel = 0.491600, current_vel = 0.491600, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.491600, acc = 0.000000,T = 0.008112, P = 0.000833 initial results: dx= 0.007279,dt = 0.014807, a_f = 0.000000, v_f = 0.491600 dt = 0.014807, not at end yet tc id = 238, canon_type = 3, mot type = 2 time: 8.968000 primary movement = 4.915431233629e-04 time: 8.968000000000e+00 total movement = 4.915431233629e-04 vel = 4.916003324741e-01 ------------------- tc state : vr = 0.491600, vf = 0.491600, maxvel = 0.491600, current_vel = 0.491600, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.491600, acc = 0.000000,T = 0.008112, P = 0.001325 initial results: dx= 0.006787,dt = 0.013807, a_f = 0.000000, v_f = 0.491600 dt = 0.013807, not at end yet tc id = 238, canon_type = 3, mot type = 2 time: 8.969000 primary movement = 4.915431233629e-04 time: 8.969000000000e+00 total movement = 4.915431233629e-04 vel = 4.916003324741e-01 ------------------- tc state : vr = 0.491600, vf = 0.491600, maxvel = 0.491600, current_vel = 0.491600, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.491600, acc = 0.000000,T = 0.008112, P = 0.001817 initial results: dx= 0.006296,dt = 0.012807, a_f = 0.000000, v_f = 0.491600 dt = 0.012807, not at end yet tc id = 238, canon_type = 3, mot type = 2 time: 8.970000 primary movement = 4.915431233629e-04 time: 8.970000000000e+00 total movement = 4.915431233629e-04 vel = 4.916003324741e-01 ------------------- tc state : vr = 0.491600, vf = 0.491600, maxvel = 0.491600, current_vel = 0.491600, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.491600, acc = 0.000000,T = 0.008112, P = 0.002308 initial results: dx= 0.005804,dt = 0.011807, a_f = 0.000000, v_f = 0.491600 dt = 0.011807, not at end yet tc id = 238, canon_type = 3, mot type = 2 time: 8.971000 primary movement = 4.915431233629e-04 time: 8.971000000000e+00 total movement = 4.915431233629e-04 vel = 4.916003324741e-01 ------------------- tc state : vr = 0.491600, vf = 0.491600, maxvel = 0.491600, current_vel = 0.491600, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.491600, acc = 0.000000,T = 0.008112, P = 0.002800 initial results: dx= 0.005313,dt = 0.010807, a_f = 0.000000, v_f = 0.491600 dt = 0.010807, not at end yet tc id = 238, canon_type = 3, mot type = 2 time: 8.972000 primary movement = 4.915431233629e-04 time: 8.972000000000e+00 total movement = 4.915431233629e-04 vel = 4.916003324741e-01 ------------------- tc state : vr = 0.491600, vf = 0.491600, maxvel = 0.491600, current_vel = 0.491600, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.491600, acc = 0.000000,T = 0.008112, P = 0.003291 initial results: dx= 0.004821,dt = 0.009807, a_f = 0.000000, v_f = 0.491600 dt = 0.009807, not at end yet tc id = 238, canon_type = 3, mot type = 2 time: 8.973000 primary movement = 4.915431233629e-04 time: 8.973000000000e+00 total movement = 4.915431233629e-04 vel = 4.916003324741e-01 ------------------- tc state : vr = 0.491600, vf = 0.491600, maxvel = 0.491600, current_vel = 0.491600, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.491600, acc = 0.000000,T = 0.008112, P = 0.003783 initial results: dx= 0.004329,dt = 0.008807, a_f = 0.000000, v_f = 0.491600 dt = 0.008807, not at end yet tc id = 238, canon_type = 3, mot type = 2 time: 8.974000 primary movement = 4.915431233629e-04 time: 8.974000000000e+00 total movement = 4.915431233629e-04 vel = 4.916003324741e-01 ------------------- tc state : vr = 0.491600, vf = 0.491600, maxvel = 0.491600, current_vel = 0.491600, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.491600, acc = 0.000000,T = 0.008112, P = 0.004275 initial results: dx= 0.003838,dt = 0.007807, a_f = 0.000000, v_f = 0.491600 dt = 0.007807, not at end yet tc id = 238, canon_type = 3, mot type = 2 time: 8.975000 primary movement = 4.915431233629e-04 time: 8.975000000000e+00 total movement = 4.915431233629e-04 vel = 4.916003324741e-01 ------------------- tc state : vr = 0.491600, vf = 0.491600, maxvel = 0.491600, current_vel = 0.491600, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.491600, acc = 0.000000,T = 0.008112, P = 0.004766 initial results: dx= 0.003346,dt = 0.006807, a_f = 0.000000, v_f = 0.491600 dt = 0.006807, not at end yet tc id = 238, canon_type = 3, mot type = 2 time: 8.976000 primary movement = 4.915431233629e-04 time: 8.976000000000e+00 total movement = 4.915431233629e-04 vel = 4.916003324741e-01 ------------------- tc state : vr = 0.491600, vf = 0.491600, maxvel = 0.491600, current_vel = 0.491600, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.491600, acc = 0.000000,T = 0.008112, P = 0.005258 initial results: dx= 0.002855,dt = 0.005807, a_f = 0.000000, v_f = 0.491600 dt = 0.005807, not at end yet tc id = 238, canon_type = 3, mot type = 2 time: 8.977000 primary movement = 4.915431233629e-04 time: 8.977000000000e+00 total movement = 4.915431233629e-04 vel = 4.916003324741e-01 ------------------- tc state : vr = 0.491600, vf = 0.491600, maxvel = 0.491600, current_vel = 0.491600, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.491600, acc = 0.000000,T = 0.008112, P = 0.005749 initial results: dx= 0.002363,dt = 0.004807, a_f = 0.000000, v_f = 0.491600 dt = 0.004807, not at end yet tc id = 238, canon_type = 3, mot type = 2 time: 8.978000 primary movement = 4.915431233630e-04 time: 8.978000000000e+00 total movement = 4.915431233630e-04 vel = 4.916003324741e-01 ------------------- tc state : vr = 0.491600, vf = 0.491600, maxvel = 0.491600, current_vel = 0.491600, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.491600, acc = 0.000000,T = 0.008112, P = 0.006241 initial results: dx= 0.001871,dt = 0.003807, a_f = 0.000000, v_f = 0.491600 dt = 0.003807, not at end yet tc id = 238, canon_type = 3, mot type = 2 time: 8.979000 primary movement = 4.915431233629e-04 time: 8.979000000000e+00 total movement = 4.915431233629e-04 vel = 4.916003324741e-01 ------------------- tc state : vr = 0.491600, vf = 0.491600, maxvel = 0.491600, current_vel = 0.491600, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.491600, acc = 0.000000,T = 0.008112, P = 0.006733 initial results: dx= 0.001380,dt = 0.002807, a_f = 0.000000, v_f = 0.491600 dt = 0.002807, not at end yet tc id = 238, canon_type = 3, mot type = 2 time: 8.980000 primary movement = 4.915431233629e-04 time: 8.980000000000e+00 total movement = 4.915431233629e-04 vel = 4.916003324741e-01 ------------------- tc state : vr = 0.491600, vf = 0.491600, maxvel = 0.491600, current_vel = 0.491600, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.491600, acc = 0.000000,T = 0.008112, P = 0.007224 initial results: dx= 0.000888,dt = 0.001807, a_f = 0.000000, v_f = 0.491600 dt = 0.001807, not at end yet tc id = 238, canon_type = 3, mot type = 2 time: 8.981000 primary movement = 4.915431233630e-04 time: 8.981000000000e+00 total movement = 4.915431233630e-04 vel = 4.916003324741e-01 ------------------- tc state : vr = 0.491600, vf = 0.491600, maxvel = 0.491600, current_vel = 0.491600, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.491600, acc = 0.000000,T = 0.008112, P = 0.007716 initial results: dx= 0.000397,dt = 0.000807, a_f = 0.000000, v_f = 0.491600 actual v_f = 0.491600, a = 0.000000 split time is 0.00080672 tc id = 238, canon_type = 3, mot type = 2 time: 8.982000 primary movement = 4.915431233629e-04 time: 8.982000000000e+00 total movement = 4.915431233629e-04 vel = 4.916003324741e-01 ------------------- tc id 238 done Finishing split-cycle on id 238 tc state : vr = 0.521628, vf = 0.521628, maxvel = 8.944624, current_vel = 0.497824, fs = 1.000000, tc = 0.000193, term = 3 tc result: v = 0.497824, acc = 32.200776,T = 0.001408, P = 0.000096 initial results: dx= 0.001313,dt = 0.002575, a_f = 9.242904, v_f = 0.521628 dt = 0.002575, not at end yet secondary movement = 0.000096 tc id = 238, canon_type = 2, mot type = 1 time: 8.983000 primary movement = 3.965537908928e-04 time: 8.983000000000e+00 total movement = 4.921717613591e-04 vel = 4.978240981110e-01 Finished tc id 238 ------------------- Activate tc id = 238 target_vel = 0.521628 final_vel = 0.521628 length = 0.001408 tc state : vr = 0.521628, vf = 0.521628, maxvel = 8.944624, current_vel = 0.521628, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.521628, acc = 23.803468,T = 0.001408, P = 0.000605 initial results: dx= 0.000803,dt = 0.001539, a_f = 0.000000, v_f = 0.521628 dt = 0.001539, not at end yet tc id = 238, canon_type = 2, mot type = 1 time: 8.984000 primary movement = 5.097258322720e-04 time: 8.984000000000e+00 total movement = 5.097258322720e-04 vel = 5.216275664329e-01 ------------------- tc state : vr = 0.521628, vf = 0.521628, maxvel = 8.944624, current_vel = 0.521628, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.521628, acc = 0.000000,T = 0.001408, P = 0.001127 initial results: dx= 0.000281,dt = 0.000539, a_f = 0.000000, v_f = 0.521628 actual v_f = 0.521628, a = 0.000000 split time is 0.00053938 tc id = 238, canon_type = 2, mot type = 1 time: 8.985000 primary movement = 5.216275664329e-04 time: 8.985000000000e+00 total movement = 5.216275664329e-04 vel = 5.216275664329e-01 ------------------- tc id 238 done Finishing split-cycle on id 239 tc state : vr = 0.618232, vf = 0.618232, maxvel = 0.670632, current_vel = 0.528537, fs = 1.000000, tc = 0.000461, term = 3 tc result: v = 0.528537, acc = 15.000000,T = 0.009718, P = 0.000242 initial results: dx= 0.009476,dt = 0.016527, a_f = 5.427255, v_f = 0.618232 dt = 0.016527, not at end yet secondary movement = 0.000242 tc id = 239, canon_type = 3, mot type = 2 time: 8.986000 primary movement = 2.813555335864e-04 time: 8.986000000000e+00 total movement = 5.232168792901e-04 vel = 5.285368647995e-01 Finished tc id 238 ------------------- Activate tc id = 239 target_vel = 0.618232 final_vel = 0.618232 length = 0.009718 tc state : vr = 0.618232, vf = 0.618232, maxvel = 0.670632, current_vel = 0.543537, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.543537, acc = 15.000000,T = 0.009718, P = 0.000778 initial results: dx= 0.008940,dt = 0.015391, a_f = 4.853293, v_f = 0.618232 dt = 0.015391, not at end yet tc id = 239, canon_type = 3, mot type = 2 time: 8.987000 primary movement = 5.360154489858e-04 time: 8.987000000000e+00 total movement = 5.360154489858e-04 vel = 5.435368647995e-01 ------------------- tc state : vr = 0.618232, vf = 0.618232, maxvel = 0.670632, current_vel = 0.558537, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.558537, acc = 15.000000,T = 0.009718, P = 0.001329 initial results: dx= 0.008389,dt = 0.014258, a_f = 4.186815, v_f = 0.618232 dt = 0.014258, not at end yet tc id = 239, canon_type = 3, mot type = 2 time: 8.988000 primary movement = 5.510136003773e-04 time: 8.988000000000e+00 total movement = 5.510136003773e-04 vel = 5.585368647995e-01 ------------------- tc state : vr = 0.618232, vf = 0.618232, maxvel = 0.670632, current_vel = 0.573537, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.573537, acc = 15.000000,T = 0.009718, P = 0.001895 initial results: dx= 0.007823,dt = 0.013129, a_f = 3.404436, v_f = 0.618232 dt = 0.013129, not at end yet tc id = 239, canon_type = 3, mot type = 2 time: 8.989000 primary movement = 5.660116483375e-04 time: 8.989000000000e+00 total movement = 5.660116483375e-04 vel = 5.735368647995e-01 ------------------- tc state : vr = 0.618232, vf = 0.618232, maxvel = 0.670632, current_vel = 0.588537, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.588537, acc = 15.000000,T = 0.009718, P = 0.002476 initial results: dx= 0.007242,dt = 0.012002, a_f = 2.474120, v_f = 0.618232 dt = 0.012002, not at end yet tc id = 239, canon_type = 3, mot type = 2 time: 8.990000 primary movement = 5.810095900509e-04 time: 8.990000000000e+00 total movement = 5.810095900509e-04 vel = 5.885368647995e-01 ------------------- tc state : vr = 0.618232, vf = 0.618232, maxvel = 0.670632, current_vel = 0.603537, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.603537, acc = 15.000000,T = 0.009718, P = 0.003072 initial results: dx= 0.006646,dt = 0.010879, a_f = 1.350767, v_f = 0.618232 dt = 0.010879, not at end yet tc id = 239, canon_type = 3, mot type = 2 time: 8.991000 primary movement = 5.960074227026e-04 time: 8.991000000000e+00 total movement = 5.960074227026e-04 vel = 6.035368647995e-01 ------------------- tc state : vr = 0.618232, vf = 0.618232, maxvel = 0.670632, current_vel = 0.618232, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.618232, acc = 14.695566,T = 0.009718, P = 0.003683 initial results: dx= 0.006035,dt = 0.009762, a_f = 0.000000, v_f = 0.618232 dt = 0.009762, not at end yet tc id = 239, canon_type = 3, mot type = 2 time: 8.992000 primary movement = 6.108529501305e-04 time: 8.992000000000e+00 total movement = 6.108529501305e-04 vel = 6.182324307052e-01 ------------------- tc state : vr = 0.618232, vf = 0.618232, maxvel = 0.670632, current_vel = 0.618232, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.618232, acc = 0.000000,T = 0.009718, P = 0.004301 initial results: dx= 0.005417,dt = 0.008762, a_f = 0.000000, v_f = 0.618232 dt = 0.008762, not at end yet tc id = 239, canon_type = 3, mot type = 2 time: 8.993000 primary movement = 6.181995754963e-04 time: 8.993000000000e+00 total movement = 6.181995754963e-04 vel = 6.182324307052e-01 ------------------- tc state : vr = 0.618232, vf = 0.618232, maxvel = 0.670632, current_vel = 0.618232, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.618232, acc = 0.000000,T = 0.009718, P = 0.004919 initial results: dx= 0.004799,dt = 0.007762, a_f = 0.000000, v_f = 0.618232 dt = 0.007762, not at end yet tc id = 239, canon_type = 3, mot type = 2 time: 8.994000 primary movement = 6.181995754963e-04 time: 8.994000000000e+00 total movement = 6.181995754963e-04 vel = 6.182324307052e-01 ------------------- tc state : vr = 0.618232, vf = 0.618232, maxvel = 0.670632, current_vel = 0.618232, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.618232, acc = 0.000000,T = 0.009718, P = 0.005538 initial results: dx= 0.004180,dt = 0.006762, a_f = 0.000000, v_f = 0.618232 dt = 0.006762, not at end yet tc id = 239, canon_type = 3, mot type = 2 time: 8.995000 primary movement = 6.181995754962e-04 time: 8.995000000000e+00 total movement = 6.181995754962e-04 vel = 6.182324307052e-01 ------------------- tc state : vr = 0.618232, vf = 0.618232, maxvel = 0.670632, current_vel = 0.618232, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.618232, acc = 0.000000,T = 0.009718, P = 0.006156 initial results: dx= 0.003562,dt = 0.005762, a_f = 0.000000, v_f = 0.618232 dt = 0.005762, not at end yet tc id = 239, canon_type = 3, mot type = 2 time: 8.996000 primary movement = 6.181995754963e-04 time: 8.996000000000e+00 total movement = 6.181995754963e-04 vel = 6.182324307052e-01 ------------------- tc state : vr = 0.618232, vf = 0.618232, maxvel = 0.670632, current_vel = 0.618232, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.618232, acc = 0.000000,T = 0.009718, P = 0.006774 initial results: dx= 0.002944,dt = 0.004762, a_f = 0.000000, v_f = 0.618232 dt = 0.004762, not at end yet tc id = 239, canon_type = 3, mot type = 2 time: 8.997000 primary movement = 6.181995754963e-04 time: 8.997000000000e+00 total movement = 6.181995754963e-04 vel = 6.182324307052e-01 ------------------- tc state : vr = 0.618232, vf = 0.618232, maxvel = 0.670632, current_vel = 0.618232, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.618232, acc = 0.000000,T = 0.009718, P = 0.007392 initial results: dx= 0.002326,dt = 0.003762, a_f = 0.000000, v_f = 0.618232 dt = 0.003762, not at end yet tc id = 239, canon_type = 3, mot type = 2 time: 8.998000 primary movement = 6.181995754963e-04 time: 8.998000000000e+00 total movement = 6.181995754963e-04 vel = 6.182324307052e-01 ------------------- tc state : vr = 0.618232, vf = 0.618232, maxvel = 0.670632, current_vel = 0.618232, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.618232, acc = 0.000000,T = 0.009718, P = 0.008011 initial results: dx= 0.001708,dt = 0.002762, a_f = 0.000000, v_f = 0.618232 dt = 0.002762, not at end yet tc id = 239, canon_type = 3, mot type = 2 time: 8.999000 primary movement = 6.181995754963e-04 time: 8.999000000000e+00 total movement = 6.181995754963e-04 vel = 6.182324307052e-01 ------------------- tc state : vr = 0.618232, vf = 0.618232, maxvel = 0.670632, current_vel = 0.618232, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.618232, acc = 0.000000,T = 0.009718, P = 0.008629 initial results: dx= 0.001089,dt = 0.001762, a_f = 0.000000, v_f = 0.618232 dt = 0.001762, not at end yet tc id = 239, canon_type = 3, mot type = 2 time: 9.000000 primary movement = 6.181995754962e-04 time: 9.000000000000e+00 total movement = 6.181995754962e-04 vel = 6.182324307052e-01 ------------------- tc state : vr = 0.618232, vf = 0.618232, maxvel = 0.670632, current_vel = 0.618232, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.618232, acc = 0.000000,T = 0.009718, P = 0.009247 initial results: dx= 0.000471,dt = 0.000762, a_f = 0.000000, v_f = 0.618232 actual v_f = 0.618232, a = 0.000000 split time is 0.000762005 tc id = 239, canon_type = 3, mot type = 2 time: 9.001000 primary movement = 6.181995754963e-04 time: 9.001000000000e+00 total movement = 6.181995754963e-04 vel = 6.182324307052e-01 ------------------- tc id 239 done Finishing split-cycle on id 239 tc state : vr = 0.618232, vf = 0.437156, maxvel = 10.370554, current_vel = 0.609347, fs = 1.000000, tc = 0.000238, term = 3 tc result: v = 0.609347, acc = -37.333995,T = 0.002559, P = 0.000146 on final decel initial results: dx= 0.002413,dt = 0.004612, a_f = -37.333995, v_f = 0.437156 dt = 0.004612, not at end yet secondary movement = 0.000146 tc id = 239, canon_type = 2, mot type = 1 time: 9.002000 primary movement = 4.710816482182e-04 time: 9.002000000000e+00 total movement = 6.171605642834e-04 vel = 6.093471255519e-01 Finished tc id 239 ------------------- Activate tc id = 239 target_vel = 0.618232 final_vel = 0.437156 length = 0.002559 tc state : vr = 0.618232, vf = 0.437156, maxvel = 10.370554, current_vel = 0.572013, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.572013, acc = -37.333995,T = 0.002559, P = 0.000737 on final decel initial results: dx= 0.001823,dt = 0.003612, a_f = -37.333995, v_f = 0.437156 dt = 0.003612, not at end yet tc id = 239, canon_type = 2, mot type = 1 time: 9.003000 primary movement = 5.906801282004e-04 time: 9.003000000000e+00 total movement = 5.906801282004e-04 vel = 5.720131308488e-01 ------------------- tc state : vr = 0.618232, vf = 0.437156, maxvel = 10.370554, current_vel = 0.534679, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.534679, acc = -37.333995,T = 0.002559, P = 0.001290 on final decel initial results: dx= 0.001269,dt = 0.002612, a_f = -37.333995, v_f = 0.437156 dt = 0.002612, not at end yet tc id = 239, canon_type = 2, mot type = 1 time: 9.004000 primary movement = 5.533461334972e-04 time: 9.004000000000e+00 total movement = 5.533461334972e-04 vel = 5.346791361457e-01 ------------------- tc state : vr = 0.618232, vf = 0.437156, maxvel = 10.370554, current_vel = 0.497345, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.497345, acc = -37.333995,T = 0.002559, P = 0.001806 on final decel initial results: dx= 0.000753,dt = 0.001612, a_f = -37.333995, v_f = 0.437156 recalculating with a_f = -37.333995, a = -37.333995 revised dt = 0.001612 dt = 0.001612, not at end yet tc id = 239, canon_type = 2, mot type = 1 time: 9.005000 primary movement = 5.160121387941e-04 time: 9.005000000000e+00 total movement = 5.160121387941e-04 vel = 4.973451414425e-01 ------------------- tc state : vr = 0.618232, vf = 0.437156, maxvel = 10.370554, current_vel = 0.460011, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.460011, acc = -37.333995,T = 0.002559, P = 0.002285 on final decel initial results: dx= 0.000275,dt = 0.000612, a_f = -37.333995, v_f = 0.437156 recalculating with a_f = -37.333995, a = -37.333995 revised dt = 0.000612 actual v_f = 0.437156, a = -37.333995 split time is 0.000612171 tc id = 239, canon_type = 2, mot type = 1 time: 9.006000 primary movement = 4.786781440910e-04 time: 9.006000000000e+00 total movement = 4.786781440910e-04 vel = 4.600111467394e-01 ------------------- tc id 239 done Finishing split-cycle on id 240 tc state : vr = 0.437156, vf = 0.000000, maxvel = 0.682255, current_vel = 0.437156, fs = 1.000000, tc = 0.000388, term = 3 tc result: v = 0.437156, acc = -0.000000,T = 0.011381, P = 0.000170 initial results: dx= 0.011212,dt = 0.051293, a_f = -8.522655, v_f = 0.000000 dt = 0.051293, not at end yet secondary movement = 0.000170 tc id = 240, canon_type = 3, mot type = 2 time: 9.007000 primary movement = 2.746101254327e-04 time: 9.007000000000e+00 total movement = 4.441512393999e-04 vel = 4.371563441011e-01 Finished tc id 239 ------------------- Activate tc id = 240 target_vel = 0.437156 final_vel = 0.000000 length = 0.011381 tc state : vr = 0.437156, vf = 0.000000, maxvel = 0.682255, current_vel = 0.437156, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.437156, acc = 0.000000,T = 0.011381, P = 0.000607 initial results: dx= 0.010774,dt = 0.049293, a_f = -8.868447, v_f = 0.000000 dt = 0.049293, not at end yet tc id = 240, canon_type = 3, mot type = 2 time: 9.008000 primary movement = 4.371454995334e-04 time: 9.008000000000e+00 total movement = 4.371454995334e-04 vel = 4.371563441011e-01 ------------------- tc state : vr = 0.437156, vf = 0.000000, maxvel = 0.682255, current_vel = 0.437156, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.437156, acc = 0.000000,T = 0.011381, P = 0.001044 initial results: dx= 0.010337,dt = 0.047293, a_f = -9.243486, v_f = 0.000000 dt = 0.047293, not at end yet tc id = 240, canon_type = 3, mot type = 2 time: 9.009000 primary movement = 4.371454995333e-04 time: 9.009000000000e+00 total movement = 4.371454995333e-04 vel = 4.371563441011e-01 ------------------- tc state : vr = 0.437156, vf = 0.000000, maxvel = 0.682255, current_vel = 0.437156, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.437156, acc = 0.000000,T = 0.011381, P = 0.001481 initial results: dx= 0.009900,dt = 0.045293, a_f = -9.651646, v_f = 0.000000 dt = 0.045293, not at end yet tc id = 240, canon_type = 3, mot type = 2 time: 9.010000 primary movement = 4.371454995333e-04 time: 9.010000000000e+00 total movement = 4.371454995333e-04 vel = 4.371563441011e-01 ------------------- tc state : vr = 0.437156, vf = 0.000000, maxvel = 0.682255, current_vel = 0.437156, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.437156, acc = 0.000000,T = 0.011381, P = 0.001918 initial results: dx= 0.009463,dt = 0.043293, a_f = -10.097517, v_f = 0.000000 dt = 0.043293, not at end yet tc id = 240, canon_type = 3, mot type = 2 time: 9.011000 primary movement = 4.371454995334e-04 time: 9.011000000000e+00 total movement = 4.371454995334e-04 vel = 4.371563441011e-01 ------------------- tc state : vr = 0.437156, vf = 0.000000, maxvel = 0.682255, current_vel = 0.437156, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.437156, acc = 0.000000,T = 0.011381, P = 0.002355 initial results: dx= 0.009026,dt = 0.041293, a_f = -10.586579, v_f = 0.000000 dt = 0.041293, not at end yet tc id = 240, canon_type = 3, mot type = 2 time: 9.012000 primary movement = 4.371454995333e-04 time: 9.012000000000e+00 total movement = 4.371454995333e-04 vel = 4.371563441011e-01 ------------------- tc state : vr = 0.437156, vf = 0.000000, maxvel = 0.682255, current_vel = 0.437156, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.437156, acc = 0.000000,T = 0.011381, P = 0.002792 initial results: dx= 0.008589,dt = 0.039293, a_f = -11.125426, v_f = 0.000000 dt = 0.039293, not at end yet tc id = 240, canon_type = 3, mot type = 2 time: 9.013000 primary movement = 4.371454995333e-04 time: 9.013000000000e+00 total movement = 4.371454995333e-04 vel = 4.371563441011e-01 ------------------- tc state : vr = 0.437156, vf = 0.000000, maxvel = 0.682255, current_vel = 0.437156, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.437156, acc = 0.000000,T = 0.011381, P = 0.003230 initial results: dx= 0.008152,dt = 0.037293, a_f = -11.722068, v_f = 0.000000 dt = 0.037293, not at end yet tc id = 240, canon_type = 3, mot type = 2 time: 9.014000 primary movement = 4.371454995333e-04 time: 9.014000000000e+00 total movement = 4.371454995333e-04 vel = 4.371563441011e-01 ------------------- tc state : vr = 0.437156, vf = 0.000000, maxvel = 0.682255, current_vel = 0.437156, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.437156, acc = 0.000000,T = 0.011381, P = 0.003667 initial results: dx= 0.007714,dt = 0.035293, a_f = -12.386331, v_f = 0.000000 dt = 0.035293, not at end yet tc id = 240, canon_type = 3, mot type = 2 time: 9.015000 primary movement = 4.371454995333e-04 time: 9.015000000000e+00 total movement = 4.371454995333e-04 vel = 4.371563441011e-01 ------------------- tc state : vr = 0.437156, vf = 0.000000, maxvel = 0.682255, current_vel = 0.437156, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.437156, acc = 0.000000,T = 0.011381, P = 0.004104 initial results: dx= 0.007277,dt = 0.033293, a_f = -13.130402, v_f = 0.000000 dt = 0.033293, not at end yet tc id = 240, canon_type = 3, mot type = 2 time: 9.016000 primary movement = 4.371454995333e-04 time: 9.016000000000e+00 total movement = 4.371454995333e-04 vel = 4.371563441011e-01 ------------------- tc state : vr = 0.437156, vf = 0.000000, maxvel = 0.682255, current_vel = 0.437156, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.437156, acc = 0.000000,T = 0.011381, P = 0.004541 initial results: dx= 0.006840,dt = 0.031293, a_f = -13.969581, v_f = 0.000000 dt = 0.031293, not at end yet tc id = 240, canon_type = 3, mot type = 2 time: 9.017000 primary movement = 4.371454995333e-04 time: 9.017000000000e+00 total movement = 4.371454995333e-04 vel = 4.371563441011e-01 ------------------- tc state : vr = 0.437156, vf = 0.000000, maxvel = 0.682255, current_vel = 0.437156, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.437156, acc = 0.000000,T = 0.011381, P = 0.004978 initial results: dx= 0.006403,dt = 0.029293, a_f = -14.923349, v_f = 0.000000 dt = 0.029293, not at end yet tc id = 240, canon_type = 3, mot type = 2 time: 9.018000 primary movement = 4.371454995334e-04 time: 9.018000000000e+00 total movement = 4.371454995334e-04 vel = 4.371563441011e-01 ------------------- tc state : vr = 0.437156, vf = 0.000000, maxvel = 0.682255, current_vel = 0.423297, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.423297, acc = -13.859229,T = 0.011381, P = 0.005408 on final decel initial results: dx= 0.005973,dt = 0.028220, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.028220 dt = 0.028220, not at end yet tc id = 240, canon_type = 3, mot type = 2 time: 9.019000 primary movement = 4.302163927144e-04 time: 9.019000000000e+00 total movement = 4.302163927144e-04 vel = 4.232971153109e-01 ------------------- tc state : vr = 0.437156, vf = 0.000000, maxvel = 0.682255, current_vel = 0.408297, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.408297, acc = -15.000000,T = 0.011381, P = 0.005824 on final decel initial results: dx= 0.005557,dt = 0.027220, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.027220 dt = 0.027220, not at end yet tc id = 240, canon_type = 3, mot type = 2 time: 9.020000 primary movement = 4.157877839150e-04 time: 9.020000000000e+00 total movement = 4.157877839150e-04 vel = 4.082971153109e-01 ------------------- tc state : vr = 0.437156, vf = 0.000000, maxvel = 0.682255, current_vel = 0.393297, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.393297, acc = -15.000000,T = 0.011381, P = 0.006225 on final decel initial results: dx= 0.005156,dt = 0.026220, a_f = -15.000000, v_f = 0.000000 dt = 0.026220, not at end yet tc id = 240, canon_type = 3, mot type = 2 time: 9.021000 primary movement = 4.007887578150e-04 time: 9.021000000000e+00 total movement = 4.007887578150e-04 vel = 3.932971153109e-01 ------------------- tc state : vr = 0.437156, vf = 0.000000, maxvel = 0.682255, current_vel = 0.378297, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.378297, acc = -15.000000,T = 0.011381, P = 0.006611 on final decel initial results: dx= 0.004770,dt = 0.025220, a_f = -15.000000, v_f = 0.000000 dt = 0.025220, not at end yet tc id = 240, canon_type = 3, mot type = 2 time: 9.022000 primary movement = 3.857896614799e-04 time: 9.022000000000e+00 total movement = 3.857896614799e-04 vel = 3.782971153109e-01 ------------------- tc state : vr = 0.437156, vf = 0.000000, maxvel = 0.682255, current_vel = 0.363297, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.363297, acc = -15.000000,T = 0.011381, P = 0.006982 on final decel initial results: dx= 0.004399,dt = 0.024220, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.024220 dt = 0.024220, not at end yet tc id = 240, canon_type = 3, mot type = 2 time: 9.023000 primary movement = 3.707904975383e-04 time: 9.023000000000e+00 total movement = 3.707904975383e-04 vel = 3.632971153109e-01 ------------------- tc state : vr = 0.437156, vf = 0.000000, maxvel = 0.682255, current_vel = 0.348297, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.348297, acc = -15.000000,T = 0.011381, P = 0.007337 on final decel initial results: dx= 0.004044,dt = 0.023220, a_f = -15.000000, v_f = 0.000000 dt = 0.023220, not at end yet tc id = 240, canon_type = 3, mot type = 2 time: 9.024000 primary movement = 3.557912686184e-04 time: 9.024000000000e+00 total movement = 3.557912686184e-04 vel = 3.482971153109e-01 ------------------- tc state : vr = 0.437156, vf = 0.000000, maxvel = 0.682255, current_vel = 0.333297, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.333297, acc = -15.000000,T = 0.011381, P = 0.007678 on final decel initial results: dx= 0.003703,dt = 0.022220, a_f = -15.000000, v_f = 0.000000 dt = 0.022220, not at end yet tc id = 240, canon_type = 3, mot type = 2 time: 9.025000 primary movement = 3.407919773488e-04 time: 9.025000000000e+00 total movement = 3.407919773488e-04 vel = 3.332971153109e-01 ------------------- tc state : vr = 0.437156, vf = 0.000000, maxvel = 0.682255, current_vel = 0.318297, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.318297, acc = -15.000000,T = 0.011381, P = 0.008004 on final decel initial results: dx= 0.003377,dt = 0.021220, a_f = -15.000000, v_f = 0.000000 dt = 0.021220, not at end yet tc id = 240, canon_type = 3, mot type = 2 time: 9.026000 primary movement = 3.257926263581e-04 time: 9.026000000000e+00 total movement = 3.257926263581e-04 vel = 3.182971153109e-01 ------------------- tc state : vr = 0.437156, vf = 0.000000, maxvel = 0.682255, current_vel = 0.303297, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.303297, acc = -15.000000,T = 0.011381, P = 0.008315 on final decel initial results: dx= 0.003066,dt = 0.020220, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.020220 dt = 0.020220, not at end yet tc id = 240, canon_type = 3, mot type = 2 time: 9.027000 primary movement = 3.107932182748e-04 time: 9.027000000000e+00 total movement = 3.107932182748e-04 vel = 3.032971153109e-01 ------------------- tc state : vr = 0.437156, vf = 0.000000, maxvel = 0.682255, current_vel = 0.288297, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.288297, acc = -15.000000,T = 0.011381, P = 0.008611 on final decel initial results: dx= 0.002771,dt = 0.019220, a_f = -15.000000, v_f = 0.000000 dt = 0.019220, not at end yet tc id = 240, canon_type = 3, mot type = 2 time: 9.028000 primary movement = 2.957937557273e-04 time: 9.028000000000e+00 total movement = 2.957937557273e-04 vel = 2.882971153109e-01 ------------------- tc state : vr = 0.437156, vf = 0.000000, maxvel = 0.682255, current_vel = 0.273297, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.273297, acc = -15.000000,T = 0.011381, P = 0.008891 on final decel initial results: dx= 0.002490,dt = 0.018220, a_f = -15.000000, v_f = 0.000000 dt = 0.018220, not at end yet tc id = 240, canon_type = 3, mot type = 2 time: 9.029000 primary movement = 2.807942413443e-04 time: 9.029000000000e+00 total movement = 2.807942413443e-04 vel = 2.732971153109e-01 ------------------- tc state : vr = 0.437156, vf = 0.000000, maxvel = 0.682255, current_vel = 0.258297, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.258297, acc = -15.000000,T = 0.011381, P = 0.009157 on final decel initial results: dx= 0.002224,dt = 0.017220, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.017220 dt = 0.017220, not at end yet tc id = 240, canon_type = 3, mot type = 2 time: 9.030000 primary movement = 2.657946777542e-04 time: 9.030000000000e+00 total movement = 2.657946777542e-04 vel = 2.582971153109e-01 ------------------- tc state : vr = 0.437156, vf = 0.000000, maxvel = 0.682255, current_vel = 0.243297, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.243297, acc = -15.000000,T = 0.011381, P = 0.009408 on final decel initial results: dx= 0.001973,dt = 0.016220, a_f = -15.000000, v_f = 0.000000 dt = 0.016220, not at end yet tc id = 240, canon_type = 3, mot type = 2 time: 9.031000 primary movement = 2.507950675857e-04 time: 9.031000000000e+00 total movement = 2.507950675857e-04 vel = 2.432971153109e-01 ------------------- tc state : vr = 0.437156, vf = 0.000000, maxvel = 0.682255, current_vel = 0.228297, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.228297, acc = -15.000000,T = 0.011381, P = 0.009644 on final decel initial results: dx= 0.001737,dt = 0.015220, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.015220 dt = 0.015220, not at end yet tc id = 240, canon_type = 3, mot type = 2 time: 9.032000 primary movement = 2.357954134673e-04 time: 9.032000000000e+00 total movement = 2.357954134673e-04 vel = 2.282971153109e-01 ------------------- tc state : vr = 0.437156, vf = 0.000000, maxvel = 0.682255, current_vel = 0.213297, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.213297, acc = -15.000000,T = 0.011381, P = 0.009865 on final decel initial results: dx= 0.001517,dt = 0.014220, a_f = -15.000000, v_f = 0.000000 dt = 0.014220, not at end yet tc id = 240, canon_type = 3, mot type = 2 time: 9.033000 primary movement = 2.207957180275e-04 time: 9.033000000000e+00 total movement = 2.207957180275e-04 vel = 2.132971153109e-01 ------------------- tc state : vr = 0.437156, vf = 0.000000, maxvel = 0.682255, current_vel = 0.198297, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.198297, acc = -15.000000,T = 0.011381, P = 0.010070 on final decel initial results: dx= 0.001311,dt = 0.013220, a_f = -15.000000, v_f = 0.000000 dt = 0.013220, not at end yet tc id = 240, canon_type = 3, mot type = 2 time: 9.034000 primary movement = 2.057959838950e-04 time: 9.034000000000e+00 total movement = 2.057959838950e-04 vel = 1.982971153109e-01 ------------------- tc state : vr = 0.437156, vf = 0.000000, maxvel = 0.682255, current_vel = 0.183297, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.183297, acc = -15.000000,T = 0.011381, P = 0.010261 on final decel initial results: dx= 0.001120,dt = 0.012220, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.012220 dt = 0.012220, not at end yet tc id = 240, canon_type = 3, mot type = 2 time: 9.035000 primary movement = 1.907962136983e-04 time: 9.035000000000e+00 total movement = 1.907962136983e-04 vel = 1.832971153109e-01 ------------------- tc state : vr = 0.437156, vf = 0.000000, maxvel = 0.682255, current_vel = 0.168297, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.168297, acc = -15.000000,T = 0.011381, P = 0.010437 on final decel initial results: dx= 0.000944,dt = 0.011220, a_f = -15.000000, v_f = 0.000000 dt = 0.011220, not at end yet tc id = 240, canon_type = 3, mot type = 2 time: 9.036000 primary movement = 1.757964100662e-04 time: 9.036000000000e+00 total movement = 1.757964100662e-04 vel = 1.682971153109e-01 ------------------- tc state : vr = 0.437156, vf = 0.000000, maxvel = 0.682255, current_vel = 0.153297, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.153297, acc = -15.000000,T = 0.011381, P = 0.010598 on final decel initial results: dx= 0.000783,dt = 0.010220, a_f = -15.000000, v_f = 0.000000 dt = 0.010220, not at end yet tc id = 240, canon_type = 3, mot type = 2 time: 9.037000 primary movement = 1.607965756270e-04 time: 9.037000000000e+00 total movement = 1.607965756270e-04 vel = 1.532971153109e-01 ------------------- tc state : vr = 0.437156, vf = 0.000000, maxvel = 0.682255, current_vel = 0.138297, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.138297, acc = -15.000000,T = 0.011381, P = 0.010744 on final decel initial results: dx= 0.000638,dt = 0.009220, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.009220 dt = 0.009220, not at end yet tc id = 240, canon_type = 3, mot type = 2 time: 9.038000 primary movement = 1.457967130094e-04 time: 9.038000000000e+00 total movement = 1.457967130094e-04 vel = 1.382971153109e-01 ------------------- tc state : vr = 0.437156, vf = 0.000000, maxvel = 0.682255, current_vel = 0.123297, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.123297, acc = -15.000000,T = 0.011381, P = 0.010874 on final decel initial results: dx= 0.000507,dt = 0.008220, a_f = -15.000000, v_f = 0.000000 dt = 0.008220, not at end yet tc id = 240, canon_type = 3, mot type = 2 time: 9.039000 primary movement = 1.307968248422e-04 time: 9.039000000000e+00 total movement = 1.307968248422e-04 vel = 1.232971153109e-01 ------------------- tc state : vr = 0.437156, vf = 0.000000, maxvel = 0.682255, current_vel = 0.108297, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.108297, acc = -15.000000,T = 0.011381, P = 0.010990 on final decel initial results: dx= 0.000391,dt = 0.007220, a_f = -15.000000, v_f = 0.000000 dt = 0.007220, not at end yet tc id = 240, canon_type = 3, mot type = 2 time: 9.040000 primary movement = 1.157969137537e-04 time: 9.040000000000e+00 total movement = 1.157969137537e-04 vel = 1.082971153109e-01 ------------------- tc state : vr = 0.437156, vf = 0.000000, maxvel = 0.682255, current_vel = 0.093297, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.093297, acc = -15.000000,T = 0.011381, P = 0.011091 on final decel initial results: dx= 0.000290,dt = 0.006220, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.006220 dt = 0.006220, not at end yet tc id = 240, canon_type = 3, mot type = 2 time: 9.041000 primary movement = 1.007969823728e-04 time: 9.041000000000e+00 total movement = 1.007969823728e-04 vel = 9.329711531085e-02 ------------------- tc state : vr = 0.437156, vf = 0.000000, maxvel = 0.682255, current_vel = 0.078297, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.078297, acc = -15.000000,T = 0.011381, P = 0.011177 on final decel initial results: dx= 0.000204,dt = 0.005220, a_f = -15.000000, v_f = 0.000000 dt = 0.005220, not at end yet tc id = 240, canon_type = 3, mot type = 2 time: 9.042000 primary movement = 8.579703332802e-05 time: 9.042000000000e+00 total movement = 8.579703332802e-05 vel = 7.829711531085e-02 ------------------- tc state : vr = 0.437156, vf = 0.000000, maxvel = 0.682255, current_vel = 0.063297, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.063297, acc = -15.000000,T = 0.011381, P = 0.011248 on final decel initial results: dx= 0.000134,dt = 0.004220, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.004220 dt = 0.004220, not at end yet tc id = 240, canon_type = 3, mot type = 2 time: 9.043000 primary movement = 7.079706924790e-05 time: 9.043000000000e+00 total movement = 7.079706924790e-05 vel = 6.329711531085e-02 ------------------- tc state : vr = 0.437156, vf = 0.000000, maxvel = 0.682255, current_vel = 0.048297, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.048297, acc = -15.000000,T = 0.011381, P = 0.011303 on final decel initial results: dx= 0.000078,dt = 0.003220, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.003220 dt = 0.003220, not at end yet tc id = 240, canon_type = 3, mot type = 2 time: 9.044000 primary movement = 5.579709276119e-05 time: 9.044000000000e+00 total movement = 5.579709276119e-05 vel = 4.829711531085e-02 ------------------- tc state : vr = 0.437156, vf = 0.000000, maxvel = 0.682255, current_vel = 0.033297, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.033297, acc = -15.000000,T = 0.011381, P = 0.011344 on final decel initial results: dx= 0.000037,dt = 0.002220, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.002220 dt = 0.002220, not at end yet tc id = 240, canon_type = 3, mot type = 2 time: 9.045000 primary movement = 4.079710649646e-05 time: 9.045000000000e+00 total movement = 4.079710649646e-05 vel = 3.329711531085e-02 ------------------- tc state : vr = 0.437156, vf = 0.000000, maxvel = 0.682255, current_vel = 0.018297, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.018297, acc = -15.000000,T = 0.011381, P = 0.011370 on final decel initial results: dx= 0.000011,dt = 0.001220, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.001220 dt = 0.001220, not at end yet tc id = 240, canon_type = 3, mot type = 2 time: 9.046000 primary movement = 2.579711308229e-05 time: 9.046000000000e+00 total movement = 2.579711308229e-05 vel = 1.829711531085e-02 ------------------- tc state : vr = 0.437156, vf = 0.000000, maxvel = 0.682255, current_vel = 0.003297, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.003297, acc = -15.000000,T = 0.011381, P = 0.011381 on final decel initial results: dx= 0.000000,dt = 0.000220, a_f = -15.000000, v_f = 0.000000 recalculating with a_f = -15.000000, a = -15.000000 revised dt = 0.000220 actual v_f = 0.000000, a = -15.000000 split time is 0.000219807 tc id = 240, canon_type = 3, mot type = 2 time: 9.047000 primary movement = 1.079711514746e-05 time: 9.047000000000e+00 total movement = 1.079711514746e-05 vel = 3.297115310852e-03 ------------------- tc id 240 done Finishing split-cycle on id 240 tc state : vr = 8.717511, vf = 0.000000, maxvel = 8.717511, current_vel = 0.012242, fs = 1.000000, tc = 0.000780, term = 2 tc result: v = 0.012242, acc = 15.691583,T = 0.008755, P = 0.000005 secondary movement = 0.000005 tc id = 240, canon_type = 2, mot type = 1 time: 9.048000 primary movement = 3.623656457490e-07 time: 9.048000000000e+00 total movement = 5.138108255601e-06 vel = 1.224246378489e-02 Finished tc id 240 ------------------- Activate tc id = 240 target_vel = 8.717511 final_vel = 0.000000 length = 0.008755 Activate nexttc id 241 tc state : vr = 8.717511, vf = 0.000000, maxvel = 8.717511, current_vel = 0.027934, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.027934, acc = 15.691583,T = 0.008755, P = 0.000025 tc id = 240, canon_type = 2, mot type = 1 time: 9.049000 primary movement = 2.008825509783e-05 time: 9.049000000000e+00 total movement = 2.008825509783e-05 vel = 2.793404641081e-02 ------------------- tc state : vr = 8.717511, vf = 0.000000, maxvel = 8.717511, current_vel = 0.043626, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.043626, acc = 15.691583,T = 0.008755, P = 0.000061 tc id = 240, canon_type = 2, mot type = 1 time: 9.050000 primary movement = 3.577983772374e-05 time: 9.050000000000e+00 total movement = 3.577983772374e-05 vel = 4.362562903673e-02 ------------------- tc state : vr = 8.717511, vf = 0.000000, maxvel = 8.717511, current_vel = 0.059317, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.059317, acc = 15.691583,T = 0.008755, P = 0.000112 tc id = 240, canon_type = 2, mot type = 1 time: 9.051000 primary movement = 5.147142034975e-05 time: 9.051000000000e+00 total movement = 5.147142034975e-05 vel = 5.931721166265e-02 ------------------- tc state : vr = 8.717511, vf = 0.000000, maxvel = 8.717511, current_vel = 0.075009, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.075009, acc = 15.691583,T = 0.008755, P = 0.000179 tc id = 240, canon_type = 2, mot type = 1 time: 9.052000 primary movement = 6.716300297556e-05 time: 9.052000000000e+00 total movement = 6.716300297556e-05 vel = 7.500879428857e-02 ------------------- tc state : vr = 8.717511, vf = 0.000000, maxvel = 8.717511, current_vel = 0.090700, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.090700, acc = 15.691583,T = 0.008755, P = 0.000262 tc id = 240, canon_type = 2, mot type = 1 time: 9.053000 primary movement = 8.285458560157e-05 time: 9.053000000000e+00 total movement = 8.285458560157e-05 vel = 9.070037691449e-02 ------------------- tc state : vr = 8.717511, vf = 0.000000, maxvel = 8.717511, current_vel = 0.106392, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.106392, acc = 15.691583,T = 0.008755, P = 0.000361 tc id = 240, canon_type = 2, mot type = 1 time: 9.054000 primary movement = 9.854616822737e-05 time: 9.054000000000e+00 total movement = 9.854616822737e-05 vel = 1.063919595404e-01 ------------------- tc state : vr = 8.717511, vf = 0.000000, maxvel = 8.717511, current_vel = 0.122084, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.122084, acc = 15.691583,T = 0.008755, P = 0.000475 tc id = 240, canon_type = 2, mot type = 1 time: 9.055000 primary movement = 1.142377508534e-04 time: 9.055000000000e+00 total movement = 1.142377508534e-04 vel = 1.220835421663e-01 ------------------- tc state : vr = 8.717511, vf = 0.000000, maxvel = 8.717511, current_vel = 0.137775, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.137775, acc = 15.691583,T = 0.008755, P = 0.000605 tc id = 240, canon_type = 2, mot type = 1 time: 9.056000 primary movement = 1.299293334793e-04 time: 9.056000000000e+00 total movement = 1.299293334793e-04 vel = 1.377751247923e-01 ------------------- tc state : vr = 8.717511, vf = 0.000000, maxvel = 8.717511, current_vel = 0.153467, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.153467, acc = 15.691583,T = 0.008755, P = 0.000750 tc id = 240, canon_type = 2, mot type = 1 time: 9.057000 primary movement = 1.456209161052e-04 time: 9.057000000000e+00 total movement = 1.456209161052e-04 vel = 1.534667074182e-01 ------------------- tc state : vr = 8.717511, vf = 0.000000, maxvel = 8.717511, current_vel = 0.169158, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.169158, acc = 15.691583,T = 0.008755, P = 0.000912 tc id = 240, canon_type = 2, mot type = 1 time: 9.058000 primary movement = 1.613124987312e-04 time: 9.058000000000e+00 total movement = 1.613124987312e-04 vel = 1.691582900441e-01 ------------------- tc state : vr = 8.717511, vf = 0.000000, maxvel = 8.717511, current_vel = 0.184850, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.184850, acc = 15.691583,T = 0.008755, P = 0.001089 tc id = 240, canon_type = 2, mot type = 1 time: 9.059000 primary movement = 1.770040813570e-04 time: 9.059000000000e+00 total movement = 1.770040813570e-04 vel = 1.848498726700e-01 ------------------- tc state : vr = 8.717511, vf = 0.000000, maxvel = 8.717511, current_vel = 0.200541, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.200541, acc = 15.691583,T = 0.008755, P = 0.001281 tc id = 240, canon_type = 2, mot type = 1 time: 9.060000 primary movement = 1.926956639829e-04 time: 9.060000000000e+00 total movement = 1.926956639829e-04 vel = 2.005414552959e-01 ------------------- tc state : vr = 8.717511, vf = 0.000000, maxvel = 8.717511, current_vel = 0.216233, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.216233, acc = 15.691583,T = 0.008755, P = 0.001490 tc id = 240, canon_type = 2, mot type = 1 time: 9.061000 primary movement = 2.083872466090e-04 time: 9.061000000000e+00 total movement = 2.083872466090e-04 vel = 2.162330379219e-01 ------------------- tc state : vr = 8.717511, vf = 0.000000, maxvel = 8.717511, current_vel = 0.231925, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.231925, acc = 15.691583,T = 0.008755, P = 0.001714 tc id = 240, canon_type = 2, mot type = 1 time: 9.062000 primary movement = 2.240788292348e-04 time: 9.062000000000e+00 total movement = 2.240788292348e-04 vel = 2.319246205478e-01 ------------------- tc state : vr = 8.717511, vf = 0.000000, maxvel = 8.717511, current_vel = 0.247616, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.247616, acc = 15.691583,T = 0.008755, P = 0.001954 tc id = 240, canon_type = 2, mot type = 1 time: 9.063000 primary movement = 2.397704118608e-04 time: 9.063000000000e+00 total movement = 2.397704118608e-04 vel = 2.476162031737e-01 ------------------- tc state : vr = 8.717511, vf = 0.000000, maxvel = 8.717511, current_vel = 0.263308, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.263308, acc = 15.691583,T = 0.008755, P = 0.002209 tc id = 240, canon_type = 2, mot type = 1 time: 9.064000 primary movement = 2.554619944867e-04 time: 9.064000000000e+00 total movement = 2.554619944867e-04 vel = 2.633077857996e-01 ------------------- tc state : vr = 8.717511, vf = 0.000000, maxvel = 8.717511, current_vel = 0.278999, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.278999, acc = 15.691583,T = 0.008755, P = 0.002480 tc id = 240, canon_type = 2, mot type = 1 time: 9.065000 primary movement = 2.711535771126e-04 time: 9.065000000000e+00 total movement = 2.711535771126e-04 vel = 2.789993684256e-01 ------------------- tc state : vr = 8.717511, vf = 0.000000, maxvel = 8.717511, current_vel = 0.294691, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.294691, acc = 15.691583,T = 0.008755, P = 0.002767 tc id = 240, canon_type = 2, mot type = 1 time: 9.066000 primary movement = 2.868451597385e-04 time: 9.066000000000e+00 total movement = 2.868451597385e-04 vel = 2.946909510515e-01 ------------------- tc state : vr = 8.717511, vf = 0.000000, maxvel = 8.717511, current_vel = 0.310383, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.310383, acc = 15.691583,T = 0.008755, P = 0.003070 tc id = 240, canon_type = 2, mot type = 1 time: 9.067000 primary movement = 3.025367423644e-04 time: 9.067000000000e+00 total movement = 3.025367423644e-04 vel = 3.103825336774e-01 ------------------- tc state : vr = 8.717511, vf = 0.000000, maxvel = 8.717511, current_vel = 0.326074, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.326074, acc = 15.691583,T = 0.008755, P = 0.003388 tc id = 240, canon_type = 2, mot type = 1 time: 9.068000 primary movement = 3.182283249904e-04 time: 9.068000000000e+00 total movement = 3.182283249904e-04 vel = 3.260741163033e-01 ------------------- tc state : vr = 8.717511, vf = 0.000000, maxvel = 8.717511, current_vel = 0.341766, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.341766, acc = 15.691583,T = 0.008755, P = 0.003722 tc id = 240, canon_type = 2, mot type = 1 time: 9.069000 primary movement = 3.339199076162e-04 time: 9.069000000000e+00 total movement = 3.339199076162e-04 vel = 3.417656989292e-01 ------------------- tc state : vr = 8.717511, vf = 0.000000, maxvel = 8.717511, current_vel = 0.357457, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.357457, acc = 15.691583,T = 0.008755, P = 0.004071 tc id = 240, canon_type = 2, mot type = 1 time: 9.070000 primary movement = 3.496114902422e-04 time: 9.070000000000e+00 total movement = 3.496114902422e-04 vel = 3.574572815552e-01 ------------------- tc state : vr = 8.717511, vf = 0.000000, maxvel = 8.717511, current_vel = 0.368254, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.368254, acc = 10.797020,T = 0.008755, P = 0.004434 tc id = 240, canon_type = 2, mot type = 1 time: 9.071000 primary movement = 3.628557916546e-04 time: 9.071000000000e+00 total movement = 3.628557916546e-04 vel = 3.682543017543e-01 ------------------- tc state : vr = 8.717511, vf = 0.000000, maxvel = 8.717511, current_vel = 0.352563, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.352563, acc = -15.691583,T = 0.008755, P = 0.004795 on final decel tc id = 240, canon_type = 2, mot type = 1 time: 9.072000 primary movement = 3.604085104413e-04 time: 9.072000000000e+00 total movement = 3.604085104413e-04 vel = 3.525627191283e-01 ------------------- tc state : vr = 8.717511, vf = 0.000000, maxvel = 8.717511, current_vel = 0.336871, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.336871, acc = -15.691583,T = 0.008755, P = 0.005139 on final decel tc id = 240, canon_type = 2, mot type = 1 time: 9.073000 primary movement = 3.447169278153e-04 time: 9.073000000000e+00 total movement = 3.447169278153e-04 vel = 3.368711365024e-01 ------------------- tc state : vr = 8.717511, vf = 0.000000, maxvel = 8.717511, current_vel = 0.321180, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.321180, acc = -15.691583,T = 0.008755, P = 0.005468 on final decel tc id = 240, canon_type = 2, mot type = 1 time: 9.074000 primary movement = 3.290253451895e-04 time: 9.074000000000e+00 total movement = 3.290253451895e-04 vel = 3.211795538765e-01 ------------------- tc state : vr = 8.717511, vf = 0.000000, maxvel = 8.717511, current_vel = 0.305488, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.305488, acc = -15.691583,T = 0.008755, P = 0.005782 on final decel tc id = 240, canon_type = 2, mot type = 1 tc state : vr = 0.015692, vf = 0.000000, maxvel = 0.463666, current_vel = 0.007500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.007500, acc = 7.500000,T = 0.012821, P = 0.000004 tc id = 240, canon_type = 2, mot type = 1 secondary movement = 0.000004 time: 9.075000 primary movement = 3.133337625635e-04 time: 9.075000000000e+00 total movement = 3.170837629562e-04 vel = 3.129879712506e-01 ------------------- tc state : vr = 8.717511, vf = 0.000000, maxvel = 8.717511, current_vel = 0.289796, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.289796, acc = -15.691583,T = 0.008755, P = 0.006079 on final decel tc id = 240, canon_type = 2, mot type = 1 tc state : vr = 0.031383, vf = 0.000000, maxvel = 0.463666, current_vel = 0.015000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.015000, acc = 7.500000,T = 0.012821, P = 0.000015 tc id = 240, canon_type = 2, mot type = 1 secondary movement = 0.000011 time: 9.076000 primary movement = 2.976421799376e-04 time: 9.076000000000e+00 total movement = 3.088921779189e-04 vel = 3.047963886246e-01 ------------------- tc state : vr = 8.717511, vf = 0.000000, maxvel = 8.717511, current_vel = 0.274105, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.274105, acc = -15.691583,T = 0.008755, P = 0.006361 on final decel tc id = 240, canon_type = 2, mot type = 1 tc state : vr = 0.047075, vf = 0.000000, maxvel = 0.463666, current_vel = 0.022500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.022500, acc = 7.500000,T = 0.012821, P = 0.000034 tc id = 240, canon_type = 2, mot type = 1 secondary movement = 0.000019 time: 9.077000 primary movement = 2.819505973117e-04 time: 9.077000000000e+00 total movement = 3.007005832915e-04 vel = 2.966048059987e-01 ------------------- tc state : vr = 8.717511, vf = 0.000000, maxvel = 8.717511, current_vel = 0.258413, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.258413, acc = -15.691583,T = 0.008755, P = 0.006628 on final decel tc id = 240, canon_type = 2, mot type = 1 tc state : vr = 0.062766, vf = 0.000000, maxvel = 0.463666, current_vel = 0.030000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.030000, acc = 7.500000,T = 0.012821, P = 0.000060 tc id = 240, canon_type = 2, mot type = 1 secondary movement = 0.000026 time: 9.078000 primary movement = 2.662590146857e-04 time: 9.078000000000e+00 total movement = 2.925089726805e-04 vel = 2.884132233728e-01 ------------------- tc state : vr = 8.717511, vf = 0.000000, maxvel = 8.717511, current_vel = 0.242722, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.242722, acc = -15.691583,T = 0.008755, P = 0.006878 on final decel tc id = 240, canon_type = 2, mot type = 1 tc state : vr = 0.078458, vf = 0.000000, maxvel = 0.463666, current_vel = 0.037500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.037500, acc = 7.500000,T = 0.012821, P = 0.000094 tc id = 240, canon_type = 2, mot type = 1 secondary movement = 0.000034 time: 9.079000 primary movement = 2.505674320599e-04 time: 9.079000000000e+00 total movement = 2.843173396930e-04 vel = 2.802216407469e-01 ------------------- tc state : vr = 8.717511, vf = 0.000000, maxvel = 8.717511, current_vel = 0.227030, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.227030, acc = -15.691583,T = 0.008755, P = 0.007113 on final decel tc id = 240, canon_type = 2, mot type = 1 tc state : vr = 0.094149, vf = 0.000000, maxvel = 0.463666, current_vel = 0.045000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.045000, acc = 7.500000,T = 0.012821, P = 0.000135 tc id = 240, canon_type = 2, mot type = 1 secondary movement = 0.000041 time: 9.080000 primary movement = 2.348758494340e-04 time: 9.080000000000e+00 total movement = 2.761256779350e-04 vel = 2.720300581210e-01 ------------------- tc state : vr = 8.717511, vf = 0.000000, maxvel = 8.717511, current_vel = 0.211338, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.211338, acc = -15.691583,T = 0.008755, P = 0.007332 on final decel tc id = 240, canon_type = 2, mot type = 1 tc state : vr = 0.109841, vf = 0.000000, maxvel = 0.463666, current_vel = 0.052500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.052500, acc = 7.500000,T = 0.012821, P = 0.000184 tc id = 240, canon_type = 2, mot type = 1 secondary movement = 0.000049 time: 9.081000 primary movement = 2.191842668080e-04 time: 9.081000000000e+00 total movement = 2.679339810134e-04 vel = 2.638384754950e-01 ------------------- tc state : vr = 8.717511, vf = 0.000000, maxvel = 8.717511, current_vel = 0.195647, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.195647, acc = -15.691583,T = 0.008755, P = 0.007536 on final decel tc id = 240, canon_type = 2, mot type = 1 tc state : vr = 0.125533, vf = 0.000000, maxvel = 0.463666, current_vel = 0.060000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.060000, acc = 7.500000,T = 0.012821, P = 0.000240 tc id = 240, canon_type = 2, mot type = 1 secondary movement = 0.000056 time: 9.082000 primary movement = 2.034926841820e-04 time: 9.082000000000e+00 total movement = 2.597422425349e-04 vel = 2.556468928691e-01 ------------------- tc state : vr = 8.717511, vf = 0.000000, maxvel = 8.717511, current_vel = 0.179955, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.179955, acc = -15.691583,T = 0.008755, P = 0.007724 on final decel tc id = 240, canon_type = 2, mot type = 1 tc state : vr = 0.141224, vf = 0.000000, maxvel = 0.463666, current_vel = 0.067500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.067500, acc = 7.500000,T = 0.012821, P = 0.000304 tc id = 240, canon_type = 2, mot type = 1 secondary movement = 0.000064 time: 9.083000 primary movement = 1.878011015562e-04 time: 9.083000000000e+00 total movement = 2.515504561062e-04 vel = 2.474553102432e-01 ------------------- tc state : vr = 8.717511, vf = 0.000000, maxvel = 8.717511, current_vel = 0.164264, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.164264, acc = -15.691583,T = 0.008755, P = 0.007896 on final decel tc id = 240, canon_type = 2, mot type = 1 tc state : vr = 0.156916, vf = 0.000000, maxvel = 0.463666, current_vel = 0.075000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.075000, acc = 7.500000,T = 0.012821, P = 0.000375 tc id = 240, canon_type = 2, mot type = 1 secondary movement = 0.000071 time: 9.084000 primary movement = 1.721095189302e-04 time: 9.084000000000e+00 total movement = 2.433586153335e-04 vel = 2.392637276173e-01 ------------------- tc state : vr = 8.717511, vf = 0.000000, maxvel = 8.717511, current_vel = 0.148572, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.148572, acc = -15.691583,T = 0.008755, P = 0.008052 on final decel tc id = 240, canon_type = 2, mot type = 1 tc state : vr = 0.172607, vf = 0.000000, maxvel = 0.463666, current_vel = 0.082500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.082500, acc = 7.500000,T = 0.012821, P = 0.000454 tc id = 240, canon_type = 2, mot type = 1 secondary movement = 0.000079 time: 9.085000 primary movement = 1.564179363043e-04 time: 9.085000000000e+00 total movement = 2.351667138240e-04 vel = 2.310721449914e-01 ------------------- tc state : vr = 8.717511, vf = 0.000000, maxvel = 8.717511, current_vel = 0.132881, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.132881, acc = -15.691583,T = 0.008755, P = 0.008193 on final decel tc id = 240, canon_type = 2, mot type = 1 tc state : vr = 0.188299, vf = 0.000000, maxvel = 0.463666, current_vel = 0.090000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.090000, acc = 7.500000,T = 0.012821, P = 0.000540 tc id = 240, canon_type = 2, mot type = 1 secondary movement = 0.000086 time: 9.086000 primary movement = 1.407263536784e-04 time: 9.086000000000e+00 total movement = 2.269747451840e-04 vel = 2.228805623654e-01 ------------------- tc state : vr = 8.717511, vf = 0.000000, maxvel = 8.717511, current_vel = 0.117189, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.117189, acc = -15.691583,T = 0.008755, P = 0.008318 on final decel tc id = 240, canon_type = 2, mot type = 1 tc state : vr = 0.203991, vf = 0.000000, maxvel = 0.463666, current_vel = 0.097500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.097500, acc = 7.500000,T = 0.012821, P = 0.000634 tc id = 240, canon_type = 2, mot type = 1 secondary movement = 0.000094 time: 9.087000 primary movement = 1.250347710524e-04 time: 9.087000000000e+00 total movement = 2.187827030203e-04 vel = 2.146889797395e-01 ------------------- tc state : vr = 8.717511, vf = 0.000000, maxvel = 8.717511, current_vel = 0.101497, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.101497, acc = -15.691583,T = 0.008755, P = 0.008427 on final decel tc id = 240, canon_type = 2, mot type = 1 tc state : vr = 0.219682, vf = 0.000000, maxvel = 0.463666, current_vel = 0.105000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.105000, acc = 7.500000,T = 0.012821, P = 0.000735 tc id = 241, canon_type = 3, mot type = 2 secondary movement = 0.000101 time: 9.088000 primary movement = 1.093431884266e-04 time: 9.088000000000e+00 total movement = 2.105905809398e-04 vel = 2.064973971136e-01 ------------------- tc state : vr = 8.717511, vf = 0.000000, maxvel = 8.717511, current_vel = 0.085806, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.085806, acc = -15.691583,T = 0.008755, P = 0.008521 on final decel tc id = 240, canon_type = 2, mot type = 1 tc state : vr = 0.235374, vf = 0.000000, maxvel = 0.463666, current_vel = 0.112500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.112500, acc = 7.500000,T = 0.012821, P = 0.000844 tc id = 241, canon_type = 3, mot type = 2 secondary movement = 0.000109 time: 9.089000 primary movement = 9.365160580057e-05 time: 9.089000000000e+00 total movement = 2.023983725488e-04 vel = 1.983058144877e-01 ------------------- tc state : vr = 8.717511, vf = 0.000000, maxvel = 8.717511, current_vel = 0.070114, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.070114, acc = -15.691583,T = 0.008755, P = 0.008599 on final decel tc id = 240, canon_type = 2, mot type = 1 tc state : vr = 0.251065, vf = 0.000000, maxvel = 0.463666, current_vel = 0.120000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.120000, acc = 7.500000,T = 0.012821, P = 0.000960 tc id = 241, canon_type = 3, mot type = 2 secondary movement = 0.000116 time: 9.090000 primary movement = 7.796002317477e-05 time: 9.090000000000e+00 total movement = 1.942060714543e-04 vel = 1.901142318617e-01 ------------------- tc state : vr = 8.717511, vf = 0.000000, maxvel = 8.717511, current_vel = 0.054423, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.054423, acc = -15.691583,T = 0.008755, P = 0.008661 on final decel tc id = 240, canon_type = 2, mot type = 1 tc state : vr = 0.266757, vf = 0.000000, maxvel = 0.463666, current_vel = 0.127500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.127500, acc = 7.500000,T = 0.012821, P = 0.001084 tc id = 241, canon_type = 3, mot type = 2 secondary movement = 0.000124 time: 9.091000 primary movement = 6.226844054875e-05 time: 9.091000000000e+00 total movement = 1.860136712628e-04 vel = 1.819226492358e-01 ------------------- tc state : vr = 8.717511, vf = 0.000000, maxvel = 8.717511, current_vel = 0.038731, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.038731, acc = -15.691583,T = 0.008755, P = 0.008708 on final decel tc id = 240, canon_type = 2, mot type = 1 tc state : vr = 0.282448, vf = 0.000000, maxvel = 0.463666, current_vel = 0.135000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.135000, acc = 7.500000,T = 0.012821, P = 0.001215 tc id = 241, canon_type = 3, mot type = 2 secondary movement = 0.000131 time: 9.092000 primary movement = 4.657685792284e-05 time: 9.092000000000e+00 total movement = 1.778211655814e-04 vel = 1.737310666099e-01 ------------------- tc state : vr = 8.717511, vf = 0.000000, maxvel = 8.717511, current_vel = 0.023039, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.023039, acc = -15.691583,T = 0.008755, P = 0.008739 on final decel tc id = 240, canon_type = 2, mot type = 1 tc state : vr = 0.298140, vf = 0.000000, maxvel = 0.463666, current_vel = 0.142500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.142500, acc = 7.500000,T = 0.012821, P = 0.001354 tc id = 241, canon_type = 3, mot type = 2 secondary movement = 0.000139 time: 9.093000 primary movement = 3.088527529693e-05 time: 9.093000000000e+00 total movement = 1.696285480165e-04 vel = 1.655394839840e-01 ------------------- tc state : vr = 8.717511, vf = 0.000000, maxvel = 8.717511, current_vel = 0.007348, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.007348, acc = -15.691583,T = 0.008755, P = 0.008754 on final decel tc id = 240, canon_type = 2, mot type = 1 tc state : vr = 0.313832, vf = 0.000000, maxvel = 0.463666, current_vel = 0.150000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.150000, acc = 7.500000,T = 0.012821, P = 0.001500 tc id = 241, canon_type = 3, mot type = 2 secondary movement = 0.000146 time: 9.094000 primary movement = 1.519369267102e-05 time: 9.094000000000e+00 total movement = 1.614358121751e-04 vel = 1.573479013581e-01 ------------------- Found newvel = -0.007348, assuming segment is done segment 240 at target in runcycle tc state : vr = 8.717511, vf = 0.000000, maxvel = 8.717511, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.008755, P = 0.008755 tc id = 240, canon_type = 2, mot type = 1 tc state : vr = 0.321180, vf = 0.000000, maxvel = 0.463666, current_vel = 0.157500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.157500, acc = 7.500000,T = 0.012821, P = 0.001654 tc id = 241, canon_type = 3, mot type = 2 secondary movement = 0.000154 time: 9.095000 primary movement = 1.720401812109e-06 time: 9.095000000000e+00 total movement = 1.554612434309e-04 vel = 1.575000000000e-01 Finished tc id 240 ------------------- Activate nexttc id 242 tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.165000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.165000, acc = 7.500000,T = 0.012821, P = 0.001815 tc id = 241, canon_type = 3, mot type = 2 time: 9.096000 primary movement = 1.612394326706e-04 time: 9.096000000000e+00 total movement = 1.612394326706e-04 vel = 1.650000000000e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.172500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.172500, acc = 7.500000,T = 0.012821, P = 0.001984 tc id = 241, canon_type = 3, mot type = 2 time: 9.097000 primary movement = 1.687378862663e-04 time: 9.097000000000e+00 total movement = 1.687378862663e-04 vel = 1.725000000000e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.180000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.180000, acc = 7.500000,T = 0.012821, P = 0.002160 tc id = 241, canon_type = 3, mot type = 2 time: 9.098000 primary movement = 1.762361960128e-04 time: 9.098000000000e+00 total movement = 1.762361960128e-04 vel = 1.800000000000e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.187500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.187500, acc = 7.500000,T = 0.012821, P = 0.002344 tc id = 241, canon_type = 3, mot type = 2 time: 9.099000 primary movement = 1.837343555169e-04 time: 9.099000000000e+00 total movement = 1.837343555169e-04 vel = 1.875000000000e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.195000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.195000, acc = 7.500000,T = 0.012821, P = 0.002535 tc id = 241, canon_type = 3, mot type = 2 time: 9.100000 primary movement = 1.912323583856e-04 time: 9.100000000000e+00 total movement = 1.912323583856e-04 vel = 1.950000000000e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.202500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.202500, acc = 7.500000,T = 0.012821, P = 0.002734 tc id = 241, canon_type = 3, mot type = 2 time: 9.101000 primary movement = 1.987301982258e-04 time: 9.101000000000e+00 total movement = 1.987301982258e-04 vel = 2.025000000000e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.210000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.210000, acc = 7.500000,T = 0.012821, P = 0.002940 tc id = 241, canon_type = 3, mot type = 2 time: 9.102000 primary movement = 2.062278686444e-04 time: 9.102000000000e+00 total movement = 2.062278686444e-04 vel = 2.100000000000e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.217500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.217500, acc = 7.500000,T = 0.012821, P = 0.003154 tc id = 241, canon_type = 3, mot type = 2 time: 9.103000 primary movement = 2.137253632485e-04 time: 9.103000000000e+00 total movement = 2.137253632485e-04 vel = 2.175000000000e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.225000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.225000, acc = 7.500000,T = 0.012821, P = 0.003375 tc id = 241, canon_type = 3, mot type = 2 time: 9.104000 primary movement = 2.212226756452e-04 time: 9.104000000000e+00 total movement = 2.212226756452e-04 vel = 2.250000000000e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.232500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.232500, acc = 7.500000,T = 0.012821, P = 0.003604 tc id = 241, canon_type = 3, mot type = 2 time: 9.105000 primary movement = 2.287197994414e-04 time: 9.105000000000e+00 total movement = 2.287197994414e-04 vel = 2.325000000000e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.240000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.240000, acc = 7.500000,T = 0.012821, P = 0.003840 tc id = 241, canon_type = 3, mot type = 2 time: 9.106000 primary movement = 2.362167282442e-04 time: 9.106000000000e+00 total movement = 2.362167282442e-04 vel = 2.400000000000e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.247500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.247500, acc = 7.500000,T = 0.012821, P = 0.004084 tc id = 241, canon_type = 3, mot type = 2 time: 9.107000 primary movement = 2.437134556607e-04 time: 9.107000000000e+00 total movement = 2.437134556607e-04 vel = 2.475000000000e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.255000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.255000, acc = 7.500000,T = 0.012821, P = 0.004335 tc id = 241, canon_type = 3, mot type = 2 time: 9.108000 primary movement = 2.512099752982e-04 time: 9.108000000000e+00 total movement = 2.512099752982e-04 vel = 2.550000000000e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.262500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.262500, acc = 7.500000,T = 0.012821, P = 0.004594 tc id = 241, canon_type = 3, mot type = 2 time: 9.109000 primary movement = 2.587062807637e-04 time: 9.109000000000e+00 total movement = 2.587062807637e-04 vel = 2.625000000000e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.270000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.270000, acc = 7.500000,T = 0.012821, P = 0.004860 tc id = 241, canon_type = 3, mot type = 2 time: 9.110000 primary movement = 2.662023656645e-04 time: 9.110000000000e+00 total movement = 2.662023656645e-04 vel = 2.700000000000e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.277500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.277500, acc = 7.500000,T = 0.012821, P = 0.005134 tc id = 241, canon_type = 3, mot type = 2 time: 9.111000 primary movement = 2.736982236080e-04 time: 9.111000000000e+00 total movement = 2.736982236080e-04 vel = 2.775000000000e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.285000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.285000, acc = 7.500000,T = 0.012821, P = 0.005415 tc id = 241, canon_type = 3, mot type = 2 time: 9.112000 primary movement = 2.811938482012e-04 time: 9.112000000000e+00 total movement = 2.811938482012e-04 vel = 2.850000000000e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.292500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.292500, acc = 7.500000,T = 0.012821, P = 0.005704 tc id = 241, canon_type = 3, mot type = 2 time: 9.113000 primary movement = 2.886892330515e-04 time: 9.113000000000e+00 total movement = 2.886892330515e-04 vel = 2.925000000000e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.300000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.300000, acc = 7.500000,T = 0.012821, P = 0.006000 tc id = 241, canon_type = 3, mot type = 2 time: 9.114000 primary movement = 2.961843717665e-04 time: 9.114000000000e+00 total movement = 2.961843717665e-04 vel = 3.000000000000e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.307500, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.307500, acc = 7.500000,T = 0.012821, P = 0.006304 tc id = 241, canon_type = 3, mot type = 2 time: 9.115000 primary movement = 3.036792579533e-04 time: 9.115000000000e+00 total movement = 3.036792579533e-04 vel = 3.075000000000e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.305228, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.305228, acc = -2.271632,T = 0.012821, P = 0.006610 on final decel tc id = 241, canon_type = 3, mot type = 2 time: 9.116000 primary movement = 3.062894313353e-04 time: 9.116000000000e+00 total movement = 3.062894313353e-04 vel = 3.052283681184e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.297728, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.297728, acc = -7.500000,T = 0.012821, P = 0.006912 on final decel tc id = 241, canon_type = 3, mot type = 2 time: 9.117000 primary movement = 3.014016814357e-04 time: 9.117000000000e+00 total movement = 3.014016814357e-04 vel = 2.977283681184e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.290228, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.290228, acc = -7.500000,T = 0.012821, P = 0.007206 on final decel tc id = 241, canon_type = 3, mot type = 2 time: 9.118000 primary movement = 2.939006725859e-04 time: 9.118000000000e+00 total movement = 2.939006725859e-04 vel = 2.902283681184e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.282728, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.282728, acc = -7.500000,T = 0.012821, P = 0.007492 on final decel tc id = 241, canon_type = 3, mot type = 2 time: 9.119000 primary movement = 2.863998841474e-04 time: 9.119000000000e+00 total movement = 2.863998841474e-04 vel = 2.827283681184e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.275228, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.275228, acc = -7.500000,T = 0.012821, P = 0.007771 on final decel tc id = 241, canon_type = 3, mot type = 2 time: 9.120000 primary movement = 2.788993104975e-04 time: 9.120000000000e+00 total movement = 2.788993104975e-04 vel = 2.752283681184e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.267728, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.267728, acc = -7.500000,T = 0.012821, P = 0.008043 on final decel tc id = 241, canon_type = 3, mot type = 2 time: 9.121000 primary movement = 2.713989460135e-04 time: 9.121000000000e+00 total movement = 2.713989460135e-04 vel = 2.677283681184e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.260228, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.260228, acc = -7.500000,T = 0.012821, P = 0.008306 on final decel tc id = 241, canon_type = 3, mot type = 2 time: 9.122000 primary movement = 2.638987850728e-04 time: 9.122000000000e+00 total movement = 2.638987850728e-04 vel = 2.602283681184e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.252728, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.252728, acc = -7.500000,T = 0.012821, P = 0.008563 on final decel tc id = 241, canon_type = 3, mot type = 2 time: 9.123000 primary movement = 2.563988220525e-04 time: 9.123000000000e+00 total movement = 2.563988220525e-04 vel = 2.527283681184e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.245228, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.245228, acc = -7.500000,T = 0.012821, P = 0.008812 on final decel tc id = 241, canon_type = 3, mot type = 2 time: 9.124000 primary movement = 2.488990513298e-04 time: 9.124000000000e+00 total movement = 2.488990513298e-04 vel = 2.452283681184e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.237728, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.237728, acc = -7.500000,T = 0.012821, P = 0.009053 on final decel tc id = 241, canon_type = 3, mot type = 2 time: 9.125000 primary movement = 2.413994672819e-04 time: 9.125000000000e+00 total movement = 2.413994672819e-04 vel = 2.377283681184e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.230228, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.230228, acc = -7.500000,T = 0.012821, P = 0.009287 on final decel tc id = 241, canon_type = 3, mot type = 2 time: 9.126000 primary movement = 2.339000642861e-04 time: 9.126000000000e+00 total movement = 2.339000642861e-04 vel = 2.302283681184e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.222728, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.222728, acc = -7.500000,T = 0.012821, P = 0.009514 on final decel tc id = 241, canon_type = 3, mot type = 2 time: 9.127000 primary movement = 2.264008367191e-04 time: 9.127000000000e+00 total movement = 2.264008367191e-04 vel = 2.227283681184e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.215228, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.215228, acc = -7.500000,T = 0.012821, P = 0.009733 on final decel tc id = 241, canon_type = 3, mot type = 2 time: 9.128000 primary movement = 2.189017789583e-04 time: 9.128000000000e+00 total movement = 2.189017789583e-04 vel = 2.152283681184e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.207728, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.207728, acc = -7.500000,T = 0.012821, P = 0.009944 on final decel tc id = 241, canon_type = 3, mot type = 2 time: 9.129000 primary movement = 2.114028853805e-04 time: 9.129000000000e+00 total movement = 2.114028853805e-04 vel = 2.077283681184e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.200228, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.200228, acc = -7.500000,T = 0.012821, P = 0.010148 on final decel tc id = 241, canon_type = 3, mot type = 2 time: 9.130000 primary movement = 2.039041503631e-04 time: 9.130000000000e+00 total movement = 2.039041503631e-04 vel = 2.002283681184e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.192728, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.192728, acc = -7.500000,T = 0.012821, P = 0.010345 on final decel tc id = 241, canon_type = 3, mot type = 2 time: 9.131000 primary movement = 1.964055682827e-04 time: 9.131000000000e+00 total movement = 1.964055682827e-04 vel = 1.927283681184e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.185228, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.185228, acc = -7.500000,T = 0.012821, P = 0.010534 on final decel tc id = 241, canon_type = 3, mot type = 2 time: 9.132000 primary movement = 1.889071335163e-04 time: 9.132000000000e+00 total movement = 1.889071335163e-04 vel = 1.852283681184e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.177728, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.177728, acc = -7.500000,T = 0.012821, P = 0.010715 on final decel tc id = 241, canon_type = 3, mot type = 2 time: 9.133000 primary movement = 1.814088404410e-04 time: 9.133000000000e+00 total movement = 1.814088404410e-04 vel = 1.777283681184e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.170228, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.170228, acc = -7.500000,T = 0.012821, P = 0.010889 on final decel tc id = 241, canon_type = 3, mot type = 2 time: 9.134000 primary movement = 1.739106834335e-04 time: 9.134000000000e+00 total movement = 1.739106834335e-04 vel = 1.702283681184e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.162728, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.162728, acc = -7.500000,T = 0.012821, P = 0.011056 on final decel tc id = 241, canon_type = 3, mot type = 2 time: 9.135000 primary movement = 1.664126568708e-04 time: 9.135000000000e+00 total movement = 1.664126568708e-04 vel = 1.627283681184e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.155228, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.155228, acc = -7.500000,T = 0.012821, P = 0.011215 on final decel tc id = 241, canon_type = 3, mot type = 2 time: 9.136000 primary movement = 1.589147551296e-04 time: 9.136000000000e+00 total movement = 1.589147551296e-04 vel = 1.552283681184e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.147728, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.147728, acc = -7.500000,T = 0.012821, P = 0.011366 on final decel tc id = 241, canon_type = 3, mot type = 2 time: 9.137000 primary movement = 1.514169725872e-04 time: 9.137000000000e+00 total movement = 1.514169725872e-04 vel = 1.477283681184e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.140228, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.140228, acc = -7.500000,T = 0.012821, P = 0.011510 on final decel tc id = 241, canon_type = 3, mot type = 2 time: 9.138000 primary movement = 1.439193036196e-04 time: 9.138000000000e+00 total movement = 1.439193036196e-04 vel = 1.402283681184e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.132728, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.132728, acc = -7.500000,T = 0.012821, P = 0.011647 on final decel tc id = 241, canon_type = 3, mot type = 2 tc state : vr = 0.007500, vf = 0.007500, maxvel = 8.741142, current_vel = 0.007500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.007500, acc = 7.500000,T = 0.004988, P = 0.000004 initial results: dx= 0.004984,dt = 0.027551, a_f = 12.587476, v_f = 0.354297 dt = 0.027551, not at end yet tc id = 241, canon_type = 3, mot type = 2 secondary movement = 0.000004 time: 9.139000 primary movement = 1.364217426044e-04 time: 9.139000000000e+00 total movement = 1.401717426044e-04 vel = 1.402283681184e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.125228, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.125228, acc = -7.500000,T = 0.012821, P = 0.011776 on final decel tc id = 241, canon_type = 3, mot type = 2 tc state : vr = 0.015000, vf = 0.015000, maxvel = 8.741142, current_vel = 0.015000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.015000, acc = 7.500000,T = 0.004988, P = 0.000015 initial results: dx= 0.004973,dt = 0.026930, a_f = 12.598986, v_f = 0.354297 dt = 0.026930, not at end yet tc id = 241, canon_type = 3, mot type = 2 secondary movement = 0.000011 time: 9.140000 primary movement = 1.289242839177e-04 time: 9.140000000000e+00 total movement = 1.401742839177e-04 vel = 1.402283681184e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.117728, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.117728, acc = -7.500000,T = 0.012821, P = 0.011897 on final decel tc id = 241, canon_type = 3, mot type = 2 tc state : vr = 0.022500, vf = 0.022500, maxvel = 8.741142, current_vel = 0.022500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.022500, acc = 7.500000,T = 0.004988, P = 0.000034 initial results: dx= 0.004954,dt = 0.026295, a_f = 12.618285, v_f = 0.354297 dt = 0.026295, not at end yet tc id = 241, canon_type = 3, mot type = 2 secondary movement = 0.000019 time: 9.141000 primary movement = 1.214269219369e-04 time: 9.141000000000e+00 total movement = 1.401769219369e-04 vel = 1.402283681184e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.110228, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.110228, acc = -7.500000,T = 0.012821, P = 0.012011 on final decel tc id = 241, canon_type = 3, mot type = 2 tc state : vr = 0.030000, vf = 0.030000, maxvel = 8.741142, current_vel = 0.030000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.030000, acc = 7.500000,T = 0.004988, P = 0.000060 initial results: dx= 0.004928,dt = 0.025645, a_f = 12.645551, v_f = 0.354297 dt = 0.025645, not at end yet tc id = 241, canon_type = 3, mot type = 2 secondary movement = 0.000026 time: 9.142000 primary movement = 1.139296510382e-04 time: 9.142000000000e+00 total movement = 1.401796510382e-04 vel = 1.402283681184e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.102728, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.102728, acc = -7.500000,T = 0.012821, P = 0.012118 on final decel tc id = 241, canon_type = 3, mot type = 2 tc state : vr = 0.037500, vf = 0.037500, maxvel = 8.741142, current_vel = 0.037500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.037500, acc = 7.500000,T = 0.004988, P = 0.000094 initial results: dx= 0.004894,dt = 0.024982, a_f = 12.681036, v_f = 0.354297 dt = 0.024982, not at end yet tc id = 241, canon_type = 3, mot type = 2 secondary movement = 0.000034 time: 9.143000 primary movement = 1.064324655984e-04 time: 9.143000000000e+00 total movement = 1.401824655984e-04 vel = 1.402283681184e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.095228, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.095228, acc = -7.500000,T = 0.012821, P = 0.012217 on final decel tc id = 241, canon_type = 3, mot type = 2 tc state : vr = 0.045000, vf = 0.045000, maxvel = 8.741142, current_vel = 0.045000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.045000, acc = 7.500000,T = 0.004988, P = 0.000135 initial results: dx= 0.004853,dt = 0.024306, a_f = 12.725077, v_f = 0.354297 dt = 0.024306, not at end yet tc id = 241, canon_type = 3, mot type = 2 secondary movement = 0.000041 time: 9.144000 primary movement = 9.893535999455e-05 time: 9.144000000000e+00 total movement = 1.401853599945e-04 vel = 1.402283681184e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.087728, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.087728, acc = -7.500000,T = 0.012821, P = 0.012308 on final decel tc id = 241, canon_type = 3, mot type = 2 tc state : vr = 0.052500, vf = 0.052500, maxvel = 8.741142, current_vel = 0.052500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.052500, acc = 7.500000,T = 0.004988, P = 0.000184 initial results: dx= 0.004804,dt = 0.023618, a_f = 12.778101, v_f = 0.354297 dt = 0.023618, not at end yet tc id = 241, canon_type = 3, mot type = 2 secondary movement = 0.000049 time: 9.145000 primary movement = 9.143832860286e-05 time: 9.145000000000e+00 total movement = 1.401883286029e-04 vel = 1.402283681184e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.080228, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.080228, acc = -7.500000,T = 0.012821, P = 0.012392 on final decel tc id = 241, canon_type = 3, mot type = 2 tc state : vr = 0.060000, vf = 0.060000, maxvel = 8.741142, current_vel = 0.060000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.060000, acc = 7.500000,T = 0.004988, P = 0.000240 initial results: dx= 0.004748,dt = 0.022919, a_f = 12.840636, v_f = 0.354297 dt = 0.022919, not at end yet tc id = 241, canon_type = 3, mot type = 2 secondary movement = 0.000056 time: 9.146000 primary movement = 8.394136580042e-05 time: 9.146000000000e+00 total movement = 1.401913658004e-04 vel = 1.402283681184e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.072728, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.072728, acc = -7.500000,T = 0.012821, P = 0.012468 on final decel tc id = 241, canon_type = 3, mot type = 2 tc state : vr = 0.067500, vf = 0.067500, maxvel = 8.741142, current_vel = 0.067500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.067500, acc = 7.500000,T = 0.004988, P = 0.000304 initial results: dx= 0.004684,dt = 0.022209, a_f = 12.913324, v_f = 0.354297 dt = 0.022209, not at end yet tc id = 241, canon_type = 3, mot type = 2 secondary movement = 0.000064 time: 9.147000 primary movement = 7.644446596349e-05 time: 9.147000000000e+00 total movement = 1.401944659635e-04 vel = 1.402283681184e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.065228, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.065228, acc = -7.500000,T = 0.012821, P = 0.012537 on final decel tc id = 241, canon_type = 3, mot type = 2 tc state : vr = 0.075000, vf = 0.075000, maxvel = 8.741142, current_vel = 0.075000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.075000, acc = 7.500000,T = 0.004988, P = 0.000375 initial results: dx= 0.004613,dt = 0.021489, a_f = 12.996941, v_f = 0.354297 dt = 0.021489, not at end yet tc id = 242, canon_type = 2, mot type = 1 secondary movement = 0.000071 time: 9.148000 primary movement = 6.894762346910e-05 time: 9.148000000000e+00 total movement = 1.401976234691e-04 vel = 1.402283681184e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.057728, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.057728, acc = -7.500000,T = 0.012821, P = 0.012599 on final decel tc id = 241, canon_type = 3, mot type = 2 tc state : vr = 0.082500, vf = 0.082500, maxvel = 8.741142, current_vel = 0.082500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.082500, acc = 7.500000,T = 0.004988, P = 0.000454 initial results: dx= 0.004534,dt = 0.020760, a_f = 13.092418, v_f = 0.354297 dt = 0.020760, not at end yet tc id = 242, canon_type = 2, mot type = 1 secondary movement = 0.000079 time: 9.149000 primary movement = 6.145083269377e-05 time: 9.149000000000e+00 total movement = 1.402008326937e-04 vel = 1.402283681184e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.050228, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.050228, acc = -7.500000,T = 0.012821, P = 0.012653 on final decel tc id = 241, canon_type = 3, mot type = 2 tc state : vr = 0.090000, vf = 0.090000, maxvel = 8.741142, current_vel = 0.090000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.090000, acc = 7.500000,T = 0.004988, P = 0.000540 initial results: dx= 0.004448,dt = 0.020021, a_f = 13.200867, v_f = 0.354297 dt = 0.020021, not at end yet tc id = 242, canon_type = 2, mot type = 1 secondary movement = 0.000086 time: 9.150000 primary movement = 5.395408801394e-05 time: 9.150000000000e+00 total movement = 1.402040880139e-04 vel = 1.402283681184e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.042728, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.042728, acc = -7.500000,T = 0.012821, P = 0.012699 on final decel tc id = 241, canon_type = 3, mot type = 2 tc state : vr = 0.097500, vf = 0.097500, maxvel = 8.741142, current_vel = 0.097500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.097500, acc = 7.500000,T = 0.004988, P = 0.000634 initial results: dx= 0.004354,dt = 0.019274, a_f = 13.323620, v_f = 0.354297 dt = 0.019274, not at end yet tc id = 242, canon_type = 2, mot type = 1 secondary movement = 0.000094 time: 9.151000 primary movement = 4.645738380639e-05 time: 9.151000000000e+00 total movement = 1.402073838064e-04 vel = 1.402283681184e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.035228, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.035228, acc = -7.500000,T = 0.012821, P = 0.012738 on final decel tc id = 241, canon_type = 3, mot type = 2 tc state : vr = 0.105000, vf = 0.105000, maxvel = 8.741142, current_vel = 0.105000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.105000, acc = 7.500000,T = 0.004988, P = 0.000735 initial results: dx= 0.004253,dt = 0.018518, a_f = 13.462272, v_f = 0.354297 dt = 0.018518, not at end yet tc id = 242, canon_type = 2, mot type = 1 secondary movement = 0.000101 time: 9.152000 primary movement = 3.896071444780e-05 time: 9.152000000000e+00 total movement = 1.402107144478e-04 vel = 1.402283681184e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.027728, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.027728, acc = -7.500000,T = 0.012821, P = 0.012770 on final decel tc id = 241, canon_type = 3, mot type = 2 tc state : vr = 0.112500, vf = 0.112500, maxvel = 8.741142, current_vel = 0.112500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.112500, acc = 7.500000,T = 0.004988, P = 0.000844 initial results: dx= 0.004144,dt = 0.017755, a_f = 13.618741, v_f = 0.354297 dt = 0.017755, not at end yet tc id = 242, canon_type = 2, mot type = 1 secondary movement = 0.000109 time: 9.153000 primary movement = 3.146407431453e-05 time: 9.153000000000e+00 total movement = 1.402140743145e-04 vel = 1.402283681184e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.020228, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.020228, acc = -7.500000,T = 0.012821, P = 0.012794 on final decel tc id = 241, canon_type = 3, mot type = 2 tc state : vr = 0.120000, vf = 0.120000, maxvel = 8.741142, current_vel = 0.120000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.120000, acc = 7.500000,T = 0.004988, P = 0.000960 initial results: dx= 0.004028,dt = 0.016984, a_f = 13.795346, v_f = 0.354297 dt = 0.016984, not at end yet tc id = 242, canon_type = 2, mot type = 1 secondary movement = 0.000116 time: 9.154000 primary movement = 2.396745778350e-05 time: 9.154000000000e+00 total movement = 1.402174577835e-04 vel = 1.402283681184e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.012728, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.012728, acc = -7.500000,T = 0.012821, P = 0.012810 on final decel tc id = 241, canon_type = 3, mot type = 2 tc state : vr = 0.127500, vf = 0.127500, maxvel = 8.741142, current_vel = 0.127500, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.127500, acc = 7.500000,T = 0.004988, P = 0.001084 initial results: dx= 0.003904,dt = 0.016206, a_f = 13.994901, v_f = 0.354297 dt = 0.016206, not at end yet tc id = 242, canon_type = 2, mot type = 1 secondary movement = 0.000124 time: 9.155000 primary movement = 1.647085923114e-05 time: 9.155000000000e+00 total movement = 1.402208592311e-04 vel = 1.402283681184e-01 ------------------- tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.005228, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.005228, acc = -7.500000,T = 0.012821, P = 0.012819 on final decel tc id = 241, canon_type = 3, mot type = 2 tc state : vr = 0.135000, vf = 0.135000, maxvel = 8.741142, current_vel = 0.135000, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.135000, acc = 7.500000,T = 0.004988, P = 0.001215 initial results: dx= 0.003773,dt = 0.015421, a_f = 14.220857, v_f = 0.354297 dt = 0.015421, not at end yet tc id = 242, canon_type = 2, mot type = 1 secondary movement = 0.000131 time: 9.156000 primary movement = 8.974273034063e-06 time: 9.156000000000e+00 total movement = 1.402242730340e-04 vel = 1.402283681184e-01 ------------------- Found newvel = -0.002272, assuming segment is done segment 241 at target in runcycle tc state : vr = 0.463666, vf = 0.000000, maxvel = 0.463666, current_vel = 0.000000, fs = 1.000000, tc = 0.001000, term = 2 tc result: v = 0.000000, acc = 0.000000,T = 0.012821, P = 0.012821 tc id = 241, canon_type = 3, mot type = 2 tc state : vr = 0.140228, vf = 0.140228, maxvel = 8.741142, current_vel = 0.140228, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.140228, acc = 5.228368,T = 0.004988, P = 0.001353 initial results: dx= 0.003635,dt = 0.014701, a_f = 14.561290, v_f = 0.354297 dt = 0.014701, not at end yet tc id = 242, canon_type = 2, mot type = 1 secondary movement = 0.000138 time: 9.157000 primary movement = 1.821557347867e-06 time: 9.157000000000e+00 total movement = 1.394357414071e-04 vel = 1.402283681184e-01 Finished tc id 241 ------------------- tc state : vr = 2.375081, vf = 0.354297, maxvel = 8.741142, current_vel = 0.155962, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.155962, acc = 15.734119,T = 0.004988, P = 0.001501 initial results: dx= 0.003487,dt = 0.013667, a_f = 14.511478, v_f = 0.354297 dt = 0.013667, not at end yet tc id = 242, canon_type = 2, mot type = 1 time: 9.158000 primary movement = 1.480954276071e-04 time: 9.158000000000e+00 total movement = 1.480954276071e-04 vel = 1.559624870959e-01 ------------------- tc state : vr = 2.375081, vf = 0.354297, maxvel = 8.741142, current_vel = 0.171697, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.171697, acc = 15.734119,T = 0.004988, P = 0.001665 initial results: dx= 0.003323,dt = 0.012636, a_f = 14.451203, v_f = 0.354297 dt = 0.012636, not at end yet tc id = 242, canon_type = 2, mot type = 1 time: 9.159000 primary movement = 1.638295465848e-04 time: 9.159000000000e+00 total movement = 1.638295465848e-04 vel = 1.716966060735e-01 ------------------- tc state : vr = 2.375081, vf = 0.354297, maxvel = 8.741142, current_vel = 0.187431, fs = 1.000000, tc = 0.001000, term = 3 tc result: v = 0.187431, acc = 15.734119,T = 0.004988, P = 0.001844 initial results: dx= 0.003144,dt = 0.011606, a_f = 14.37792