08:34:49.195 -> bumper obstacle!
08:34:49.195 -> triggerObstacle
08:34:49.443 -> ==> changeOp:EscapeReverse->Mow
08:34:51.294 -> 11:29:25 ctlDur=0.02 op=EscapeReverse->Mow freem=219291 sp=2772EFC bat=28.09(0.66) chg=0.65(0.03) tg=-11.75,4.98 x=-10.10 y=2.37 delta=2.09 tow=282909000 lon=10.43173795 lat=52.44015775 h=106.4 n=4366.61 e=-2454.20 d=2.35 sol=2 age=0.09
08:34:52.225 -> driveReverseStopTime
08:34:52.225 -> continue operation with virtual obstacle
08:34:52.356 -> addObstacle -10.42,2.82
08:34:52.356 -> ==> changeOp:Mow
08:34:52.356 -> OP_MOW
08:34:52.356 -> Map::startMowing
08:34:52.356 -> findObstacleSafeMowPoint checking -11.75,4.98
08:34:52.356 -> findPath (-10.07,2.26) (-11.75,4.98)
08:34:52.356 -> path finder is enabled
08:34:52.356 -> freem=214707
08:34:52.356 -> starting path-finder
08:34:52.356 -> .finish nodes=184 duration=93
08:34:52.356 -> node pt=-11.75,4.98
08:34:52.356 -> node pt=-11.01,2.61
08:34:52.356 -> node pt=-10.61,2.21
08:34:52.356 -> node pt=-10.21,2.21
08:34:52.356 -> node pt=-10.07,2.26
08:34:52.356 -> WARN: PID unmet cycle time Ta=0.10 TaMax=0.07
08:34:52.356 -> WARN: PID unmet cycle time Ta=0.11 TaMax=0.07
08:34:56.318 -> 11:29:30 ctlDur=0.02 op=Mow freem=214843 sp=2774286 bat=28.14(0.50) chg=0.64(0.03) tg=-10.21,2.21 x=-10.07 y=2.25 delta=2.08 tow=282914200 lon=10.43173845 lat=52.44015654 h=106.4 n=4366.50 e=-2454.15 d=2.36 sol=2 age=0.08
08:35:01.341 -> 11:29:35 ctlDur=0.02 op=Mow freem=214843 sp=2775610 bat=28.18(0.41) chg=0.64(0.04) tg=-10.21,2.21 x=-10.07 y=2.28 delta=2.09 tow=282919200 lon=10.43173844 lat=52.44015681 h=106.4 n=4366.51 e=-2454.15 d=2.36 sol=2 age=1.13
08:35:06.365 -> 11:29:40 ctlDur=0.02 op=Mow freem=214843 sp=277699A bat=28.18(0.40) chg=0.66(0.03) tg=-10.21,2.21 x=-10.11 y=2.25 delta=-2.89 tow=282924200 lon=10.43173791 lat=52.44015650 h=106.4 n=4366.50 e=-2454.19 d=2.35 sol=2 age=0.09
08:35:11.385 -> 11:29:45 ctlDur=0.02 op=Mow freem=214843 sp=2777D23 bat=28.08(0.54) chg=0.66(0.03) tg=-10.21,2.21 x=-10.11 y=2.24 delta=-2.93 tow=282929200 lon=10.43173790 lat=52.44015642 h=106.4 n=4366.49 e=-2454.19 d=2.35 sol=2 age=0.18
08:35:16.379 -> 11:29:50 ctlDur=0.02 op=Mow freem=214843 sp=27790AE bat=28.11(0.48) chg=0.67(0.04) tg=-10.21,2.21 x=-10.08 y=2.27 delta=-2.94 tow=282934200 lon=10.43173804 lat=52.44015674 h=106.4 n=4366.50 e=-2454.18 d=2.35 sol=2 age=0.24
08:35:21.400 -> 11:29:55 ctlDur=0.02 op=Mow freem=214843 sp=277A437 bat=28.14(0.46) chg=0.66(0.04) tg=-10.21,2.21 x=-10.08 y=2.27 delta=-2.94 tow=282939200 lon=10.43173831 lat=52.44015674 h=106.4 n=4366.50 e=-2454.18 d=2.35 sol=2 age=0.20
08:35:26.423 -> 11:30:0 ctlDur=0.02 op=Mow freem=214843 sp=277B7C2 bat=28.15(0.46) chg=0.66(0.03) tg=-10.21,2.21 x=-10.08 y=2.27 delta=-2.94 tow=282944200 lon=10.43173831 lat=52.44015673 h=106.4 n=4366.50 e=-2454.18 d=2.35 sol=2 age=0.24
08:35:27.122 -> ERROR: odometry error rpm=0.00,0.00
08:35:28.155 -> motor fault recover counter 1
08:35:31.449 -> 11:30:5 ctlDur=0.02 op=Mow freem=214843 sp=277CB4D bat=28.17(0.39) chg=0.66(0.04) tg=-10.21,2.21 x=-10.08 y=2.27 delta=-2.94 tow=282949200 lon=10.43173832 lat=52.44015672 h=106.4 n=4366.50 e=-2454.18 d=2.35 sol=2 age=0.30
08:35:36.441 -> 11:30:10 ctlDur=0.02 op=Mow freem=214843 sp=277DED7 bat=28.19(0.34) chg=0.67(0.04) tg=-10.21,2.21 x=-10.08 y=2.27 delta=-2.94 tow=282954200 lon=10.43173832 lat=52.44015673 h=106.4 n=4366.50 e=-2454.18 d=2.35 sol=2 age=0.22
08:35:38.239 -> resetting recoverMotorFaultCounter
08:35:41.099 -> batTemp=0.0 cpuTemp=48
08:35:41.099 -> ERROR: odometry error rpm=0.00,0.00
08:35:41.465 -> 11:30:15 ctlDur=0.02 op=Mow freem=214843 sp=277F260 bat=28.20(0.31) chg=0.65(0.04) tg=-10.21,2.21 x=-10.08 y=2.27 delta=-2.94 tow=282959200 lon=10.43173833 lat=52.44015674 h=106.4 n=4366.50 e=-2454.17 d=2.35 sol=2 age=0.27
08:35:42.131 -> motor fault recover counter 1
08:35:46.489 -> 11:30:20 ctlDur=0.02 op=Mow freem=214843 sp=27805EB bat=28.20(0.33) chg=0.68(0.04) tg=-10.21,2.21 x=-10.08 y=2.27 delta=-2.94 tow=282964200 lon=10.43173834 lat=52.44015673 h=106.4 n=4366.50 e=-2454.17 d=2.35 sol=2 age=1.20
08:35:51.510 -> 11:30:25 ctlDur=0.02 op=Mow freem=214843 sp=2781975 bat=28.18(0.37) chg=0.66(0.03) tg=-10.21,2.21 x=-10.08 y=2.27 delta=-2.94 tow=282969200 lon=10.43173833 lat=52.44015672 h=106.4 n=4366.50 e=-2454.17 d=2.36 sol=2 age=1.20
08:35:52.176 -> resetting recoverMotorFaultCounter
08:35:55.041 -> ERROR: odometry error rpm=0.00,0.00
08:35:56.072 -> motor fault recover counter 1
08:35:56.537 -> 11:30:30 ctlDur=0.02 op=Mow freem=214843 sp=2782CFE bat=28.18(0.38) chg=0.66(0.04) tg=-10.21,2.21 x=-10.08 y=2.25 delta=-2.94 tow=282974400 lon=10.43173804 lat=52.44015650 h=106.4 n=4366.50 e=-2454.18 d=2.35 sol=2 age=1.30
08:36:01.526 -> 11:30:35 ctlDur=0.02 op=Mow freem=214843 sp=2784089 bat=28.19(0.34) chg=0.65(0.04) tg=-10.21,2.21 x=-10.08 y=2.27 delta=-2.94 tow=282979400 lon=10.43173833 lat=52.44015675 h=106.4 n=4366.50 e=-2454.17 d=2.35 sol=2 age=1.29
08:36:06.145 -> resetting recoverMotorFaultCounter
08:36:06.544 -> 11:30:40 ctlDur=0.02 op=Mow freem=214843 sp=2785414 bat=28.20(0.30) chg=0.66(0.04) tg=-10.21,2.21 x=-10.10 y=2.25 delta=-2.94 tow=282984400 lon=10.43173805 lat=52.44015651 h=106.4 n=4366.50 e=-2454.18 d=2.35 sol=2 age=1.35
08:36:09.107 -> ERROR: odometry error rpm=0.00,0.00
08:36:10.137 -> motor fault recover counter 1
08:36:11.570 -> 11:30:45 ctlDur=0.02 op=Mow freem=214843 sp=278679E bat=28.20(0.30) chg=0.67(0.03) tg=-10.21,2.21 x=-10.08 y=2.25 delta=-2.94 tow=282989400 lon=10.43173832 lat=52.44015651 h=106.4 n=4366.50 e=-2454.18 d=2.35 sol=2 age=1.30
08:36:16.591 -> 11:30:50 ctlDur=0.02 op=Mow freem=214843 sp=2787B28 bat=28.19(0.33) chg=0.67(0.03) tg=-10.21,2.21 x=-10.08 y=2.28 delta=-2.94 tow=282994400 lon=10.43173831 lat=52.44015675 h=106.4 n=4366.50 e=-2454.18 d=2.36 sol=2 age=0.17
08:36:20.214 -> resetting recoverMotorFaultCounter
08:36:21.612 -> 11:30:55 ctlDur=0.02 op=Mow freem=214843 sp=2788EB6 bat=28.17(0.38) chg=0.65(0.03) tg=-10.21,2.21 x=-10.08 y=2.25 delta=-2.94 tow=282999400 lon=10.43173833 lat=52.44015651 h=106.4 n=4366.50 e=-2454.18 d=2.35 sol=2 age=0.37
08:36:23.112 -> ERROR: odometry error rpm=0.00,0.00
08:36:24.142 -> motor fault recover counter 1
08:36:26.640 -> 11:31:0 ctlDur=0.02 op=Mow freem=214843 sp=278A240 bat=28.18(0.36) chg=0.67(0.04) tg=-10.21,2.21 x=-10.08 y=2.27 delta=-2.94 tow=283004400 lon=10.43173834 lat=52.44015675 h=106.4 n=4366.50 e=-2454.17 d=2.35 sol=2 age=0.42
08:36:31.630 -> 11:31:5 ctlDur=0.02 op=Mow freem=214843 sp=278B5CB bat=28.19(0.32) chg=0.65(0.04) tg=-10.21,2.21 x=-10.08 y=2.25 delta=-2.94 tow=283009400 lon=10.43173832 lat=52.44015652 h=106.4 n=4366.50 e=-2454.18 d=2.35 sol=2 age=0.38
08:36:34.189 -> resetting recoverMotorFaultCounter
08:36:36.655 -> 11:31:10 ctlDur=0.02 op=Mow freem=214843 sp=278C954 bat=28.19(0.30) chg=0.66(0.04) tg=-10.21,2.21 x=-10.08 y=2.25 delta=-2.94 tow=283014400 lon=10.43173832 lat=52.44015652 h=106.4 n=4366.50 e=-2454.18 d=2.35 sol=2 age=0.24
08:36:37.220 -> ERROR: odometry error rpm=0.00,0.00
08:36:38.251 -> motor fault recover counter 1
08:36:41.275 -> batTemp=0.0 cpuTemp=48
08:36:41.674 -> 11:31:15 ctlDur=0.02 op=Mow freem=214843 sp=278DCDF bat=28.19(0.31) chg=0.65(0.03) tg=-10.21,2.21 x=-10.08 y=2.25 delta=-2.94 tow=283019400 lon=10.43173833 lat=52.44015652 h=106.4 n=4366.50 e=-2454.17 d=2.35 sol=2 age=0.34
08:36:46.699 -> 11:31:20 ctlDur=0.02 op=Mow freem=214843 sp=278F06A bat=28.18(0.35) chg=0.66(0.03) tg=-10.21,2.21 x=-10.10 y=2.25 delta=-2.93 tow=283024400 lon=10.43173811 lat=52.44015652 h=106.4 n=4366.50 e=-2454.17 d=2.35 sol=2 age=0.53
08:36:47.929 -> sending encryptMode=0 encryptChallenge=0
08:36:48.294 -> resetting recoverMotorFaultCounter
08:36:51.294 -> ERROR: odometry error rpm=0.00,0.00
08:36:51.692 -> 11:31:25 ctlDur=0.02 op=Mow freem=214843 sp=27903F4 bat=28.16(0.39) chg=0.66(0.03) tg=-10.21,2.21 x=-10.10 y=2.25 delta=-2.93 tow=283029400 lon=10.43173811 lat=52.44015652 h=106.4 n=4366.50 e=-2454.17 d=2.35 sol=2 age=0.53
08:36:52.325 -> motor fault recover counter 1
08:36:56.717 -> 11:31:30 ctlDur=0.02 op=Mow freem=214843 sp=279177D bat=28.17(0.34) chg=0.67(0.04) tg=-10.21,2.21 x=-10.10 y=2.25 delta=-2.93 tow=283034600 lon=10.43173811 lat=52.44015651 h=106.4 n=4366.50 e=-2454.17 d=2.35 sol=2 age=0.53
08:37:01.738 -> 11:31:35 ctlDur=0.02 op=Mow freem=214843 sp=2792B08 bat=28.18(0.31) chg=0.65(0.04) tg=-10.21,2.21 x=-10.10 y=2.25 delta=-2.93 tow=283039600 lon=10.43173811 lat=52.44015652 h=106.4 n=4366.50 e=-2454.17 d=2.35 sol=2 age=0.49
08:37:02.370 -> resetting recoverMotorFaultCounter
08:37:05.398 -> ERROR: odometry error rpm=0.00,0.00
08:37:06.429 -> motor fault recover counter 1
08:37:06.762 -> 11:31:40 ctlDur=0.02 op=Mow freem=214843 sp=2793E91 bat=28.19(0.30) chg=0.65(0.03) tg=-10.21,2.21 x=-10.08 y=2.25 delta=-2.93 tow=283044600 lon=10.43173833 lat=52.44015651 h=106.4 n=4366.50 e=-2454.17 d=2.35 sol=2 age=0.61
08:37:11.781 -> 11:31:45 ctlDur=0.02 op=Mow freem=214843 sp=279521A bat=28.18(0.32) chg=0.65(0.03) tg=-10.21,2.21 x=-10.08 y=2.25 delta=-2.93 tow=283049600 lon=10.43173832 lat=52.44015654 h=106.4 n=4366.50 e=-2454.18 d=2.35 sol=2 age=0.51
08:37:16.468 -> resetting recoverMotorFaultCounter
08:37:16.767 -> 11:31:50 ctlDur=0.02 op=Mow freem=214843 sp=27965A4 bat=28.16(0.37) chg=0.65(0.03) tg=-10.21,2.21 x=-10.08 y=2.25 delta=-2.93 tow=283054600 lon=10.43173831 lat=52.44015654 h=106.4 n=4366.50 e=-2454.18 d=2.35 sol=2 age=0.58
08:37:19.527 -> ERROR: odometry error rpm=0.00,0.00
08:37:20.558 -> motor fault recover counter 1
08:37:21.787 -> 11:31:55 ctlDur=0.02 op=Mow freem=214843 sp=279792E bat=28.16(0.36) chg=0.64(0.03) tg=-10.21,2.21 x=-10.08 y=2.25 delta=-2.93 tow=283059600 lon=10.43173832 lat=52.44015652 h=106.4 n=4366.50 e=-2454.18 d=2.34 sol=2 age=1.38
08:37:26.813 -> 11:32:0 ctlDur=0.02 op=Mow freem=214843 sp=2798CB8 bat=28.17(0.32) chg=0.67(0.03) tg=-10.21,2.21 x=-10.08 y=2.25 delta=-2.93 tow=283064600 lon=10.43173833 lat=52.44015653 h=106.4 n=4366.50 e=-2454.17 d=2.35 sol=2 age=0.57
08:37:30.611 -> resetting recoverMotorFaultCounter
08:37:31.845 -> 11:32:5 ctlDur=0.02 op=Mow freem=214843 sp=279A043 bat=28.17(0.30) chg=0.65(0.03) tg=-10.21,2.21 x=-10.08 y=2.25 delta=-2.93 tow=283069600 lon=10.43173832 lat=52.44015654 h=106.4 n=4366.50 e=-2454.18 d=2.34 sol=2 age=1.58
08:37:33.572 -> ERROR: odometry error rpm=0.00,0.00
08:37:34.603 -> motor fault recover counter 1
08:37:36.866 -> 11:32:10 ctlDur=0.02 op=Mow freem=214843 sp=279B3CD bat=28.17(0.30) chg=0.65(0.03) tg=-10.21,2.21 x=-10.08 y=2.25 delta=-2.93 tow=283074600 lon=10.43173835 lat=52.44015653 h=106.4 n=4366.50 e=-2454.17 d=2.34 sol=2 age=0.58
08:37:41.424 -> batTemp=0.0 cpuTemp=47
08:37:41.856 -> 11:32:15 ctlDur=0.02 op=Mow freem=214843 sp=279C757 bat=28.15(0.34) chg=0.64(0.03) tg=-10.21,2.21 x=-10.08 y=2.25 delta=-2.93 tow=283079600 lon=10.43173834 lat=52.44015653 h=106.4 n=4366.50 e=-2454.17 d=2.34 sol=2 age=0.68
08:37:44.659 -> resetting recoverMotorFaultCounter
08:37:46.909 -> 11:32:20 ctlDur=0.02 op=Mow freem=214843 sp=279DAE0 bat=28.14(0.38) chg=0.67(0.03) tg=-10.21,2.21 x=-10.10 y=2.25 delta=-2.93 tow=283084600 lon=10.43173810 lat=52.44015652 h=106.4 n=4366.50 e=-2454.17 d=2.34 sol=2 age=0.70
08:37:47.641 -> ERROR: odometry error rpm=0.00,0.00
08:37:48.675 -> motor fault recover counter 1
08:37:51.900 -> 11:32:25 ctlDur=0.02 op=Mow freem=214843 sp=279EE6A bat=28.14(0.35) chg=0.65(0.03) tg=-10.21,2.21 x=-10.08 y=2.25 delta=-2.93 tow=283089600 lon=10.43173834 lat=52.44015652 h=106.4 n=4366.50 e=-2454.17 d=2.34 sol=2 age=0.70
08:37:56.924 -> 11:32:30 ctlDur=0.02 op=Mow freem=214843 sp=27A01F4 bat=28.15(0.32) chg=0.66(0.03) tg=-10.21,2.21 x=-10.08 y=2.25 delta=-2.93 tow=283094600 lon=10.43173834 lat=52.44015653 h=106.4 n=4366.50 e=-2454.17 d=2.34 sol=2 age=0.69
08:37:58.752 -> resetting recoverMotorFaultCounter
08:38:01.712 -> ERROR: odometry error rpm=0.00,0.00
08:38:01.912 -> 11:32:35 ctlDur=0.02 op=Mow freem=214843 sp=27A157E bat=28.16(0.30) chg=0.67(0.03) tg=-10.21,2.21 x=-10.08 y=2.28 delta=-2.93 tow=283099800 lon=10.43173834 lat=52.44015681 h=106.4 n=4366.51 e=-2454.17 d=2.34 sol=2 age=0.49
08:38:02.744 -> motor fault recover counter 1
08:38:06.929 -> 11:32:40 ctlDur=0.02 op=Mow freem=214843 sp=27A2908 bat=28.15(0.32) chg=0.68(0.03) tg=-10.21,2.21 x=-10.10 y=2.28 delta=-2.93 tow=283104800 lon=10.43173810 lat=52.44015681 h=106.4 n=4366.51 e=-2454.17 d=2.34 sol=2 age=0.79
08:38:11.953 -> 11:32:45 ctlDur=0.02 op=Mow freem=214843 sp=27A3C92 bat=28.14(0.36) chg=0.64(0.03) tg=-10.21,2.21 x=-10.10 y=2.25 delta=-2.93 tow=283109800 lon=10.43173810 lat=52.44015654 h=106.4 n=4366.50 e=-2454.17 d=2.34 sol=2 age=0.79
08:38:12.818 -> resetting recoverMotorFaultCounter
08:38:15.751 -> ERROR: odometry error rpm=0.00,0.00
08:38:16.750 -> motor fault recover counter 1
08:38:16.983 -> 11:32:50 ctlDur=0.02 op=Mow freem=214843 sp=27A501B bat=28.13(0.37) chg=0.66(0.03) tg=-10.21,2.21 x=-10.09 y=2.25 delta=-2.92 tow=283114800 lon=10.43173812 lat=52.44015651 h=106.4 n=4366.50 e=-2454.17 d=2.34 sol=2 age=0.56
08:38:22.001 -> 11:32:55 ctlDur=0.02 op=Mow freem=214843 sp=27A63A5 bat=28.14(0.33) chg=0.65(0.03) tg=-10.21,2.21 x=-10.09 y=2.25 delta=-2.92 tow=283119800 lon=10.43173814 lat=52.44015651 h=106.4 n=4366.50 e=-2454.17 d=2.34 sol=2 age=0.80
08:38:26.822 -> resetting recoverMotorFaultCounter
08:38:27.024 -> 11:33:0 ctlDur=0.02 op=Mow freem=214843 sp=27A7730 bat=28.15(0.30) chg=0.66(0.03) tg=-10.21,2.21 x=-10.09 y=2.25 delta=-2.92 tow=283124800 lon=10.43173813 lat=52.44015653 h=106.4 n=4366.50 e=-2454.17 d=2.34 sol=2 age=0.65
08:38:29.815 -> ERROR: odometry error rpm=0.00,0.00
08:38:30.844 -> motor fault recover counter 1