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PX4 / PX4-Avoidance

PX4 avoidance ROS node for obstacle detection and avoidance.
http://px4.io
BSD 3-Clause "New" or "Revised" License
640 stars 333 forks source link

safe_landing_planner not working #621

Open pirate-lofy opened 3 years ago

pirate-lofy commented 3 years ago

I'm trying to use safe_landing in a real drone, but when trying the simulation files it won't work... I run roslaunch safe_landing_planner safe_landing_planner.launch and I see Rviz world with unmanned vehicle, then start a mission with last waypoint is 'Land' in QGroundController.. drone takes off and follow the mission perfectly, but when lands it lands on obstacles like there is no planner running and this is the result (you can see it landed on a tree and then lost its balance). I tried to land other obstacles with less height and got the same result

Screenshot from 2021-01-21 01-38-02

this is the full log

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SUMMARY
========

CLEAR PARAMETERS
 * /mavros/

PARAMETERS
 * /gazebo/enable_ros_network: True
 * /mavros/cmd/use_comp_id_system_control: False
 * /mavros/conn/heartbeat_rate: 1.0
 * /mavros/conn/system_time_rate: 1.0
 * /mavros/conn/timeout: 10.0
 * /mavros/conn/timesync_rate: 10.0
 * /mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
 * /mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
 * /mavros/distance_sensor/hrlv_ez4_pub/id: 0
 * /mavros/distance_sensor/hrlv_ez4_pub/orientation: ROLL_180
 * /mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
 * /mavros/distance_sensor/laser_1_sub/id: 3
 * /mavros/distance_sensor/laser_1_sub/orientation: ROLL_180
 * /mavros/distance_sensor/laser_1_sub/subscriber: True
 * /mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
 * /mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
 * /mavros/distance_sensor/lidarlite_pub/id: 1
 * /mavros/distance_sensor/lidarlite_pub/orientation: ROLL_180
 * /mavros/distance_sensor/lidarlite_pub/send_tf: True
 * /mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
 * /mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
 * /mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
 * /mavros/distance_sensor/sonar_1_sub/id: 2
 * /mavros/distance_sensor/sonar_1_sub/orientation: ROLL_180
 * /mavros/distance_sensor/sonar_1_sub/subscriber: True
 * /mavros/fcu_protocol: v2.0
 * /mavros/fcu_url: udp://:14540@loca...
 * /mavros/gcs_url: 
 * /mavros/global_position/frame_id: fcu
 * /mavros/global_position/rot_covariance: 99999.0
 * /mavros/global_position/tf/child_frame_id: fcu_utm
 * /mavros/global_position/tf/frame_id: local_origin
 * /mavros/global_position/tf/send: False
 * /mavros/image/frame_id: px4flow
 * /mavros/imu/angular_velocity_stdev: 0.0003490659 // 0...
 * /mavros/imu/frame_id: fcu
 * /mavros/imu/linear_acceleration_stdev: 0.0003
 * /mavros/imu/magnetic_stdev: 0.0
 * /mavros/imu/orientation_stdev: 1.0
 * /mavros/local_position/frame_id: local_origin
 * /mavros/local_position/tf/child_frame_id: fcu
 * /mavros/local_position/tf/frame_id: local_origin
 * /mavros/local_position/tf/send: True
 * /mavros/local_position/tf/send_fcu: False
 * /mavros/mission/pull_after_gcs: True
 * /mavros/mocap/use_pose: False
 * /mavros/mocap/use_tf: True
 * /mavros/odometry/fcu/odom_child_id_des: base_link
 * /mavros/odometry/fcu/odom_parent_id_des: map
 * /mavros/plugin_blacklist: ['safety_area', '...
 * /mavros/plugin_whitelist: []
 * /mavros/px4flow/frame_id: px4flow
 * /mavros/px4flow/ranger_fov: 0.118682
 * /mavros/px4flow/ranger_max_range: 5.0
 * /mavros/px4flow/ranger_min_range: 0.3
 * /mavros/safety_area/p1/x: 1.0
 * /mavros/safety_area/p1/y: 1.0
 * /mavros/safety_area/p1/z: 1.0
 * /mavros/safety_area/p2/x: -1.0
 * /mavros/safety_area/p2/y: -1.0
 * /mavros/safety_area/p2/z: -1.0
 * /mavros/setpoint_accel/send_force: False
 * /mavros/setpoint_attitude/reverse_throttle: False
 * /mavros/setpoint_attitude/tf/child_frame_id: attitude
 * /mavros/setpoint_attitude/tf/frame_id: local_origin
 * /mavros/setpoint_attitude/tf/listen: False
 * /mavros/setpoint_attitude/tf/rate_limit: 10.0
 * /mavros/setpoint_position/tf/child_frame_id: setpoint
 * /mavros/setpoint_position/tf/frame_id: local_origin
 * /mavros/setpoint_position/tf/listen: False
 * /mavros/setpoint_position/tf/rate_limit: 50.0
 * /mavros/startup_px4_usb_quirk: True
 * /mavros/sys/disable_diag: False
 * /mavros/sys/min_voltage: 10.0
 * /mavros/target_component_id: 1
 * /mavros/target_system_id: 1
 * /mavros/tdr_radio/low_rssi: 40
 * /mavros/time/time_ref_source: fcu
 * /mavros/time/timesync_avg_alpha: 0.6
 * /mavros/vibration/frame_id: vibration
 * /mavros/vision_pose/tf/child_frame_id: vision
 * /mavros/vision_pose/tf/frame_id: local_origin
 * /mavros/vision_pose/tf/listen: False
 * /mavros/vision_pose/tf/rate_limit: 10.0
 * /mavros/vision_speed/listen_twist: False
 * /rosdistro: melodic
 * /rosversion: 1.14.10
 * /safe_landing_planner_node/pointcloud_topics: /camera/depth/points
 * /safe_landing_planner_node/world_name: /home/bignrz/catk...
 * /use_sim_time: True

NODES
  /
    dynparam_slpn (dynamic_reconfigure/dynparam)
    dynparam_wpgn (dynamic_reconfigure/dynparam)
    gazebo (gazebo_ros/gzserver)
    mavros (mavros/mavros_node)
    rqt_reconfigure (rqt_reconfigure/rqt_reconfigure)
    rviz (rviz/rviz)
    safe_landing_planner_node (safe_landing_planner/safe_landing_planner_node)
    sitl_0 (px4/px4)
    spawn_model (gazebo_ros/spawn_model)
    tf_depth_camera (tf/static_transform_publisher)
    waypoint_generator_node (safe_landing_planner/waypoint_generator_node)

auto-starting new master
process[master]: started with pid [17624]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 71f42626-5b78-11eb-83d5-cc2f71e7786d
process[rosout-1]: started with pid [17635]
started core service [/rosout]
process[tf_depth_camera-2]: started with pid [17643]
process[rqt_reconfigure-3]: started with pid [17644]
process[sitl_0-4]: started with pid [17652]
INFO  [px4] Creating symlink /home/bignrz/Firmware/build/px4_sitl_default/etc -> /home/bignrz/.ros/etc

______  __   __    ___ 
| ___ \ \ \ / /   /   |
| |_/ /  \ V /   / /| |
|  __/   /   \  / /_| |
| |     / /^\ \ \___  |
\_|     \/   \/     |_/

px4 starting.

INFO  [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
Info: found model autostart file as SYS_AUTOSTART=10016
process[mavros-5]: started with pid [17666]
INFO  [param] selected parameter default file eeprom/parameters_10016
[param] Loaded: eeprom/parameters_10016
process[gazebo-6]: started with pid [17677]
process[spawn_model-7]: started with pid [17688]
process[safe_landing_planner_node-8]: started with pid [17700]
process[waypoint_generator_node-9]: started with pid [17703]
process[dynparam_slpn-10]: started with pid [17707]
process[dynparam_wpgn-11]: started with pid [17710]
INFO  [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes
process[rviz-12]: started with pid [17714]
INFO  [simulator] Waiting for simulator to accept connection on TCP port 4560
[ INFO] [1611185844.223125162]: FCU URL: udp://:14540@localhost:14557
[ INFO] [1611185844.230113865]: udp0: Bind address: 0.0.0.0:14540
[ INFO] [1611185844.230427202]: udp0: Remote address: 127.0.0.1:14557
[ INFO] [1611185844.230995740]: GCS bridge disabled
[ INFO] [1611185844.258589452]: Plugin 3dr_radio loaded
[ INFO] [1611185844.268512944]: Plugin 3dr_radio initialized
[ INFO] [1611185844.268701785]: Plugin actuator_control loaded
[ INFO] [1611185844.283518618]: Plugin actuator_control initialized
[ INFO] [1611185844.289318250]: Plugin adsb loaded
[ INFO] [1611185844.302625287]: Plugin adsb initialized
[ INFO] [1611185844.302846592]: Plugin altitude loaded
[ INFO] [1611185844.304939529]: Plugin altitude initialized
[ INFO] [1611185844.305148022]: Plugin cam_imu_sync loaded
[ INFO] [1611185844.306730285]: Plugin cam_imu_sync initialized
[ INFO] [1611185844.306966013]: Plugin command loaded
[ INFO] [1611185844.349271540]: Plugin command initialized
[ INFO] [1611185844.349554374]: Plugin companion_process_status loaded
[ INFO] [1611185844.363771880]: Plugin companion_process_status initialized
[ INFO] [1611185844.363937161]: Plugin debug_value loaded
[ INFO] [1611185844.385641774]: Plugin debug_value initialized
[ INFO] [1611185844.385865055]: Plugin distance_sensor blacklisted
[ INFO] [1611185844.386137113]: Plugin esc_status loaded
[ INFO] [1611185844.399858631]: Plugin esc_status initialized
[ INFO] [1611185844.400441257]: Plugin fake_gps loaded
[ INFO] [1611185844.445966169]: Plugin fake_gps initialized
[ INFO] [1611185844.446197018]: Plugin ftp loaded
[ INFO] [1611185844.468530177]: Plugin ftp initialized
[ INFO] [1611185844.468761990]: Plugin global_position loaded
[ INFO] [1611185844.506416369]: rviz version 1.13.15
[ INFO] [1611185844.506619576]: compiled against Qt version 5.9.5
[ INFO] [1611185844.506726103]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1611185844.507204644]: Plugin global_position initialized
[ INFO] [1611185844.507366703]: Plugin gps_rtk loaded
[ INFO] [1611185844.515345334]: Plugin gps_rtk initialized
[ INFO] [1611185844.515643053]: Plugin gps_status loaded
[ INFO] [1611185844.521905557]: Plugin gps_status initialized
[ INFO] [1611185844.522198013]: Plugin hil loaded
[ INFO] [1611185844.533663187]: Forcing OpenGl version 0.
[ INFO] [1611185844.561286010]: Plugin hil initialized
[ INFO] [1611185844.561608760]: Plugin home_position loaded
[ INFO] [1611185844.566832439]: Plugin home_position initialized
[ INFO] [1611185844.567134618]: Plugin imu loaded
[ INFO] [1611185844.586814645]: Plugin imu initialized
[ INFO] [1611185844.587107578]: Plugin landing_target loaded
[ INFO] [1611185844.601935883]: Plugin landing_target initialized
[ INFO] [1611185844.602288969]: Plugin local_position loaded
[ INFO] [1611185844.618843894]: Plugin local_position initialized
[ INFO] [1611185844.619118280]: Plugin log_transfer loaded
[ INFO] [1611185844.623229728]: Plugin log_transfer initialized
[ INFO] [1611185844.623509423]: Plugin manual_control loaded
[ INFO] [1611185844.628945380]: Plugin manual_control initialized
[ INFO] [1611185844.629237167]: Plugin mocap_pose_estimate loaded
[ INFO] [1611185844.636925241]: Plugin mocap_pose_estimate initialized
[ INFO] [1611185844.637225237]: Plugin mount_control loaded
[ INFO] [1611185844.649991865]: Plugin mount_control initialized
[ INFO] [1611185844.650273958]: Plugin obstacle_distance loaded
[ INFO] [1611185844.654024589]: Plugin obstacle_distance initialized
[ INFO] [1611185844.654317919]: Plugin odom loaded
[ INFO] [1611185844.661541861]: Plugin odom initialized
[ INFO] [1611185844.661860949]: Plugin onboard_computer_status loaded
[ INFO] [1611185844.667286615]: Plugin onboard_computer_status initialized
[ INFO] [1611185844.667670968]: Plugin param loaded
[ INFO] [1611185844.672111873]: Plugin param initialized
[ INFO] [1611185844.672402024]: Plugin play_tune loaded
[ INFO] [1611185844.677006960]: Plugin play_tune initialized
[ INFO] [1611185844.677316134]: Plugin px4flow loaded
[ INFO] [1611185844.694431131]: Plugin px4flow initialized
[ INFO] [1611185844.694764818]: Plugin rangefinder blacklisted
[ INFO] [1611185844.695039817]: Plugin rc_io loaded
[ INFO] [1611185844.702876015]: Plugin rc_io initialized
[ INFO] [1611185844.703085174]: Plugin safety_area blacklisted
[ INFO] [1611185844.703351618]: Plugin setpoint_accel loaded
[ INFO] [1611185844.709191757]: Plugin setpoint_accel initialized
[ INFO] [1611185844.709549549]: Plugin setpoint_attitude loaded
[ INFO] [1611185844.723015484]: Plugin setpoint_attitude initialized
[ INFO] [1611185844.723382942]: Plugin setpoint_position loaded
[ INFO] [1611185844.758941962]: Plugin setpoint_position initialized
[ INFO] [1611185844.759314176]: Plugin setpoint_raw loaded
[ INFO] [1611185844.783167317]: Plugin setpoint_raw initialized
[ INFO] [1611185844.783575728]: Plugin setpoint_trajectory loaded
[ INFO] [1611185844.791510829]: Stereo is NOT SUPPORTED
[ INFO] [1611185844.792960046]: Plugin setpoint_trajectory initialized
[ INFO] [1611185844.793465110]: Plugin setpoint_velocity loaded
[ INFO] [1611185844.795276512]: OpenGl version: 3.0 (GLSL 1.3).
[ INFO] [1611185844.812605778]: Plugin setpoint_velocity initialized
[ INFO] [1611185844.813069629]: Plugin sys_status loaded
[ INFO] [1611185844.832060445]: Plugin sys_status initialized
[ INFO] [1611185844.832435592]: Plugin sys_time loaded
[ INFO] [1611185844.851900643]: TM: Timesync mode: MAVLINK
[ INFO] [1611185844.855834233]: Plugin sys_time initialized
[ INFO] [1611185844.856094628]: Plugin trajectory loaded
[ INFO] [1611185844.872618099]: Plugin trajectory initialized
[ INFO] [1611185844.872886348]: Plugin vfr_hud loaded
[ INFO] [1611185844.875025927]: Plugin vfr_hud initialized
[ INFO] [1611185844.875142984]: Plugin vibration blacklisted
[ INFO] [1611185844.875315066]: Plugin vision_pose_estimate loaded
[ INFO] [1611185844.895783178]: Plugin vision_pose_estimate initialized
[ INFO] [1611185844.896010315]: Plugin vision_speed_estimate loaded
[ INFO] [1611185844.902294494]: Plugin vision_speed_estimate initialized
[ INFO] [1611185844.902576681]: Plugin waypoint loaded
[ INFO] [1611185844.916089597]: Plugin waypoint initialized
[ INFO] [1611185844.916336104]: Plugin wheel_odometry blacklisted
[ INFO] [1611185844.916638502]: Plugin wind_estimation loaded
[ INFO] [1611185844.918386013]: Plugin wind_estimation initialized
[ INFO] [1611185844.918620564]: Autostarting mavlink via USB on PX4
[ INFO] [1611185844.919053341]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1611185844.919299739]: Built-in MAVLink package version: 2020.12.12
[ INFO] [1611185844.919452056]: Known MAVLink dialects: common ardupilotmega ASLUAV all autoquad icarous matrixpilot paparazzi standard uAvionix ualberta
[ INFO] [1611185844.919562889]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1611185845.002159493]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1611185845.007008030]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[INFO] [1611185845.827169, 0.000000]: Loading model XML from Gazebo Model Database
[INFO] [1611185845.830883, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[ INFO] [1611185845.913551279]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1611185845.940864826]: Physics dynamic reconfigure ready.
[INFO] [1611185846.138597, 0.152000]: Calling service /gazebo/spawn_sdf_model
[dynparam_slpn-10] process has finished cleanly
log file: /home/bignrz/.ros/log/71f42626-5b78-11eb-83d5-cc2f71e7786d/dynparam_slpn-10*.log
[dynparam_wpgn-11] process has finished cleanly
log file: /home/bignrz/.ros/log/71f42626-5b78-11eb-83d5-cc2f71e7786d/dynparam_wpgn-11*.log
[ INFO] [1611185846.812194069, 0.260000000]: Camera Plugin: The 'robotNamespace' param did not exit
[ INFO] [1611185846.814519629, 0.260000000]: Camera Plugin (ns = )  <tf_prefix_>, set to ""
[INFO] [1611185846.817598, 0.260000]: Spawn status: SpawnModel: Successfully spawned entity
INFO  [simulator] Simulator connected on TCP port 4560.
INFO  [commander] Mission #3 loaded, 2 WPs, curr: 0
INFO  [commander] LED: open /dev/led0 failed (22)
INFO  [init] Mixer: etc/mixers/quad_w.main.mix on /dev/pwm_output0
INFO  [ekf2] starting instance 0, IMU:0 (1310988), MAG:0 (197388)
INFO  [ekf2] starting instance 1, IMU:1 (1310996), MAG:0 (197388)
INFO  [ekf2] starting instance 2, IMU:2 (1311004), MAG:0 (197388)
INFO  [ekf2] starting instance 3, IMU:0 (1310988), MAG:1 (197644)
INFO  [ekf2] starting instance 4, IMU:1 (1310996), MAG:1 (197644)
INFO  [ekf2] starting instance 5, IMU:2 (1311004), MAG:1 (197644)
INFO  [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550
[spawn_model-7] process has finished cleanly
log file: /home/bignrz/.ros/log/71f42626-5b78-11eb-83d5-cc2f71e7786d/spawn_model-7*.log
INFO  [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540
INFO  [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14280 remote port 14030
INFO  [logger] logger started (mode=all)
WARN  [logger] skip topic estimator_status_flags, format string is too large: 1787 (max is 1500)
WARN  [logger] skip topic estimator_status_flags, format string is too large: 1787 (max is 1500)
WARN  [logger] skip topic estimator_status_flags, format string is too large: 1787 (max is 1500)
WARN  [logger] skip topic estimator_status_flags, format string is too large: 1787 (max is 1500)
INFO  [logger] Start file log (type: full)
INFO  [logger] [logger] ./log/2021-01-20/23_37_27.ulg
INFO  [logger] Opened full log file: ./log/2021-01-20/23_37_27.ulg
INFO  [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network)
INFO  [px4] Startup script returned successfully
pxh> [ INFO] [1611185847.250233173, 0.536000000]: udp0: Remote address: 127.0.0.1:14580
INFO  [mavlink] partner IP: 127.0.0.1
INFO  [mavlink] partner IP: 127.0.0.1
INFO  [ecl/EKF] 576000: reset position to last known position
INFO  [ecl/EKF] 576000: reset velocity to zero
INFO  [ecl/EKF] 576000: reset position to last known position
INFO  INFO  [ecl/EKF] 576000: reset position to last known position
INFO  [ecl/EKF] [ecl/EKF] 576000: reset velocity to zero
576000: reset position to last known position
INFO  INFO  [ecl/EKF] 576000: reset velocity to zero
[ecl/EKF] 576000: reset velocity to zero
INFO  [ecl/EKF] 576000: reset position to last known position
INFO  [ecl/EKF] 576000: reset velocity to zero
INFO  [ecl/EKF] 576000: reset position to last known position
INFO  [ecl/EKF] 576000: reset velocity to zero
[ INFO] [1611185847.702335260, 0.984000000]: IMU: High resolution IMU detected!
[ INFO] [1611185847.702795089, 0.984000000]: [WGN] Current position -0.000000 -0.000003 -0.000004
[ INFO] [1611185847.738988876, 1.020000000]: [WGN] Current position -0.000002 -0.000011 -0.000009
[ INFO] [1611185847.771422507, 1.052000000]: [WGN] Current position -0.000010 -0.000012 -0.000609
[ INFO] [1611185847.803355262, 1.084000000]: Input cloud size 3072 
[ INFO] [1611185847.804064187, 1.084000000]: [WGN] Current position -0.000048 -0.000018 -0.002279
[ INFO] [1611185847.810514971, 1.088000000]: [WGN] Not a land waypoint
[ INFO] [1611185847.839400615, 1.120000000]: [WGN] Current position -0.000091 -0.000044 -0.003339
[ INFO] [1611185847.839439175, 1.120000000]: Input cloud size 3072 
[ INFO] [1611185847.841554622, 1.120000000]: [WGN] Not a land waypoint
[ INFO] [1611185847.841612532, 1.120000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185847.841656542, 1.120000000]: [WGN] Landing Radius: xy  nan, z 0.003339 
[ INFO] [1611185847.908947260, 1.188000000]: [WGN] Current position -0.000173 -0.000071 -0.003538
[ INFO] [1611185847.911808154, 1.192000000]: Input cloud size 3072 
[ INFO] [1611185847.915832416, 1.196000000]: [WGN] Not a land waypoint
[ INFO] [1611185847.915929923, 1.196000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185847.916000416, 1.196000000]: [WGN] Landing Radius: xy  nan, z 0.349530 
[ INFO] [1611185848.007693588, 1.288000000]: [WGN] Current position -0.000426 -0.000103 -0.004469
[ INFO] [1611185848.039460102, 1.320000000]: [WGN] Current position -0.000531 -0.000129 -0.004165
[ INFO] [1611185848.039547935, 1.320000000]: Input cloud size 3072 
[ INFO] [1611185848.042033038, 1.320000000]: [WGN] Not a land waypoint
[ INFO] [1611185848.042097515, 1.320000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185848.042149073, 1.320000000]: [WGN] Landing Radius: xy  nan, z 0.666821 
[ INFO] [1611185848.109162137, 1.388000000]: [WGN] Current position -0.000783 -0.000239 -0.001350
[ INFO] [1611185848.115478051, 1.396000000]: Input cloud size 3072 
[ INFO] [1611185848.118337806, 1.396000000]: [WGN] Not a land waypoint
[ INFO] [1611185848.118415316, 1.396000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185848.118461172, 1.396000000]: [WGN] Landing Radius: xy  nan, z 0.955876 
[ INFO] [1611185848.155995911, 1.436000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1611185848.163295683, 1.440000000]: IMU: High resolution IMU detected!
INFO  [ecl/EKF] 1056000: GPS checks passed
INFO  [ecl/EKF] 1056000: GPS checks passed
INFO  [ecl/EKF] 1056000: GPS checks passed
INFO  [ecl/EKF] 1056000: GPS checks passed
INFO  [ecl/EKF] 1068000: GPS checks passed
INFO  [ecl/EKF] 1068000: GPS checks passed
[ INFO] [1611185848.207675699, 1.488000000]: [WGN] Current position -0.001113 -0.000344 -0.000956
[ INFO] [1611185848.239153491, 1.520000000]: Input cloud size 3072 
[ INFO] [1611185848.239160985, 1.520000000]: [WGN] Current position -0.001244 -0.000388 -0.001437
[ INFO] [1611185848.241377580, 1.520000000]: [WGN] Not a land waypoint
[ INFO] [1611185848.307669082, 1.588000000]: [WGN] Current position -0.001505 -0.000478 -0.002272
[ INFO] [1611185848.338797610, 1.620000000]: [WGN] Current position -0.001612 -0.000522 -0.003045
[ INFO] [1611185848.338841273, 1.620000000]: Input cloud size 3072 
[ INFO] [1611185848.340940380, 1.620000000]: [WGN] Not a land waypoint
[ INFO] [1611185848.340997622, 1.620000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185848.341033899, 1.620000000]: [WGN] Landing Radius: xy  nan, z 1.431355 
[ INFO] [1611185848.407759988, 1.688000000]: [WGN] Current position -0.001842 -0.000564 -0.005441
[ INFO] [1611185848.438671993, 1.720000000]: [WGN] Current position -0.001975 -0.000598 -0.006729
[ INFO] [1611185848.438713010, 1.720000000]: Input cloud size 3072 
[ INFO] [1611185848.440344498, 1.720000000]: [WGN] Not a land waypoint
[ INFO] [1611185848.440384775, 1.720000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185848.440412200, 1.720000000]: [WGN] Landing Radius: xy  nan, z 1.634434 
[ INFO] [1611185848.507049556, 1.788000000]: [WGN] Current position -0.002329 -0.000681 -0.010633
[ INFO] [1611185848.539007412, 1.820000000]: [WGN] Current position -0.002446 -0.000714 -0.012248
[ INFO] [1611185848.539064459, 1.820000000]: Input cloud size 3072 
[ INFO] [1611185848.540739929, 1.820000000]: [WGN] Not a land waypoint
[ INFO] [1611185848.540784466, 1.820000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185848.540810549, 1.820000000]: [WGN] Landing Radius: xy  nan, z 1.815276 
[ INFO] [1611185848.607539757, 1.888000000]: [WGN] Current position -0.002702 -0.000749 -0.014981
[ INFO] [1611185848.638876707, 1.920000000]: [WGN] Current position -0.002898 -0.000788 -0.015415
[ INFO] [1611185848.638922274, 1.920000000]: Input cloud size 3072 
[ INFO] [1611185848.641308919, 1.920000000]: [WGN] Not a land waypoint
[ INFO] [1611185848.641362833, 1.920000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185848.641392153, 1.920000000]: [WGN] Landing Radius: xy  nan, z 1.980317 
[ INFO] [1611185848.707802026, 1.988000000]: [WGN] Current position -0.003247 -0.000847 -0.016156
[ INFO] [1611185848.721271026, 2.000000000]: Successfully loaded rviz world
[ INFO] [1611185848.721465105, 2.000000000]: Input cloud size 3072 
[ INFO] [1611185848.723948629, 2.004000000]: [WGN] Not a land waypoint
[ INFO] [1611185848.724006046, 2.004000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185848.724045233, 2.004000000]: [WGN] Landing Radius: xy  nan, z 2.131448 
[ INFO] [1611185848.807597501, 2.088000000]: [WGN] Current position -0.003670 -0.000808 -0.015500
[ INFO] [1611185848.807849413, 2.088000000]: Input cloud size 3072 
[ INFO] [1611185848.809866019, 2.088000000]: [WGN] Not a land waypoint
[ INFO] [1611185848.809923771, 2.088000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185848.809974123, 2.088000000]: [WGN] Landing Radius: xy  nan, z 2.268935 
[ INFO] [1611185848.908327526, 2.188000000]: [WGN] Current position -0.004349 -0.000700 -0.014159
[ INFO] [1611185848.939766519, 2.220000000]: Input cloud size 3072 
[ INFO] [1611185848.941381572, 2.220000000]: [WGN] Current position -0.004574 -0.000650 -0.013896
[ INFO] [1611185848.941514721, 2.220000000]: [WGN] Not a land waypoint
[ INFO] [1611185848.941554592, 2.220000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185848.941589485, 2.220000000]: [WGN] Landing Radius: xy  nan, z 2.393657 
[ INFO] [1611185849.008932020, 2.288000000]: [WGN] Current position -0.004845 -0.000502 -0.013594
[ INFO] [1611185849.039990796, 2.320000000]: [WGN] Current position -0.005100 -0.000420 -0.013565
[ INFO] [1611185849.040007553, 2.320000000]: Input cloud size 3072 
[ INFO] [1611185849.041773869, 2.320000000]: [WGN] Not a land waypoint
[ INFO] [1611185849.041821251, 2.320000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185849.041850599, 2.320000000]: [WGN] Landing Radius: xy  nan, z 2.504656 
[ INFO] [1611185849.107835442, 2.388000000]: [WGN] Current position -0.005529 -0.000308 -0.013885
[ INFO] [1611185849.139777306, 2.420000000]: [WGN] Current position -0.005881 -0.000233 -0.013960
[ INFO] [1611185849.139834423, 2.420000000]: Input cloud size 3072 
[ INFO] [1611185849.141779523, 2.420000000]: [WGN] Not a land waypoint
[ INFO] [1611185849.141830026, 2.420000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185849.141860619, 2.420000000]: [WGN] Landing Radius: xy  nan, z 2.603795 
[ INFO] [1611185849.163779984, 2.444000000]: WP: Using MISSION_ITEM_INT
[ INFO] [1611185849.163871778, 2.444000000]: VER: 1.1: Capabilities         0x000000000000e4ef
[ INFO] [1611185849.163915665, 2.444000000]: VER: 1.1: Flight software:     010b00c0 (70e503cb91000000)
[ INFO] [1611185849.163954544, 2.444000000]: VER: 1.1: Middleware software: 010b00c0 (70e503cb91000000)
[ INFO] [1611185849.163987024, 2.444000000]: VER: 1.1: OS software:         050400ff (bc0e6e37bfc1eea4)
[ INFO] [1611185849.164017656, 2.444000000]: VER: 1.1: Board hardware:      00000001
[ INFO] [1611185849.164044474, 2.444000000]: VER: 1.1: VID/PID:             0000:0000
[ INFO] [1611185849.164070271, 2.444000000]: VER: 1.1: UID:                 4954414c44494e4f
[ INFO] [1611185849.208307894, 2.488000000]: [WGN] Current position -0.006050 -0.000123 -0.014032
[ INFO] [1611185849.239778216, 2.520000000]: [WGN] Current position -0.006236 -0.000050 -0.013960
[ INFO] [1611185849.239818023, 2.520000000]: Input cloud size 3072 
[ INFO] [1611185849.242024860, 2.520000000]: [WGN] Not a land waypoint
[ INFO] [1611185849.308343999, 2.588000000]: [WGN] Current position -0.006587 0.000036 -0.013636
[ INFO] [1611185849.339784044, 2.620000000]: [WGN] Current position -0.006860 0.000087 -0.013354
[ INFO] [1611185849.339835873, 2.620000000]: Input cloud size 3072 
[ INFO] [1611185849.341468795, 2.620000000]: [WGN] Not a land waypoint
[ INFO] [1611185849.341525819, 2.620000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185849.341555900, 2.620000000]: [WGN] Landing Radius: xy  nan, z 2.774663 
[ INFO] [1611185849.409213637, 2.688000000]: [WGN] Current position -0.006877 0.000221 -0.012998
[ INFO] [1611185849.440305427, 2.720000000]: [WGN] Current position -0.006874 0.000337 -0.013010
[ INFO] [1611185849.440333124, 2.720000000]: Input cloud size 3072 
[ INFO] [1611185849.442452322, 2.720000000]: [WGN] Not a land waypoint
[ INFO] [1611185849.442500119, 2.720000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185849.442532877, 2.720000000]: [WGN] Landing Radius: xy  nan, z 2.847568 
[ INFO] [1611185849.508468396, 2.788000000]: [WGN] Current position -0.006931 0.000541 -0.012412
[ INFO] [1611185849.540449440, 2.820000000]: Input cloud size 3072 
[ INFO] [1611185849.540445691, 2.820000000]: [WGN] Current position -0.006984 0.000704 -0.011909
[ INFO] [1611185849.542534912, 2.820000000]: [WGN] Not a land waypoint
[ INFO] [1611185849.542583723, 2.820000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185849.542612146, 2.820000000]: [WGN] Landing Radius: xy  nan, z 2.913910 
[ INFO] [1611185849.608812174, 2.888000000]: [WGN] Current position -0.006749 0.000948 -0.012402
[ INFO] [1611185849.640546707, 2.920000000]: [WGN] Current position -0.006495 0.001113 -0.012437
[ INFO] [1611185849.640598325, 2.920000000]: Input cloud size 3072 
[ INFO] [1611185849.642336186, 2.920000000]: [WGN] Not a land waypoint
[ INFO] [1611185849.642378642, 2.920000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185849.642409380, 2.920000000]: [WGN] Landing Radius: xy  nan, z 2.972051 
[ INFO] [1611185849.709160445, 2.988000000]: [WGN] Current position -0.006123 0.001383 -0.012319
[ INFO] [1611185849.741124520, 3.020000000]: [WGN] Current position -0.005908 0.001566 -0.012190
[ INFO] [1611185849.741182268, 3.020000000]: Input cloud size 3072 
[ INFO] [1611185849.743327696, 3.020000000]: [WGN] Not a land waypoint
[ INFO] [1611185849.743378793, 3.020000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185849.743420219, 3.020000000]: [WGN] Landing Radius: xy  nan, z 3.025079 
[ INFO] [1611185849.809131739, 3.088000000]: [WGN] Current position -0.005460 0.001821 -0.011963
[ INFO] [1611185849.840756637, 3.120000000]: [WGN] Current position -0.005066 0.001980 -0.011853
[ INFO] [1611185849.840802637, 3.120000000]: Input cloud size 3072 
[ INFO] [1611185849.843015930, 3.120000000]: [WGN] Not a land waypoint
[ INFO] [1611185849.843070630, 3.120000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185849.843116244, 3.120000000]: [WGN] Landing Radius: xy  nan, z 3.072921 
[ INFO] [1611185849.908758564, 3.188000000]: [WGN] Current position -0.004505 0.002229 -0.011748
[ INFO] [1611185849.940465742, 3.220000000]: [WGN] Current position -0.004151 0.002383 -0.012342
[ INFO] [1611185849.940489798, 3.220000000]: Input cloud size 3072 
[ INFO] [1611185849.942966645, 3.220000000]: [WGN] Not a land waypoint
[ INFO] [1611185849.943021880, 3.220000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185849.943061554, 3.220000000]: [WGN] Landing Radius: xy  nan, z 3.115150 
[ INFO] [1611185850.010157682, 3.288000000]: [WGN] Current position -0.003465 0.002565 -0.013815
[ INFO] [1611185850.040652150, 3.320000000]: [WGN] Current position -0.003113 0.002634 -0.014609
[ INFO] [1611185850.040696775, 3.320000000]: Input cloud size 3072 
[ INFO] [1611185850.043123198, 3.320000000]: [WGN] Not a land waypoint
[ INFO] [1611185850.043185229, 3.320000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185850.043224341, 3.320000000]: [WGN] Landing Radius: xy  nan, z 3.151307 
[ INFO] [1611185850.110446849, 3.388000000]: [WGN] Current position -0.002760 0.002687 -0.015342
[ INFO] [1611185850.111248779, 3.388000000]: [WGN] Current position -0.002425 0.002780 -0.016121
[ INFO] [1611185850.120319287, 3.396000000]: Input cloud size 3072 
[ INFO] [1611185850.123191468, 3.400000000]: [WGN] Not a land waypoint
[ INFO] [1611185850.123244806, 3.400000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185850.123281965, 3.400000000]: [WGN] Landing Radius: xy  nan, z 3.184543 
[ INFO] [1611185850.210270917, 3.488000000]: [WGN] Current position -0.001238 0.002992 -0.018810
[ INFO] [1611185850.241041278, 3.520000000]: [WGN] Current position -0.000902 0.003012 -0.019736
[ INFO] [1611185850.241128657, 3.520000000]: Input cloud size 3072 
[ INFO] [1611185850.243794087, 3.520000000]: [WGN] Not a land waypoint
[ INFO] [1611185850.309687352, 3.588000000]: [WGN] Current position -0.000254 0.003023 -0.021019
[ INFO] [1611185850.341276641, 3.620000000]: [WGN] Current position 0.000157 0.003042 -0.021806
[ INFO] [1611185850.341290652, 3.620000000]: Input cloud size 3072 
[ INFO] [1611185850.344422073, 3.620000000]: [WGN] Not a land waypoint
[ INFO] [1611185850.344484501, 3.620000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185850.344515394, 3.620000000]: [WGN] Landing Radius: xy  nan, z 3.238893 
[ INFO] [1611185850.409278241, 3.688000000]: [WGN] Current position 0.000816 0.003067 -0.023478
[ INFO] [1611185850.409631595, 3.688000000]: Input cloud size 3072 
[ INFO] [1611185850.413857031, 3.692000000]: [WGN] Not a land waypoint
[ INFO] [1611185850.413944859, 3.692000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185850.413981663, 3.692000000]: [WGN] Landing Radius: xy  nan, z 3.263234 
[ INFO] [1611185850.509881512, 3.788000000]: [WGN] Current position 0.001573 0.002910 -0.025472
[ INFO] [1611185850.541385527, 3.820000000]: [WGN] Current position 0.001891 0.002849 -0.026433
[ INFO] [1611185850.541414661, 3.820000000]: Input cloud size 3072 
[ INFO] [1611185850.543012089, 3.820000000]: [WGN] Not a land waypoint
[ INFO] [1611185850.543062147, 3.820000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185850.543107202, 3.820000000]: [WGN] Landing Radius: xy  nan, z 3.283921 
[ INFO] [1611185850.609743255, 3.888000000]: [WGN] Current position 0.002427 0.002763 -0.027468
[ INFO] [1611185850.641517744, 3.920000000]: Input cloud size 3072 
[ INFO] [1611185850.641519632, 3.920000000]: [WGN] Current position 0.002623 0.002680 -0.028530
[ INFO] [1611185850.643077384, 3.920000000]: [WGN] Not a land waypoint
[ INFO] [1611185850.643127050, 3.920000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185850.643169055, 3.920000000]: [WGN] Landing Radius: xy  nan, z 3.303319 
[ INFO] [1611185850.710180211, 3.988000000]: [WGN] Current position 0.003008 0.002526 -0.030872
[ INFO] [1611185850.723801991, 4.000000000]: Input cloud size 3072 
[ INFO] [1611185850.725955729, 4.004000000]: [WGN] Not a land waypoint
[ INFO] [1611185850.726018266, 4.004000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185850.726061787, 4.004000000]: [WGN] Landing Radius: xy  nan, z 3.320519 
[ INFO] [1611185850.809949951, 4.088000000]: [WGN] Current position 0.003673 0.002282 -0.033915
[ INFO] [1611185850.842045596, 4.120000000]: [WGN] Current position 0.003809 0.002194 -0.034571
[ INFO] [1611185850.842096849, 4.120000000]: Input cloud size 3072 
[ INFO] [1611185850.844135552, 4.120000000]: [WGN] Not a land waypoint
[ INFO] [1611185850.844196617, 4.120000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185850.844241205, 4.120000000]: [WGN] Landing Radius: xy  nan, z 3.334726 
[ INFO] [1611185850.910240181, 4.188000000]: [WGN] Current position 0.003988 0.001990 -0.035357
[ INFO] [1611185850.941586074, 4.220000000]: [WGN] Current position 0.004125 0.001855 -0.035060
[ INFO] [1611185850.941631319, 4.220000000]: Input cloud size 3072 
[ INFO] [1611185850.943504288, 4.220000000]: [WGN] Not a land waypoint
[ INFO] [1611185850.943554460, 4.220000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185850.943596372, 4.220000000]: [WGN] Landing Radius: xy  nan, z 3.350668 
[ INFO] [1611185851.010475663, 4.288000000]: [WGN] Current position 0.004346 0.001659 -0.034590
[ INFO] [1611185851.041668154, 4.320000000]: [WGN] Current position 0.004497 0.001534 -0.034035
[ INFO] [1611185851.041719642, 4.320000000]: Input cloud size 3072 
[ INFO] [1611185851.043366498, 4.320000000]: [WGN] Not a land waypoint
[ INFO] [1611185851.043416210, 4.320000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185851.043447581, 4.320000000]: [WGN] Landing Radius: xy  nan, z 3.366646 
[ INFO] [1611185851.111534206, 4.388000000]: [WGN] Current position 0.004609 0.001288 -0.034926
[ INFO] [1611185851.141656257, 4.420000000]: [WGN] Current position 0.004684 0.001147 -0.035195
[ INFO] [1611185851.141723146, 4.420000000]: Input cloud size 3072 
[ INFO] [1611185851.144043042, 4.420000000]: [WGN] Not a land waypoint
[ INFO] [1611185851.144088275, 4.420000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185851.144131835, 4.420000000]: [WGN] Landing Radius: xy  nan, z 3.378892 
[ INFO] [1611185851.210025421, 4.488000000]: [WGN] Current position 0.004855 0.000972 -0.034875
[ INFO] [1611185851.241867943, 4.520000000]: [WGN] Current position 0.005007 0.000882 -0.034462
[ INFO] [1611185851.241869910, 4.520000000]: Input cloud size 3072 
[ INFO] [1611185851.244865585, 4.520000000]: [WGN] Not a land waypoint
[ INFO] [1611185851.310093860, 4.588000000]: [WGN] Current position 0.005027 0.000724 -0.034302
[ INFO] [1611185851.341857539, 4.620000000]: [WGN] Current position 0.005059 0.000659 -0.034431
[ INFO] [1611185851.341907113, 4.620000000]: Input cloud size 3072 
[ INFO] [1611185851.343899560, 4.620000000]: [WGN] Not a land waypoint
[ INFO] [1611185851.343949380, 4.620000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185851.343988827, 4.620000000]: [WGN] Landing Radius: xy  nan, z 3.402607 
[ INFO] [1611185851.410675888, 4.688000000]: [WGN] Current position 0.005167 0.000611 -0.034383
[ INFO] [1611185851.442203988, 4.720000000]: Input cloud size 3072 
[ INFO] [1611185851.445601758, 4.720000000]: [WGN] Current position 0.005257 0.000623 -0.034708
[ INFO] [1611185851.446105768, 4.724000000]: [WGN] Not a land waypoint
[ INFO] [1611185851.446185498, 4.724000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185851.446234701, 4.724000000]: [WGN] Landing Radius: xy  nan, z 3.412060 
[ INFO] [1611185851.510504203, 4.788000000]: [WGN] Current position 0.005224 0.000652 -0.035467
[ INFO] [1611185851.542215068, 4.820000000]: [WGN] Current position 0.005203 0.000716 -0.036057
[ INFO] [1611185851.542258637, 4.820000000]: Input cloud size 3072 
[ INFO] [1611185851.544409769, 4.820000000]: [WGN] Not a land waypoint
[ INFO] [1611185851.544469057, 4.820000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185851.544508755, 4.820000000]: [WGN] Landing Radius: xy  nan, z 3.419477 
[ INFO] [1611185851.610347908, 4.888000000]: [WGN] Current position 0.005196 0.000823 -0.036126
[ INFO] [1611185851.642247418, 4.920000000]: [WGN] Current position 0.005205 0.000904 -0.036403
[ INFO] [1611185851.642317588, 4.920000000]: Input cloud size 3072 
[ INFO] [1611185851.644940701, 4.920000000]: [WGN] Not a land waypoint
[ INFO] [1611185851.645074299, 4.920000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185851.645143312, 4.920000000]: [WGN] Landing Radius: xy  nan, z 3.427117 
[ INFO] [1611185851.710458025, 4.988000000]: [WGN] Current position 0.005070 0.001010 -0.036806
[ INFO] [1611185851.742453287, 5.020000000]: Input cloud size 3072 
[ INFO] [1611185851.744044625, 5.020000000]: [WGN] Current position 0.005042 0.001053 -0.036864
[ INFO] [1611185851.744114508, 5.020000000]: [WGN] Not a land waypoint
[ INFO] [1611185851.744163534, 5.020000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185851.744198681, 5.020000000]: [WGN] Landing Radius: xy  nan, z 3.433923 
[ INFO] [1611185851.810905951, 5.088000000]: [WGN] Current position 0.005020 0.001152 -0.035896
[ INFO] [1611185851.842590931, 5.120000000]: [WGN] Current position 0.005050 0.001247 -0.035629
[ INFO] [1611185851.842634844, 5.120000000]: Input cloud size 3072 
[ INFO] [1611185851.845073216, 5.120000000]: [WGN] Not a land waypoint
[ INFO] [1611185851.845144504, 5.120000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185851.845181532, 5.120000000]: [WGN] Landing Radius: xy  nan, z 3.441767 
[ INFO] [1611185851.910774397, 5.188000000]: [WGN] Current position 0.005040 0.001366 -0.035583
[ INFO] [1611185851.942730634, 5.220000000]: [WGN] Current position 0.004997 0.001429 -0.035429
[ INFO] [1611185851.942854117, 5.220000000]: Input cloud size 3072 
[ INFO] [1611185851.945123910, 5.220000000]: [WGN] Not a land waypoint
[ INFO] [1611185851.945178938, 5.220000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185851.945215429, 5.220000000]: [WGN] Landing Radius: xy  nan, z 3.447839 
[ INFO] [1611185852.011173101, 5.288000000]: [WGN] Current position 0.004963 0.001522 -0.036556
[ INFO] [1611185852.042885077, 5.320000000]: [WGN] Current position 0.005004 0.001553 -0.037098
[ INFO] [1611185852.042996489, 5.320000000]: Input cloud size 3072 
[ INFO] [1611185852.045829031, 5.320000000]: [WGN] Not a land waypoint
[ INFO] [1611185852.045894716, 5.320000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185852.045973588, 5.320000000]: [WGN] Landing Radius: xy  nan, z 3.451411 
[ INFO] [1611185852.112995790, 5.388000000]: [WGN] Current position 0.004999 0.001552 -0.037041
[ INFO] [1611185852.117287809, 5.392000000]: Input cloud size 3072 
[ INFO] [1611185852.119990596, 5.396000000]: [WGN] Not a land waypoint
[ INFO] [1611185852.120051051, 5.396000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185852.120093645, 5.396000000]: [WGN] Landing Radius: xy  nan, z 3.456246 
[ INFO] [1611185852.211584116, 5.488000000]: [WGN] Current position 0.004831 0.001363 -0.037134
[ INFO] [1611185852.243386826, 5.520000000]: [WGN] Current position 0.004809 0.001314 -0.036946
[ INFO] [1611185852.243396542, 5.520000000]: Input cloud size 3072 
[ INFO] [1611185852.244853107, 5.520000000]: [WGN] Not a land waypoint
[ INFO] [1611185852.313126879, 5.588000000]: [WGN] Current position 0.004827 0.001228 -0.036030
[ INFO] [1611185852.343601361, 5.620000000]: [WGN] Current position 0.004750 0.001122 -0.035387
[ INFO] [1611185852.343634893, 5.620000000]: Input cloud size 3072 
[ INFO] [1611185852.345148692, 5.620000000]: [WGN] Not a land waypoint
[ INFO] [1611185852.345200952, 5.620000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185852.345232411, 5.620000000]: [WGN] Landing Radius: xy  nan, z 3.466248 
[ INFO] [1611185852.413072743, 5.688000000]: [WGN] Current position 0.004674 0.000974 -0.034673
[ INFO] [1611185852.443999827, 5.720000000]: [WGN] Current position 0.004690 0.000935 -0.034863
[ INFO] [1611185852.444019330, 5.720000000]: Input cloud size 3072 
[ INFO] [1611185852.446217970, 5.720000000]: [WGN] Not a land waypoint
[ INFO] [1611185852.446271336, 5.720000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185852.446303836, 5.720000000]: [WGN] Landing Radius: xy  nan, z 3.469393 
[ INFO] [1611185852.512037293, 5.788000000]: [WGN] Current position 0.004735 0.000879 -0.035280
[ INFO] [1611185852.544008085, 5.820000000]: [WGN] Current position 0.004634 0.000815 -0.035660
[ INFO] [1611185852.544053354, 5.820000000]: Input cloud size 3072 
[ INFO] [1611185852.546144430, 5.820000000]: [WGN] Not a land waypoint
[ INFO] [1611185852.546198473, 5.820000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185852.546236877, 5.820000000]: [WGN] Landing Radius: xy  nan, z 3.470133 
[ INFO] [1611185852.612214270, 5.888000000]: [WGN] Current position 0.004564 0.000742 -0.034983
[ INFO] [1611185852.644248405, 5.920000000]: [WGN] Current position 0.004550 0.000734 -0.034433
[ INFO] [1611185852.644290491, 5.920000000]: Input cloud size 3072 
[ INFO] [1611185852.646134591, 5.920000000]: [WGN] Not a land waypoint
[ INFO] [1611185852.646179476, 5.920000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185852.646205234, 5.920000000]: [WGN] Landing Radius: xy  nan, z 3.472787 
[ INFO] [1611185852.712999639, 5.988000000]: [WGN] Current position 0.004620 0.000736 -0.033571
[ INFO] [1611185852.727340777, 6.000000000]: Input cloud size 3072 
[ INFO] [1611185852.729309207, 6.004000000]: [WGN] Not a land waypoint
[ INFO] [1611185852.729365873, 6.004000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185852.729397722, 6.004000000]: [WGN] Landing Radius: xy  nan, z 3.474923 
[ INFO] [1611185852.812939767, 6.088000000]: [WGN] Current position 0.004510 0.000646 -0.032420
[ INFO] [1611185852.844595484, 6.116000000]: [WGN] Current position 0.004499 0.000625 -0.031677
[ INFO] [1611185852.844677300, 6.120000000]: Input cloud size 3072 
[ INFO] [1611185852.846971735, 6.120000000]: [WGN] Not a land waypoint
[ INFO] [1611185852.847026846, 6.120000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185852.847074336, 6.120000000]: [WGN] Landing Radius: xy  nan, z 3.477827 
[ INFO] [1611185852.913229305, 6.188000000]: [WGN] Current position 0.004538 0.000641 -0.030579
[ INFO] [1611185852.944852915, 6.220000000]: [WGN] Current position 0.004521 0.000641 -0.030031
[ INFO] [1611185852.944964631, 6.220000000]: Input cloud size 3072 
[ INFO] [1611185852.947270890, 6.220000000]: [WGN] Not a land waypoint
[ INFO] [1611185852.947329442, 6.220000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185852.947371164, 6.220000000]: [WGN] Landing Radius: xy  nan, z 3.480267 
[ INFO] [1611185853.013902478, 6.288000000]: [WGN] Current position 0.004386 0.000638 -0.029643
[ INFO] [1611185853.024102805, 6.296000000]: Input cloud size 3072 
[ INFO] [1611185853.034717683, 6.308000000]: [WGN] Not a land waypoint
[ INFO] [1611185853.034950494, 6.308000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185853.035041584, 6.308000000]: [WGN] Landing Radius: xy  nan, z 3.481182 
[ INFO] [1611185853.115551291, 6.388000000]: [WGN] Current position 0.004164 0.000610 -0.029134
[ INFO] [1611185853.124132640, 6.396000000]: Input cloud size 3072 
[ INFO] [1611185853.131057663, 6.404000000]: [WGN] Not a land waypoint
[ INFO] [1611185853.131130179, 6.404000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185853.131180316, 6.404000000]: [WGN] Landing Radius: xy  nan, z 3.482092 
[ INFO] [1611185853.213905039, 6.488000000]: [WGN] Current position 0.003699 0.000573 -0.028890
[ INFO] [1611185853.245498441, 6.520000000]: [WGN] Current position 0.003509 0.000552 -0.028456
[ INFO] [1611185853.245545834, 6.520000000]: Input cloud size 3072 
[ INFO] [1611185853.247222660, 6.520000000]: [WGN] Not a land waypoint
INFO  [tone_alarm] notify negative
[ INFO] [1611185853.314209290, 6.588000000]: [WGN] Current position 0.003231 0.000517 -0.028223
[ INFO] [1611185853.345872282, 6.620000000]: [WGN] Current position 0.003150 0.000521 -0.028072
[ INFO] [1611185853.345916480, 6.620000000]: Input cloud size 3072 
[ INFO] [1611185853.348263864, 6.620000000]: [WGN] Not a land waypoint
[ INFO] [1611185853.348320825, 6.620000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185853.348370114, 6.620000000]: [WGN] Landing Radius: xy  nan, z 3.483698 
[ INFO] [1611185853.414085902, 6.688000000]: [WGN] Current position 0.002751 0.000435 -0.026848
[ INFO] [1611185853.445625230, 6.720000000]: [WGN] Current position 0.002610 0.000383 -0.026445
[ INFO] [1611185853.445654276, 6.720000000]: Input cloud size 3072 
[ INFO] [1611185853.447380667, 6.720000000]: [WGN] Not a land waypoint
[ INFO] [1611185853.447431517, 6.720000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185853.447460832, 6.720000000]: [WGN] Landing Radius: xy  nan, z 3.485454 
[ INFO] [1611185853.514228778, 6.788000000]: [WGN] Current position 0.002344 0.000259 -0.025600
[ INFO] [1611185853.545753480, 6.820000000]: Input cloud size 3072 
[ INFO] [1611185853.547364007, 6.820000000]: [WGN] Current position 0.002206 0.000167 -0.025093
[ INFO] [1611185853.547428848, 6.820000000]: [WGN] Not a land waypoint
[ INFO] [1611185853.547479615, 6.820000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185853.547516911, 6.820000000]: [WGN] Landing Radius: xy  nan, z 3.486797 
[ INFO] [1611185853.614010707, 6.888000000]: [WGN] Current position 0.001942 -0.000009 -0.024037
[ INFO] [1611185853.646065079, 6.920000000]: [WGN] Current position 0.001778 -0.000149 -0.023542
[ INFO] [1611185853.646108564, 6.920000000]: Input cloud size 3072 
[ INFO] [1611185853.648162054, 6.920000000]: [WGN] Not a land waypoint
[ INFO] [1611185853.648207302, 6.920000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185853.648237623, 6.920000000]: [WGN] Landing Radius: xy  nan, z 3.488216 
[ INFO] [1611185853.714768124, 6.988000000]: [WGN] Current position 0.001570 -0.000429 -0.023085
[ INFO] [1611185853.746126882, 7.020000000]: [WGN] Current position 0.001458 -0.000630 -0.023089
[ INFO] [1611185853.746180782, 7.020000000]: Input cloud size 3072 
[ INFO] [1611185853.747799684, 7.020000000]: [WGN] Not a land waypoint
[ INFO] [1611185853.747850636, 7.020000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185853.747890352, 7.020000000]: [WGN] Landing Radius: xy  nan, z 3.488389 
[ INFO] [1611185853.814892190, 7.088000000]: [WGN] Current position 0.001271 -0.000975 -0.022764
[ INFO] [1611185853.846188804, 7.120000000]: [WGN] Current position 0.001173 -0.001224 -0.022514
[ INFO] [1611185853.846254710, 7.120000000]: Input cloud size 3072 
[ INFO] [1611185853.849153203, 7.120000000]: [WGN] Not a land waypoint
[ INFO] [1611185853.849230394, 7.120000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185853.849277730, 7.120000000]: [WGN] Landing Radius: xy  nan, z 3.488608 
[ INFO] [1611185853.915107730, 7.188000000]: [WGN] Current position 0.001062 -0.001661 -0.022289
[ INFO] [1611185853.946292305, 7.220000000]: [WGN] Current position 0.001000 -0.001973 -0.022423
[ INFO] [1611185853.946356235, 7.220000000]: Input cloud size 3072 
[ INFO] [1611185853.949663045, 7.220000000]: [WGN] Not a land waypoint
[ INFO] [1611185853.949715950, 7.220000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185853.949755933, 7.220000000]: [WGN] Landing Radius: xy  nan, z 3.488411 
INFO  [ecl/EKF] 6892000: EKF aligned, (baro hgt, IMU buf: 12, OBS buf: 9)
INFO  [ecl/EKF] 6892000: reset position to GPS
INFO  [ecl/EKF] 6892000: reset velocity to GPS
INFO  [ecl/EKF] 6892000: starting GPS fusion
INFO  [ecl/EKF] 6892000: EKF aligned, (baro hgt, IMU buf: 12, OBS buf: 9)
INFO  [ecl/EKF] 6892000: EKF aligned, (baro hgt, IMU buf: 12, OBS buf: 9)
INFO  [ecl/EKF] 6892000: reset position to GPS
INFO  [ecl/EKF] 6892000: reset velocity to GPS
INFO  [ecl/EKF] 6892000: starting GPS fusion
INFO  [ecl/EKF] 6892000: reset position to GPS
INFO  [ecl/EKF] 6892000: reset velocity to GPS
INFO  [ecl/EKF] 6892000: starting GPS fusion
INFO  [ecl/EKF] 6892000: EKF aligned, (baro hgt, IMU buf: 12, OBS buf: 9)
INFO  [ecl/EKF] 6892000: reset position to GPS
INFO  [ecl/EKF] 6892000: reset velocity to GPS
INFO  INFO  [ecl/EKF] 6892000: starting GPS fusion[ecl/EKF] 6892000: EKF aligned, (baro hgt, IMU buf: 12, OBS buf: 9)

INFO  [ecl/EKF] 6892000: reset position to GPS
INFO  [ecl/EKF] 6892000: reset velocity to GPS
INFO  [ecl/EKF] 6892000: starting GPS fusion
INFO  [ecl/EKF] 6892000: EKF aligned, (baro hgt, IMU buf: 12, OBS buf: 9)
INFO  [ecl/EKF] 6892000: reset position to GPS
INFO  [ecl/EKF] 6892000: reset velocity to GPS
INFO  [ecl/EKF] 6892000: starting GPS fusion
[ INFO] [1611185853.998036201, 7.272000000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1611185854.014520972, 7.288000000]: [WGN] Current position 0.007426 -0.001522 -0.023046
[ INFO] [1611185854.046305869, 7.320000000]: [WGN] Current position 0.006395 -0.001080 -0.023976
[ INFO] [1611185854.046410383, 7.320000000]: Input cloud size 3072 
[ INFO] [1611185854.048232867, 7.320000000]: [WGN] Not a land waypoint
[ INFO] [1611185854.048304385, 7.320000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185854.048349199, 7.320000000]: [WGN] Landing Radius: xy  nan, z 3.486576 
[ INFO] [1611185854.115214470, 7.388000000]: [WGN] Current position 0.004427 -0.000184 -0.025258
[ INFO] [1611185854.120794651, 7.392000000]: Input cloud size 3072 
[ INFO] [1611185854.124667672, 7.396000000]: [WGN] Not a land waypoint
[ INFO] [1611185854.124739298, 7.396000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185854.124775952, 7.396000000]: [WGN] Landing Radius: xy  nan, z 3.485238 
[ INFO] [1611185854.215813390, 7.488000000]: [WGN] Current position 0.001975 0.000909 -0.027191
[ INFO] [1611185854.222327388, 7.492000000]: Input cloud size 3072 
[ INFO] [1611185854.225370683, 7.496000000]: [WGN] Not a land waypoint
[ INFO] [1611185854.316407899, 7.588000000]: [WGN] Current position -0.000417 0.001961 -0.029106
[ INFO] [1611185854.346891517, 7.620000000]: Input cloud size 3072 
[ INFO] [1611185854.346894449, 7.620000000]: [WGN] Current position -0.001315 0.002320 -0.029532
[ INFO] [1611185854.349311303, 7.620000000]: [WGN] Not a land waypoint
[ INFO] [1611185854.349369466, 7.620000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185854.349404074, 7.620000000]: [WGN] Landing Radius: xy  nan, z 3.481344 
[ INFO] [1611185854.415822464, 7.688000000]: [WGN] Current position -0.002497 0.002658 -0.029460
[ INFO] [1611185854.447227584, 7.720000000]: [WGN] Current position -0.002846 0.002678 -0.029182
[ INFO] [1611185854.447309133, 7.720000000]: Input cloud size 3072 
[ INFO] [1611185854.449379909, 7.720000000]: [WGN] Not a land waypoint
[ INFO] [1611185854.449432251, 7.720000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185854.449472311, 7.720000000]: [WGN] Landing Radius: xy  nan, z 3.482111 
[ INFO] [1611185854.515166405, 7.788000000]: [WGN] Current position -0.003428 0.002658 -0.029008
[ INFO] [1611185854.547017118, 7.820000000]: [WGN] Current position -0.003684 0.002637 -0.028625
[ INFO] [1611185854.547072001, 7.820000000]: Input cloud size 3072 
[ INFO] [1611185854.549464946, 7.820000000]: [WGN] Not a land waypoint
[ INFO] [1611185854.549510374, 7.820000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185854.549541596, 7.820000000]: [WGN] Landing Radius: xy  nan, z 3.483095 
[ INFO] [1611185854.615481567, 7.888000000]: [WGN] Current position -0.004074 0.002146 -0.028162
INFO  [tone_alarm] notify negative
[ INFO] [1611185854.647083628, 7.920000000]: [WGN] Current position -0.004311 0.001329 -0.028186
[ INFO] [1611185854.647156040, 7.920000000]: Input cloud size 3072 
[ INFO] [1611185854.649495487, 7.920000000]: [WGN] Not a land waypoint
[ INFO] [1611185854.649585835, 7.920000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185854.649616733, 7.920000000]: [WGN] Landing Radius: xy  nan, z 3.483782 
[ INFO] [1611185854.716022399, 7.988000000]: [WGN] Current position -0.004603 -0.000032 -0.027837
[ INFO] [1611185854.730692196, 8.000000000]: Input cloud size 3072 
[ INFO] [1611185854.733048525, 8.004000000]: [WGN] Not a land waypoint
[ INFO] [1611185854.733115564, 8.004000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185854.733145999, 8.004000000]: [WGN] Landing Radius: xy  nan, z 3.484620 
[ INFO] [1611185854.816435148, 8.088000000]: [WGN] Current position -0.004991 -0.001673 -0.027659
[ INFO] [1611185854.847409129, 8.120000000]: [WGN] Current position -0.005147 -0.002376 -0.027894
[ INFO] [1611185854.847432249, 8.120000000]: Input cloud size 3072 
[ INFO] [1611185854.849772658, 8.120000000]: [WGN] Not a land waypoint
[ INFO] [1611185854.849825146, 8.120000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185854.849873662, 8.120000000]: [WGN] Landing Radius: xy  nan, z 3.484943 
[ INFO] [1611185854.915377998, 8.188000000]: [WGN] Current position -0.005364 -0.003434 -0.027907
[ INFO] [1611185854.947495632, 8.220000000]: [WGN] Current position -0.005522 -0.004161 -0.027882
[ INFO] [1611185854.947526890, 8.220000000]: Input cloud size 3072 
[ INFO] [1611185854.949297700, 8.220000000]: [WGN] Not a land waypoint
[ INFO] [1611185854.949359304, 8.220000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185854.949405685, 8.220000000]: [WGN] Landing Radius: xy  nan, z 3.485213 
INFO  [tone_alarm] home set
[ INFO] [1611185855.015843639, 8.288000000]: [WGN] Current position -0.005605 -0.005232 -0.026832
[ INFO] [1611185855.047596364, 8.320000000]: [WGN] Current position -0.005431 -0.005871 -0.025790
[ INFO] [1611185855.047676473, 8.320000000]: Input cloud size 3072 
[ INFO] [1611185855.049941403, 8.320000000]: [WGN] Not a land waypoint
[ INFO] [1611185855.049994647, 8.320000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185855.050037976, 8.320000000]: [WGN] Landing Radius: xy  nan, z 3.487541 
INFO  [tone_alarm] notify neutral
[ INFO] [1611185855.116142067, 8.388000000]: [WGN] Current position -0.005120 -0.006763 -0.024276
[ INFO] [1611185855.147772690, 8.420000000]: [WGN] Current position -0.004906 -0.007302 -0.023085
[ INFO] [1611185855.147855374, 8.420000000]: Input cloud size 3072 
[ INFO] [1611185855.150741186, 8.420000000]: [WGN] Not a land waypoint
[ INFO] [1611185855.150811796, 8.420000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185855.150863462, 8.420000000]: [WGN] Landing Radius: xy  nan, z 3.490378 
[ INFO] [1611185855.216232511, 8.488000000]: [WGN] Current position -0.004572 -0.008079 -0.021474
[ INFO] [1611185855.248388290, 8.520000000]: [WGN] Current position -0.004350 -0.008583 -0.020520
[ INFO] [1611185855.248516767, 8.520000000]: Input cloud size 3072 
[ INFO] [1611185855.251408136, 8.520000000]: [WGN] Not a land waypoint
[ INFO] [1611185855.316775107, 8.588000000]: [WGN] Current position -0.003987 -0.009327 -0.019284
[ INFO] [1611185855.348126626, 8.620000000]: [WGN] Current position -0.003723 -0.009858 -0.018551
[ INFO] [1611185855.348183303, 8.620000000]: Input cloud size 3072 
[ INFO] [1611185855.350805921, 8.620000000]: [WGN] Not a land waypoint
[ INFO] [1611185855.350872023, 8.620000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185855.350913257, 8.620000000]: [WGN] Landing Radius: xy  nan, z 3.494427 
[ INFO] [1611185855.416567157, 8.688000000]: [WGN] Current position -0.003297 -0.010349 -0.017019
[ INFO] [1611185855.448506573, 8.720000000]: [WGN] Current position -0.002991 -0.010281 -0.015510
[ INFO] [1611185855.448584398, 8.720000000]: Input cloud size 3072 
[ INFO] [1611185855.450814594, 8.720000000]: [WGN] Not a land waypoint
[ INFO] [1611185855.450889051, 8.720000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185855.450929392, 8.720000000]: [WGN] Landing Radius: xy  nan, z 3.496851 
[ INFO] [1611185855.516592208, 8.788000000]: [WGN] Current position -0.002520 -0.010248 -0.013931
[ INFO] [1611185855.548599312, 8.820000000]: Input cloud size 3072 
[ INFO] [1611185855.548700881, 8.820000000]: [WGN] Current position -0.002192 -0.010278 -0.012947
[ INFO] [1611185855.551013926, 8.820000000]: [WGN] Not a land waypoint
[ INFO] [1611185855.551132023, 8.820000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185855.551175013, 8.820000000]: [WGN] Landing Radius: xy  nan, z 3.498665 
[ INFO] [1611185855.617632039, 8.888000000]: [WGN] Current position -0.001559 -0.010413 -0.011701
[ INFO] [1611185855.617874235, 8.888000000]: Input cloud size 3072 
[ INFO] [1611185855.620619073, 8.888000000]: [WGN] Not a land waypoint
[ INFO] [1611185855.620731392, 8.888000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185855.620776968, 8.888000000]: [WGN] Landing Radius: xy  nan, z 3.498948 
[ INFO] [1611185855.717497081, 8.988000000]: [WGN] Current position -0.000565 -0.010938 -0.010668
[ INFO] [1611185855.749387159, 9.020000000]: [WGN] Current position -0.000216 -0.011177 -0.010383
[ INFO] [1611185855.749430511, 9.020000000]: Input cloud size 3072 
[ INFO] [1611185855.751851492, 9.020000000]: [WGN] Not a land waypoint
[ INFO] [1611185855.751904855, 9.020000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185855.751934718, 9.020000000]: [WGN] Landing Radius: xy  nan, z 3.499165 
[ INFO] [1611185855.817775727, 9.088000000]: [WGN] Current position 0.000415 -0.011404 -0.009642
[ INFO] [1611185855.849323956, 9.120000000]: [WGN] Current position 0.000742 -0.011243 -0.008980
[ INFO] [1611185855.849371056, 9.120000000]: Input cloud size 3072 
[ INFO] [1611185855.852007440, 9.120000000]: [WGN] Not a land waypoint
[ INFO] [1611185855.852065873, 9.120000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185855.852108925, 9.120000000]: [WGN] Landing Radius: xy  nan, z 3.499469 
[ INFO] [1611185855.918092604, 9.188000000]: [WGN] Current position 0.001242 -0.011073 -0.007999
[ INFO] [1611185855.949204809, 9.220000000]: [WGN] Current position 0.001585 -0.011036 -0.007352
[ INFO] [1611185855.949255604, 9.220000000]: Input cloud size 3072 
[ INFO] [1611185855.951144830, 9.220000000]: [WGN] Not a land waypoint
[ INFO] [1611185855.951201983, 9.220000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185855.951241580, 9.220000000]: [WGN] Landing Radius: xy  nan, z 3.500000 
[ INFO] [1611185856.019705851, 9.288000000]: [WGN] Current position 0.002120 -0.011055 -0.006107
[ INFO] [1611185856.024030860, 9.292000000]: Input cloud size 3072 
[ INFO] [1611185856.026075106, 9.296000000]: [WGN] Not a land waypoint
[ INFO] [1611185856.026149807, 9.296000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185856.026203003, 9.296000000]: [WGN] Landing Radius: xy  nan, z 3.500098 
[ INFO] [1611185856.119070236, 9.388000000]: [WGN] Current position 0.003081 -0.011247 -0.005046
[ INFO] [1611185856.127175359, 9.396000000]: Input cloud size 3072 
[ INFO] [1611185856.129766814, 9.400000000]: [WGN] Not a land waypoint
[ INFO] [1611185856.129838392, 9.400000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185856.129888256, 9.400000000]: [WGN] Landing Radius: xy  nan, z 3.500027 
[ INFO] [1611185856.218897711, 9.488000000]: [WGN] Current position 0.003933 -0.011259 -0.005706
[ INFO] [1611185856.222652880, 9.492000000]: Input cloud size 3072 
[ INFO] [1611185856.224430622, 9.492000000]: [WGN] Not a land waypoint
INFO  [commander] Armed by external command
INFO  [navigator] Takeoff to 10.0 meters above home.
[ INFO] [1611185856.320568446, 9.588000000]: [WGN] Current position 0.004083 -0.009506 -0.010960
[ INFO] [1611185856.325568619, 9.592000000]: Input cloud size 3072 
[ INFO] [1611185856.327572261, 9.596000000]: [WGN] Not a land waypoint
[ INFO] [1611185856.327623957, 9.596000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185856.327667768, 9.596000000]: [WGN] Landing Radius: xy  nan, z 3.491727 
[ INFO] [1611185856.419440117, 9.688000000]: [WGN] Current position 0.004475 -0.008084 -0.015041
[ INFO] [1611185856.423562515, 9.692000000]: Input cloud size 3072 
[ INFO] [1611185856.430299085, 9.700000000]: [WGN] Not a land waypoint
[ INFO] [1611185856.430358374, 9.700000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185856.430395510, 9.700000000]: [WGN] Landing Radius: xy  nan, z 3.486948 
[ INFO] [1611185856.519863936, 9.788000000]: [WGN] Current position 0.005106 -0.007089 -0.018818
[ INFO] [1611185856.523743424, 9.792000000]: Input cloud size 3072 
[ INFO] [1611185856.526468039, 9.796000000]: [WGN] Not a land waypoint
[ INFO] [1611185856.526520152, 9.796000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185856.526546955, 9.796000000]: [WGN] Landing Radius: xy  nan, z 3.482984 
[ INFO] [1611185856.618678984, 9.888000000]: [WGN] Current position 0.005899 -0.005952 -0.022406
[ INFO] [1611185856.649716561, 9.920000000]: [WGN] Current position 0.006082 -0.004871 -0.023528
[ INFO] [1611185856.649728487, 9.920000000]: Input cloud size 3072 
[ INFO] [1611185856.651928864, 9.920000000]: [WGN] Not a land waypoint
[ INFO] [1611185856.651984205, 9.920000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185856.652016336, 9.920000000]: [WGN] Landing Radius: xy  nan, z 3.478488 
[ INFO] [1611185856.718293690, 9.988000000]: [WGN] Current position 0.006416 -0.003391 -0.024885
[ INFO] [1611185856.733517971, 10.000000000]: Input cloud size 3072 
[ INFO] [1611185856.738538783, 10.008000000]: [WGN] Not a land waypoint
[ INFO] [1611185856.738618440, 10.008000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185856.738673293, 10.008000000]: [WGN] Landing Radius: xy  nan, z 3.477844 
[ INFO] [1611185856.818294776, 10.088000000]: [WGN] Current position 0.006719 -0.001312 -0.027276
[ INFO] [1611185856.849801032, 10.120000000]: [WGN] Current position 0.006209 -0.000682 -0.027962
[ INFO] [1611185856.849868399, 10.120000000]: Input cloud size 3072 
[ INFO] [1611185856.852636857, 10.120000000]: [WGN] Not a land waypoint
[ INFO] [1611185856.852698126, 10.120000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185856.852747748, 10.120000000]: [WGN] Landing Radius: xy  nan, z 3.475685 
[ INFO] [1611185856.918368298, 10.188000000]: [WGN] Current position 0.005552 0.000184 -0.028793
[ INFO] [1611185856.950059981, 10.220000000]: Input cloud size 3072 
[ INFO] [1611185856.950062983, 10.220000000]: [WGN] Current position 0.005152 0.000721 -0.029258
[ INFO] [1611185856.953537783, 10.220000000]: [WGN] Not a land waypoint
[ INFO] [1611185856.953713055, 10.220000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185856.953770821, 10.220000000]: [WGN] Landing Radius: xy  nan, z 3.475465 
[ INFO] [1611185857.017997985, 10.288000000]: [WGN] Current position 0.004630 0.001457 -0.029802
[ INFO] [1611185857.050320330, 10.320000000]: [WGN] Current position 0.004326 0.001902 -0.030147
[ INFO] [1611185857.050389796, 10.320000000]: Input cloud size 3072 
[ INFO] [1611185857.053361005, 10.320000000]: [WGN] Not a land waypoint
[ INFO] [1611185857.053441010, 10.320000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185857.053482983, 10.320000000]: [WGN] Landing Radius: xy  nan, z 3.475711 
[ INFO] [1611185857.118679072, 10.388000000]: [WGN] Current position 0.003972 0.002516 -0.030624
[ INFO] [1611185857.151258892, 10.420000000]: [WGN] Current position 0.003801 0.002886 -0.030911
[ INFO] [1611185857.151407404, 10.420000000]: Input cloud size 3072 
[ INFO] [1611185857.159130998, 10.428000000]: [WGN] Not a land waypoint
[ INFO] [1611185857.159418018, 10.428000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185857.159550691, 10.428000000]: [WGN] Landing Radius: xy  nan, z 3.476089 
[ INFO] [1611185857.220904113, 10.488000000]: [WGN] Current position 0.003294 0.003320 -0.030927
[ INFO] [1611185857.240158485, 10.508000000]: Input cloud size 3072 
[ INFO] [1611185857.245948528, 10.512000000]: [WGN] Not a land waypoint
[ INFO] [1611185857.246092613, 10.512000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185857.246161194, 10.512000000]: [WGN] Landing Radius: xy  nan, z 3.477143 
[ INFO] [1611185857.323777951, 10.588000000]: [WGN] Current position 0.001546 0.003718 -0.030190
[ INFO] [1611185857.333386181, 10.600000000]: Input cloud size 3072 
[ INFO] [1611185857.339296096, 10.604000000]: [WGN] Not a land waypoint
[ INFO] [1611185857.339839805, 10.604000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185857.339922501, 10.604000000]: [WGN] Landing Radius: xy  nan, z 3.478928 
[ INFO] [1611185857.425364693, 10.688000000]: [WGN] Current position 0.000095 0.004001 -0.029675
[ INFO] [1611185857.437456357, 10.700000000]: Input cloud size 3072 
[ INFO] [1611185857.444948683, 10.708000000]: [WGN] Not a land waypoint
[ INFO] [1611185857.445029915, 10.708000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185857.445088950, 10.708000000]: [WGN] Landing Radius: xy  nan, z 3.480304 
[ INFO] [1611185857.529789918, 10.788000000]: [WGN] Current position -0.001011 0.004247 -0.029554
[ INFO] [1611185857.533338887, 10.792000000]: Input cloud size 3072 
[ INFO] [1611185857.538732836, 10.792000000]: [WGN] Not a land waypoint
[ INFO] [1611185857.538846136, 10.792000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185857.538908286, 10.792000000]: [WGN] Landing Radius: xy  nan, z 3.481011 
[ INFO] [1611185857.723520756, 10.888000000]: [WGN] Current position -0.001835 0.004241 -0.030010
[ INFO] [1611185857.754791545, 10.920000000]: Input cloud size 3072 
[ INFO] [1611185857.754813431, 10.920000000]: [WGN] Current position -0.002125 0.003752 -0.030153
[ INFO] [1611185857.759053147, 10.924000000]: [WGN] Not a land waypoint
[ INFO] [1611185857.759141716, 10.924000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185857.759189919, 10.924000000]: [WGN] Landing Radius: xy  nan, z 3.480887 
[ INFO] [1611185857.824692244, 10.988000000]: [WGN] Current position -0.002525 0.003053 -0.030190
[ INFO] [1611185857.855145807, 11.020000000]: [WGN] Current position -0.002773 0.002613 -0.030280
[ INFO] [1611185857.855220404, 11.020000000]: Input cloud size 3072 
[ INFO] [1611185857.859380112, 11.024000000]: [WGN] Not a land waypoint
[ INFO] [1611185857.859490645, 11.024000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185857.859559155, 11.024000000]: [WGN] Landing Radius: xy  nan, z 3.481205 
[ INFO] [1611185857.924049737, 11.088000000]: [WGN] Current position -0.003117 0.001993 -0.030503
[ INFO] [1611185857.927668370, 11.092000000]: Input cloud size 3072 
[ INFO] [1611185857.929708519, 11.092000000]: [WGN] Not a land waypoint
[ INFO] [1611185857.929763750, 11.092000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185857.929799412, 11.092000000]: [WGN] Landing Radius: xy  nan, z 3.481579 
[ INFO] [1611185858.024061503, 11.188000000]: [WGN] Current position -0.003684 0.000957 -0.030761
[ INFO] [1611185858.055605687, 11.220000000]: [WGN] Current position -0.003792 0.000696 -0.030958
[ INFO] [1611185858.055731227, 11.220000000]: Input cloud size 3072 
[ INFO] [1611185858.058194651, 11.220000000]: [WGN] Not a land waypoint
[ INFO] [1611185858.058244777, 11.220000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185858.058283187, 11.220000000]: [WGN] Landing Radius: xy  nan, z 3.481767 
INFO  [commander] Takeoff detected
[ INFO] [1611185858.124768545, 11.288000000]: [WGN] Current position -0.004240 0.000171 -0.030285
[ INFO] [1611185858.136010791, 11.300000000]: Input cloud size 3072 
[ INFO] [1611185858.139580673, 11.304000000]: [WGN] Not a land waypoint
[ INFO] [1611185858.139650067, 11.304000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185858.139693736, 11.304000000]: [WGN] Landing Radius: xy  nan, z 3.483064 
[ INFO] [1611185858.226003786, 11.388000000]: [WGN] Current position -0.005618 -0.000629 -0.028480
[ INFO] [1611185858.232146056, 11.396000000]: Input cloud size 3072 
[ INFO] [1611185858.236061209, 11.400000000]: [WGN] Not a land waypoint
[ INFO] [1611185858.236132188, 11.400000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185858.236176419, 11.400000000]: [WGN] Landing Radius: xy  nan, z 3.485453 
[ INFO] [1611185858.325502955, 11.488000000]: [WGN] Current position -0.007055 -0.001228 -0.027520
[ INFO] [1611185858.327084027, 11.488000000]: Input cloud size 3072 
[ INFO] [1611185858.331235121, 11.492000000]: [WGN] Not a land waypoint
[ INFO] [1611185858.331309893, 11.492000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185858.331361587, 11.492000000]: [WGN] Landing Radius: xy  nan, z 3.486714 
[ INFO] [1611185858.426100378, 11.588000000]: [WGN] Current position -0.008265 -0.001590 -0.027770
[ INFO] [1611185858.427478885, 11.588000000]: Input cloud size 3072 
[ INFO] [1611185858.431948730, 11.588000000]: [WGN] Not a land waypoint
[ INFO] [1611185858.432020278, 11.588000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185858.432098029, 11.588000000]: [WGN] Landing Radius: xy  nan, z 3.486568 
[ INFO] [1611185858.526494688, 11.688000000]: [WGN] Current position -0.009145 -0.001825 -0.028658
[ INFO] [1611185858.533452038, 11.696000000]: Input cloud size 3072 
[ INFO] [1611185858.536168437, 11.696000000]: [WGN] Not a land waypoint
[ INFO] [1611185858.536223978, 11.696000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185858.536268346, 11.696000000]: [WGN] Landing Radius: xy  nan, z 3.485727 
[ INFO] [1611185858.626686032, 11.788000000]: [WGN] Current position -0.009357 -0.002354 -0.030829
[ INFO] [1611185858.627329254, 11.788000000]: Input cloud size 3072 
[ INFO] [1611185858.629959994, 11.792000000]: [WGN] Not a land waypoint
[ INFO] [1611185858.630034018, 11.792000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185858.630076005, 11.792000000]: [WGN] Landing Radius: xy  nan, z 3.483623 
[ INFO] [1611185858.727720148, 11.888000000]: [WGN] Current position -0.009679 -0.002669 -0.032447
[ INFO] [1611185858.735492883, 11.896000000]: Input cloud size 3072 
[ INFO] [1611185858.744127485, 11.904000000]: [WGN] Not a land waypoint
[ INFO] [1611185858.744235717, 11.904000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185858.744292014, 11.904000000]: [WGN] Landing Radius: xy  nan, z 3.482222 
[ INFO] [1611185858.829155361, 11.988000000]: [WGN] Current position -0.010144 -0.002988 -0.033732
[ INFO] [1611185858.840868145, 11.996000000]: Input cloud size 3072 
[ INFO] [1611185858.846249340, 12.004000000]: [WGN] Not a land waypoint
[ INFO] [1611185858.846394031, 12.004000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185858.846496767, 12.004000000]: [WGN] Landing Radius: xy  nan, z 3.481388 
[ INFO] [1611185858.928307986, 12.088000000]: [WGN] Current position -0.010711 -0.003313 -0.033973
[ INFO] [1611185858.937205452, 12.096000000]: Input cloud size 3072 
[ INFO] [1611185858.941536439, 12.100000000]: [WGN] Not a land waypoint
[ INFO] [1611185858.941601635, 12.100000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185858.941644951, 12.100000000]: [WGN] Landing Radius: xy  nan, z 3.481711 
[ INFO] [1611185859.031723506, 12.188000000]: [WGN] Current position -0.011370 -0.003708 -0.031314
[ INFO] [1611185859.035924635, 12.192000000]: Input cloud size 3072 
[ INFO] [1611185859.039297749, 12.196000000]: [WGN] Not a land waypoint
[ INFO] [1611185859.039460759, 12.196000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185859.039528138, 12.196000000]: [WGN] Landing Radius: xy  nan, z 3.484923 
[ INFO] [1611185859.131361713, 12.288000000]: [WGN] Current position -0.011783 -0.003718 -0.029006
[ INFO] [1611185859.141266722, 12.296000000]: Input cloud size 3072 
[ INFO] [1611185859.144330714, 12.300000000]: [WGN] Not a land waypoint
[ INFO] [1611185859.144433986, 12.300000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185859.144490008, 12.300000000]: [WGN] Landing Radius: xy  nan, z 3.487571 
[ INFO] [1611185859.231637241, 12.388000000]: [WGN] Current position -0.011157 -0.003057 -0.025738
[ INFO] [1611185859.263026269, 12.420000000]: [WGN] Current position -0.010989 -0.002742 -0.024672
[ INFO] [1611185859.263133560, 12.420000000]: Input cloud size 3072 
[ INFO] [1611185859.267941490, 12.424000000]: [WGN] Not a land waypoint
[ INFO] [1611185859.268129722, 12.424000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185859.268209406, 12.424000000]: [WGN] Landing Radius: xy  nan, z 3.492055 
[ INFO] [1611185859.332109615, 12.488000000]: [WGN] Current position -0.010808 -0.002268 -0.023136
[ INFO] [1611185859.344599257, 12.496000000]: Input cloud size 3072 
[ INFO] [1611185859.351003336, 12.504000000]: [WGN] Not a land waypoint
[ INFO] [1611185859.351117110, 12.504000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185859.351173396, 12.504000000]: [WGN] Landing Radius: xy  nan, z 3.493322 
[ INFO] [1611185859.432592752, 12.588000000]: [WGN] Current position -0.010637 -0.001589 -0.021223
[ INFO] [1611185859.439581463, 12.592000000]: Input cloud size 3072 
[ INFO] [1611185859.443604639, 12.596000000]: [WGN] Not a land waypoint
[ INFO] [1611185859.443694981, 12.596000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185859.443764182, 12.596000000]: [WGN] Landing Radius: xy  nan, z 3.494825 
[ INFO] [1611185859.534438925, 12.688000000]: [WGN] Current position -0.010567 -0.001120 -0.018915
[ INFO] [1611185859.536535521, 12.688000000]: Input cloud size 3072 
[ INFO] [1611185859.539489976, 12.692000000]: [WGN] Not a land waypoint
[ INFO] [1611185859.539566177, 12.692000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185859.539610338, 12.692000000]: [WGN] Landing Radius: xy  nan, z 3.496461 
[ INFO] [1611185859.635222427, 12.788000000]: [WGN] Current position -0.010471 -0.001080 -0.014945
[ INFO] [1611185859.639438877, 12.792000000]: Input cloud size 3072 
[ INFO] [1611185859.642994789, 12.796000000]: [WGN] Not a land waypoint
[ INFO] [1611185859.643085669, 12.796000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185859.643137829, 12.796000000]: [WGN] Landing Radius: xy  nan, z 3.499646 
[ INFO] [1611185859.734882576, 12.888000000]: [WGN] Current position -0.010735 -0.001162 -0.011406
[ INFO] [1611185859.735346742, 12.888000000]: Input cloud size 3072 
[ INFO] [1611185859.740835181, 12.892000000]: [WGN] Not a land waypoint
[ INFO] [1611185859.740929277, 12.896000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185859.740989190, 12.896000000]: [WGN] Landing Radius: xy  nan, z 3.502171 
[ INFO] [1611185859.833521851, 12.988000000]: [WGN] Current position -0.011201 -0.001276 -0.009279
[ INFO] [1611185859.856309106, 13.008000000]: Input cloud size 3072 
[ INFO] [1611185859.860444311, 13.012000000]: [WGN] Not a land waypoint
[ INFO] [1611185859.860510238, 13.012000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185859.860557236, 13.012000000]: [WGN] Landing Radius: xy  nan, z 3.502872 
[ INFO] [1611185859.935406109, 13.088000000]: [WGN] Current position -0.011568 -0.001160 -0.007800
[ INFO] [1611185859.936440118, 13.088000000]: Input cloud size 3072 
[ INFO] [1611185859.939011999, 13.092000000]: [WGN] Not a land waypoint
[ INFO] [1611185859.939082111, 13.092000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185859.939132109, 13.092000000]: [WGN] Landing Radius: xy  nan, z 3.502936 
[ INFO] [1611185860.033658565, 13.188000000]: [WGN] Current position -0.010722 0.000003 -0.006627
[ INFO] [1611185860.035495518, 13.188000000]: Input cloud size 3072 
[ INFO] [1611185860.037742712, 13.192000000]: [WGN] Not a land waypoint
[ INFO] [1611185860.037811091, 13.192000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185860.037864686, 13.192000000]: [WGN] Landing Radius: xy  nan, z 3.502645 
[ INFO] [1611185860.134475270, 13.288000000]: [WGN] Current position -0.010128 0.001059 -0.006092
[ INFO] [1611185860.165576889, 13.320000000]: [WGN] Current position -0.009965 0.001413 -0.006112
[ INFO] [1611185860.165594930, 13.320000000]: Input cloud size 3072 
[ INFO] [1611185860.168444206, 13.320000000]: [WGN] Not a land waypoint
[ INFO] [1611185860.168564450, 13.320000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185860.168631233, 13.320000000]: [WGN] Landing Radius: xy  nan, z 3.501709 
[ INFO] [1611185860.234050581, 13.388000000]: [WGN] Current position -0.009776 0.001909 -0.006657
[ INFO] [1611185860.236000820, 13.388000000]: Input cloud size 3072 
[ INFO] [1611185860.239917519, 13.392000000]: [WGN] Not a land waypoint
[ INFO] [1611185860.239994220, 13.392000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185860.240046507, 13.392000000]: [WGN] Landing Radius: xy  nan, z 3.499762 
[ INFO] [1611185860.333190759, 13.488000000]: [WGN] Current position -0.009335 0.001756 -0.006918
[ INFO] [1611185860.333589022, 13.488000000]: Input cloud size 3072 
[ INFO] [1611185860.335631647, 13.488000000]: [WGN] Not a land waypoint
[ INFO] [1611185860.335690574, 13.488000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185860.335732453, 13.488000000]: [WGN] Landing Radius: xy  nan, z 3.498208 
[ INFO] [1611185860.433500973, 13.588000000]: [WGN] Current position -0.008113 -0.001944 -0.005041
[ INFO] [1611185860.435585241, 13.588000000]: Input cloud size 3072 
[ INFO] [1611185860.440440438, 13.592000000]: [WGN] Not a land waypoint
[ INFO] [1611185860.440591300, 13.592000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185860.440684965, 13.592000000]: [WGN] Landing Radius: xy  nan, z 3.499027 
[ INFO] [1611185860.537003050, 13.688000000]: [WGN] Current position -0.007147 -0.005332 -0.003182
[ INFO] [1611185860.542217540, 13.692000000]: Input cloud size 3072 
[ INFO] [1611185860.546034221, 13.696000000]: [WGN] Not a land waypoint
[ INFO] [1611185860.546142570, 13.696000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185860.546204151, 13.696000000]: [WGN] Landing Radius: xy  nan, z 3.499752 
[ INFO] [1611185860.638338448, 13.788000000]: [WGN] Current position -0.006382 -0.008408 -0.001435
[ INFO] [1611185860.647726726, 13.796000000]: Input cloud size 3072 
[ INFO] [1611185860.651834774, 13.800000000]: [WGN] Not a land waypoint
[ INFO] [1611185860.651918066, 13.800000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185860.651964132, 13.800000000]: [WGN] Landing Radius: xy  nan, z 3.500377 
[ INFO] [1611185860.737441466, 13.888000000]: [WGN] Current position -0.006050 -0.011147 0.000327
[ INFO] [1611185860.738660640, 13.888000000]: Input cloud size 3072 
[ INFO] [1611185860.742518503, 13.892000000]: [WGN] Not a land waypoint
[ INFO] [1611185860.742574700, 13.892000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185860.742619673, 13.892000000]: [WGN] Landing Radius: xy  nan, z 3.500962 
[ INFO] [1611185860.839790928, 13.988000000]: Input cloud size 3072 
[ INFO] [1611185860.841696591, 13.992000000]: [WGN] Current position -0.006502 -0.013440 0.002798
[ INFO] [1611185860.847770055, 13.996000000]: [WGN] Not a land waypoint
[ INFO] [1611185860.847841164, 13.996000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185860.847879434, 13.996000000]: [WGN] Landing Radius: xy  nan, z 3.502213 
[ INFO] [1611185860.939181824, 14.088000000]: [WGN] Current position -0.007131 -0.014324 0.004942
[ INFO] [1611185860.943155207, 14.092000000]: Input cloud size 3072 
[ INFO] [1611185860.945601768, 14.096000000]: [WGN] Not a land waypoint
[ INFO] [1611185860.945664974, 14.096000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185860.945707439, 14.096000000]: [WGN] Landing Radius: xy  nan, z 3.503040 
[ INFO] [1611185861.038658493, 14.188000000]: [WGN] Current position -0.007930 -0.012865 0.006721
[ INFO] [1611185861.044151912, 14.192000000]: Input cloud size 3072 
[ INFO] [1611185861.050639975, 14.200000000]: [WGN] Not a land waypoint
[ INFO] [1611185861.050855989, 14.200000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185861.050948616, 14.200000000]: [WGN] Landing Radius: xy  nan, z 3.503438 
[ INFO] [1611185861.139154017, 14.288000000]: [WGN] Current position -0.008745 -0.011538 0.007989
[ INFO] [1611185861.142811237, 14.292000000]: Input cloud size 3072 
[ INFO] [1611185861.144721274, 14.292000000]: [WGN] Not a land waypoint
[ INFO] [1611185861.144775730, 14.292000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185861.144809253, 14.292000000]: [WGN] Landing Radius: xy  nan, z 3.503238 
[ INFO] [1611185861.240128277, 14.388000000]: [WGN] Current position -0.009161 -0.010388 0.010104
[ INFO] [1611185861.243343560, 14.392000000]: Input cloud size 3072 
[ INFO] [1611185861.245798978, 14.396000000]: [WGN] Not a land waypoint
[ INFO] [1611185861.245891154, 14.396000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185861.245940788, 14.396000000]: [WGN] Landing Radius: xy  nan, z 3.503887 
[ INFO] [1611185861.338763659, 14.488000000]: [WGN] Current position -0.008579 -0.008587 0.015513
[ INFO] [1611185861.370545229, 14.520000000]: [WGN] Current position -0.007675 -0.007291 0.018867
[ INFO] [1611185861.370630884, 14.520000000]: Input cloud size 3072 
[ INFO] [1611185861.375307709, 14.520000000]: [WGN] Not a land waypoint
[ INFO] [1611185861.375456007, 14.520000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185861.375549606, 14.520000000]: [WGN] Landing Radius: xy  nan, z 3.511133 
[ INFO] [1611185861.441968173, 14.588000000]: [WGN] Current position -0.005284 -0.004701 0.027466
[ INFO] [1611185861.443744796, 14.588000000]: Input cloud size 3072 
[ INFO] [1611185861.447578521, 14.588000000]: [WGN] Not a land waypoint
[ INFO] [1611185861.447675090, 14.588000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185861.447739555, 14.588000000]: [WGN] Landing Radius: xy  nan, z 3.518391 
[ INFO] [1611185861.544170053, 14.688000000]: [WGN] Current position 0.000153 -0.000829 0.046713
[ INFO] [1611185861.573338691, 14.720000000]: [WGN] Current position 0.003880 0.000759 0.057669
[ INFO] [1611185861.573439643, 14.720000000]: Input cloud size 3072 
[ INFO] [1611185861.577624316, 14.724000000]: [WGN] Not a land waypoint
[ INFO] [1611185861.577743122, 14.724000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185861.577787166, 14.724000000]: [WGN] Landing Radius: xy  nan, z 3.547872 
[ INFO] [1611185861.642783743, 14.788000000]: [WGN] Current position 0.010474 0.003611 0.080186
[ INFO] [1611185861.651180091, 14.796000000]: Input cloud size 3072 
[ INFO] [1611185861.657296560, 14.800000000]: [WGN] Not a land waypoint
[ INFO] [1611185861.657379543, 14.800000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185861.657445360, 14.800000000]: [WGN] Landing Radius: xy  nan, z 3.570353 
[ INFO] [1611185861.742352467, 14.888000000]: [WGN] Current position 0.019333 0.007580 0.118294
[ INFO] [1611185861.744650569, 14.888000000]: Input cloud size 3072 
[ INFO] [1611185861.747947218, 14.892000000]: [WGN] Not a land waypoint
[ INFO] [1611185861.748006654, 14.892000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185861.748044992, 14.892000000]: [WGN] Landing Radius: xy  nan, z 3.608646 
[ INFO] [1611185861.843709203, 14.988000000]: [WGN] Current position 0.028561 0.011774 0.169445
[ INFO] [1611185861.844089636, 14.988000000]: Input cloud size 3072 
[ INFO] [1611185861.846627575, 14.992000000]: [WGN] Not a land waypoint
[ INFO] [1611185861.846699181, 14.992000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185861.846765289, 14.992000000]: [WGN] Landing Radius: xy  nan, z 3.660497 
[ INFO] [1611185861.944295124, 15.088000000]: [WGN] Current position 0.037674 0.016601 0.235479
[ INFO] [1611185861.955903057, 15.100000000]: Input cloud size 3072 
[ INFO] [1611185861.959476207, 15.104000000]: [WGN] Not a land waypoint
[ INFO] [1611185861.959553024, 15.104000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185861.959603478, 15.104000000]: [WGN] Landing Radius: xy  nan, z 3.727381 
[ INFO] [1611185862.044062014, 15.188000000]: [WGN] Current position 0.044697 0.021803 0.298711
[ INFO] [1611185862.074386185, 15.220000000]: [WGN] Current position 0.047440 0.023912 0.326982
[ INFO] [1611185862.074436613, 15.220000000]: Input cloud size 3072 
[ INFO] [1611185862.076759294, 15.220000000]: [WGN] Not a land waypoint
[ INFO] [1611185862.076816794, 15.220000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185862.076866432, 15.220000000]: [WGN] Landing Radius: xy  nan, z 3.819845 
[ INFO] [1611185862.144168263, 15.288000000]: [WGN] Current position 0.051184 0.026863 0.369951
[ INFO] [1611185862.149551298, 15.292000000]: Input cloud size 3072 
[ INFO] [1611185862.154524650, 15.296000000]: [WGN] Not a land waypoint
[ INFO] [1611185862.154669747, 15.296000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185862.154745356, 15.296000000]: [WGN] Landing Radius: xy  nan, z 3.863983 
[ INFO] [1611185862.244408564, 15.388000000]: [WGN] Current position 0.056526 0.031156 0.443177
[ INFO] [1611185862.246143891, 15.388000000]: Input cloud size 3072 
[ INFO] [1611185862.248291271, 15.392000000]: [WGN] Not a land waypoint
[ INFO] [1611185862.248347495, 15.392000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185862.248379856, 15.392000000]: [WGN] Landing Radius: xy  nan, z 3.937976 
[ INFO] [1611185862.343619007, 15.488000000]: [WGN] Current position 0.060399 0.034025 0.519571
[ INFO] [1611185862.346274453, 15.488000000]: Input cloud size 3072 
[ INFO] [1611185862.349552534, 15.492000000]: [WGN] Not a land waypoint
[ INFO] [1611185862.349674873, 15.492000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185862.349738527, 15.492000000]: [WGN] Landing Radius: xy  nan, z 4.014952 
[ INFO] [1611185862.444092007, 15.588000000]: Input cloud size 3072 
[ INFO] [1611185862.444107400, 15.588000000]: [WGN] Current position 0.062184 0.034188 0.606364
[ INFO] [1611185862.445998553, 15.588000000]: [WGN] Not a land waypoint
[ INFO] [1611185862.446049258, 15.588000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185862.446096435, 15.588000000]: [WGN] Landing Radius: xy  nan, z 3.752578 
[ INFO] [1611185862.545711302, 15.688000000]: [WGN] Current position 0.062700 0.033907 0.683414
[ INFO] [1611185862.551138727, 15.692000000]: Input cloud size 3072 
[ INFO] [1611185862.555211249, 15.696000000]: [WGN] Not a land waypoint
[ INFO] [1611185862.555336103, 15.696000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185862.555402312, 15.696000000]: [WGN] Landing Radius: xy  nan, z 3.515242 
[ INFO] [1611185862.644559109, 15.788000000]: [WGN] Current position 0.062161 0.033194 0.775995
[ INFO] [1611185862.645246814, 15.788000000]: Input cloud size 3072 
[ INFO] [1611185862.647850464, 15.792000000]: [WGN] Not a land waypoint
[ INFO] [1611185862.647918786, 15.792000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185862.647957097, 15.792000000]: [WGN] Landing Radius: xy  nan, z 3.324641 
[ INFO] [1611185862.745709909, 15.888000000]: [WGN] Current position 0.060973 0.032128 0.857040
[ INFO] [1611185862.756163086, 15.896000000]: Input cloud size 3072 
[ INFO] [1611185862.760808978, 15.904000000]: [WGN] Not a land waypoint
[ INFO] [1611185862.760932333, 15.904000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185862.760989689, 15.904000000]: [WGN] Landing Radius: xy  nan, z 3.150821 
[ INFO] [1611185862.846582276, 15.988000000]: [WGN] Current position 0.058950 0.030505 0.955750
[ INFO] [1611185862.855372194, 15.996000000]: Input cloud size 3072 
[ INFO] [1611185862.859794559, 16.000000000]: [WGN] Not a land waypoint
[ INFO] [1611185862.859857486, 16.000000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185862.859909002, 16.000000000]: [WGN] Landing Radius: xy  nan, z 3.020152 
[ INFO] [1611185862.945707576, 16.088000000]: [WGN] Current position 0.057069 0.028890 1.041904
[ INFO] [1611185862.977405092, 16.120000000]: [WGN] Current position 0.056697 0.028226 1.079445
[ INFO] [1611185862.977465574, 16.120000000]: Input cloud size 3072 
[ INFO] [1611185862.980429592, 16.120000000]: [WGN] Not a land waypoint
[ INFO] [1611185862.980508246, 16.120000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185862.980556780, 16.120000000]: [WGN] Landing Radius: xy  nan, z 2.937497 
[ INFO] [1611185863.046084189, 16.188000000]: [WGN] Current position 0.055966 0.027116 1.136880
[ INFO] [1611185863.055175923, 16.196000000]: Input cloud size 3072 
[ INFO] [1611185863.060492007, 16.200000000]: [WGN] Not a land waypoint
[ INFO] [1611185863.060564568, 16.200000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185863.060646234, 16.200000000]: [WGN] Landing Radius: xy  nan, z 2.809127 
[ INFO] [1611185863.146922711, 16.288000000]: [WGN] Current position 0.054266 0.025026 1.235266
[ INFO] [1611185863.154892989, 16.296000000]: Input cloud size 3072 
[ INFO] [1611185863.163756949, 16.304000000]: [WGN] Not a land waypoint
[ INFO] [1611185863.163934076, 16.304000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185863.164022200, 16.304000000]: [WGN] Landing Radius: xy  nan, z 2.740289 
[ INFO] [1611185863.246488327, 16.388000000]: [WGN] Current position 0.052041 0.022750 1.336511
[ INFO] [1611185863.246704876, 16.388000000]: Input cloud size 3072 
[ INFO] [1611185863.251056655, 16.392000000]: [WGN] Not a land waypoint
[ INFO] [1611185863.251267428, 16.392000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185863.251368216, 16.392000000]: [WGN] Landing Radius: xy  nan, z 2.691235 
[ INFO] [1611185863.295339736, 16.436000000]: WP: item #0* F: C: 22 p: 15 0 0 nan x: 473977356 y: 85456095 z: 10
[ INFO] [1611185863.295529945, 16.436000000]: WP: item #1  F: C: 21 p: 0 0 0 nan x: 473980026 y: 85457964 z: 0
[ INFO] [1611185863.295584266, 16.436000000]: WP: mission received
[ INFO] [1611185863.345797989, 16.488000000]: [WGN] Current position 0.049212 0.020225 1.439802
[ INFO] [1611185863.377720054, 16.520000000]: [WGN] Current position 0.047924 0.018961 1.481128
[ INFO] [1611185863.377776631, 16.520000000]: Input cloud size 3072 
[ INFO] [1611185863.379714754, 16.520000000]: [WGN] Not a land waypoint
[ INFO] [1611185863.379779528, 16.520000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185863.379826207, 16.520000000]: [WGN] Landing Radius: xy  nan, z 2.700380 
[ INFO] [1611185863.446383522, 16.588000000]: [WGN] Current position 0.045856 0.017029 1.544149
[ INFO] [1611185863.446440974, 16.588000000]: Input cloud size 3072 
[ INFO] [1611185863.448856305, 16.588000000]: [WGN] Not a land waypoint
[ INFO] [1611185863.448973584, 16.588000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185863.449039612, 16.588000000]: [WGN] Landing Radius: xy  nan, z 2.641564 
[ INFO] [1611185863.547873476, 16.688000000]: [WGN] Current position 0.041852 0.013743 1.652157
[ INFO] [1611185863.556158037, 16.696000000]: Input cloud size 3072 
[ INFO] [1611185863.562975700, 16.704000000]: [WGN] Not a land waypoint
[ INFO] [1611185863.563045692, 16.704000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185863.563109077, 16.704000000]: [WGN] Landing Radius: xy  nan, z 2.639830 
[ INFO] [1611185863.647348262, 16.788000000]: [WGN] Current position 0.036703 0.010522 1.764760
[ INFO] [1611185863.678377284, 16.820000000]: [WGN] Current position 0.034635 0.009265 1.810525
[ INFO] [1611185863.678440781, 16.820000000]: Input cloud size 3072 
[ INFO] [1611185863.680747219, 16.820000000]: [WGN] Not a land waypoint
[ INFO] [1611185863.680800727, 16.820000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185863.680830836, 16.820000000]: [WGN] Landing Radius: xy  nan, z 2.699431 
[ INFO] [1611185863.747338276, 16.888000000]: [WGN] Current position 0.031101 0.007193 1.889043
[ INFO] [1611185863.778895905, 16.920000000]: Input cloud size 3072 
[ INFO] [1611185863.778899117, 16.920000000]: [WGN] Current position 0.029476 0.006233 1.926258
[ INFO] [1611185863.782600649, 16.920000000]: [WGN] Not a land waypoint
[ INFO] [1611185863.782688650, 16.920000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185863.782737842, 16.920000000]: [WGN] Landing Radius: xy  nan, z 2.726638 
[ INFO] [1611185863.847308311, 16.988000000]: [WGN] Current position 0.026462 0.004427 1.996339
[ INFO] [1611185863.878869766, 17.020000000]: [WGN] Current position 0.024467 0.003237 2.043259
[ INFO] [1611185863.878889614, 17.020000000]: Input cloud size 3072 
[ INFO] [1611185863.881641622, 17.020000000]: [WGN] Not a land waypoint
[ INFO] [1611185863.881789926, 17.020000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185863.881857703, 17.020000000]: [WGN] Landing Radius: xy  nan, z 2.763600 
[ INFO] [1611185863.947328834, 17.088000000]: [WGN] Current position 0.021673 0.001926 2.112832
[ INFO] [1611185863.978910214, 17.120000000]: [WGN] Current position 0.020075 0.001614 2.158160
[ INFO] [1611185863.978926590, 17.120000000]: Input cloud size 3072 
[ INFO] [1611185863.981218518, 17.120000000]: [WGN] Not a land waypoint
[ INFO] [1611185863.981307673, 17.120000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185863.981354664, 17.120000000]: [WGN] Landing Radius: xy  nan, z 2.806467 
[ INFO] [1611185864.047817210, 17.188000000]: [WGN] Current position 0.017680 0.001074 2.226918
[ INFO] [1611185864.054218852, 17.192000000]: Input cloud size 3072 
[ INFO] [1611185864.056872841, 17.196000000]: [WGN] Not a land waypoint
[ INFO] [1611185864.056952538, 17.196000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185864.056993116, 17.196000000]: [WGN] Landing Radius: xy  nan, z 2.810394 
[ INFO] [1611185864.147909455, 17.288000000]: [WGN] Current position 0.013793 0.000217 2.343989
[ INFO] [1611185864.149354785, 17.288000000]: Input cloud size 3072 
[ INFO] [1611185864.153886829, 17.292000000]: [WGN] Not a land waypoint
[ INFO] [1611185864.153939788, 17.292000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185864.153980523, 17.292000000]: [WGN] Landing Radius: xy  nan, z 2.869118 
[ INFO] [1611185864.249757591, 17.388000000]: [WGN] Current position 0.010013 -0.000644 2.464144
[ INFO] [1611185864.254437254, 17.392000000]: Input cloud size 3072 
[ INFO] [1611185864.256705742, 17.396000000]: [WGN] Not a land waypoint
[ INFO] [1611185864.256763164, 17.396000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185864.256800579, 17.396000000]: [WGN] Landing Radius: xy  nan, z 2.936958 
[ INFO] [1611185864.349212732, 17.488000000]: [WGN] Current position 0.006313 -0.001993 2.586677
[ INFO] [1611185864.357798849, 17.496000000]: Input cloud size 3072 
[ INFO] [1611185864.368608339, 17.496000000]: [WGN] Not a land waypoint
[ INFO] [1611185864.368850700, 17.496000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185864.368949925, 17.496000000]: [WGN] Landing Radius: xy  nan, z 3.020845 
[ INFO] [1611185864.454585123, 17.588000000]: Input cloud size 3072 
[ INFO] [1611185864.454843990, 17.588000000]: [WGN] Current position 0.002696 -0.004663 2.711484
[ INFO] [1611185864.457898044, 17.592000000]: [WGN] Not a land waypoint
[ INFO] [1611185864.457968520, 17.592000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185864.458027536, 17.592000000]: [WGN] Landing Radius: xy  nan, z 3.105176 
[ INFO] [1611185864.552967833, 17.688000000]: [WGN] Current position -0.000743 -0.007389 2.838029
[ INFO] [1611185864.557567362, 17.692000000]: Input cloud size 3072 
[ INFO] [1611185864.562556761, 17.696000000]: [WGN] Not a land waypoint
[ INFO] [1611185864.562706256, 17.696000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185864.562774916, 17.696000000]: [WGN] Landing Radius: xy  nan, z 3.192352 
[ INFO] [1611185864.653405637, 17.788000000]: [WGN] Current position -0.003941 -0.010085 2.965764
[ INFO] [1611185864.685473834, 17.820000000]: [WGN] Current position -0.005154 -0.011124 3.017233
[ INFO] [1611185864.685489253, 17.820000000]: Input cloud size 3072 
[ INFO] [1611185864.688282865, 17.820000000]: [WGN] Not a land waypoint
[ INFO] [1611185864.688357383, 17.820000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185864.688414229, 17.820000000]: [WGN] Landing Radius: xy  nan, z 3.336123 
[ INFO] [1611185864.755008108, 17.888000000]: [WGN] Current position -0.006206 -0.012376 3.095139
[ INFO] [1611185864.757599436, 17.892000000]: Input cloud size 3072 
[ INFO] [1611185864.761597055, 17.896000000]: [WGN] Not a land waypoint
[ INFO] [1611185864.761692865, 17.896000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185864.761768166, 17.896000000]: [WGN] Landing Radius: xy  nan, z 3.386875 
[ INFO] [1611185864.854232952, 17.988000000]: [WGN] Current position -0.005333 -0.013517 3.236968
[ INFO] [1611185864.854782288, 17.988000000]: Input cloud size 3072 
[ INFO] [1611185864.856608325, 17.988000000]: [WGN] Not a land waypoint
[ INFO] [1611185864.856665323, 17.988000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185864.856710858, 17.988000000]: [WGN] Landing Radius: xy  nan, z 3.509340 
[ INFO] [1611185864.953832703, 18.088000000]: [WGN] Current position -0.004917 -0.014155 3.358702
[ INFO] [1611185864.985651454, 18.120000000]: [WGN] Current position -0.005419 -0.014392 3.412625
[ INFO] [1611185864.985715019, 18.120000000]: Input cloud size 3072 
[ INFO] [1611185864.988052392, 18.120000000]: [WGN] Not a land waypoint
[ INFO] [1611185864.988108516, 18.120000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185864.988153196, 18.120000000]: [WGN] Landing Radius: xy  nan, z 3.667622 
[ INFO] [1611185865.059673915, 18.188000000]: [WGN] Current position -0.006070 -0.014650 3.493498
[ INFO] [1611185865.064941376, 18.192000000]: Input cloud size 3072 
[ INFO] [1611185865.071444050, 18.200000000]: [WGN] Not a land waypoint
[ INFO] [1611185865.071522429, 18.200000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185865.071587963, 18.200000000]: [WGN] Landing Radius: xy  nan, z 3.733304 
[ INFO] [1611185865.157788531, 18.288000000]: [WGN] Current position -0.007164 -0.014884 3.635642
[ INFO] [1611185865.189902219, 18.320000000]: [WGN] Current position -0.007629 -0.014923 3.698053
[ INFO] [1611185865.190096283, 18.320000000]: Input cloud size 3072 
[ INFO] [1611185865.192226279, 18.320000000]: [WGN] Not a land waypoint
[ INFO] [1611185865.192367270, 18.320000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185865.192426518, 18.320000000]: [WGN] Landing Radius: xy  nan, z 3.923804 
[ INFO] [1611185865.259786941, 18.388000000]: [WGN] Current position -0.008417 -0.014981 3.808884
[ INFO] [1611185865.290222528, 18.416000000]: [WGN] Current position -0.008782 -0.015030 3.861857
[ INFO] [1611185865.290345949, 18.416000000]: Input cloud size 3072 
[ INFO] [1611185865.292116844, 18.420000000]: [WGN] Not a land waypoint
[ INFO] [1611185865.292165157, 18.420000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185865.292199558, 18.420000000]: [WGN] Landing Radius: xy  nan, z 4.075443 
[ INFO] [1611185865.359843223, 18.488000000]: [WGN] Current position -0.010037 -0.015613 3.960974
[ INFO] [1611185865.364445396, 18.492000000]: Input cloud size 3072 
[ INFO] [1611185865.368737913, 18.492000000]: [WGN] Not a land waypoint
[ INFO] [1611185865.368890085, 18.492000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185865.368960953, 18.492000000]: [WGN] Landing Radius: xy  nan, z 4.162979 
[ INFO] [1611185865.459533630, 18.588000000]: [WGN] Current position -0.013724 -0.018027 4.123955
[ INFO] [1611185865.491420596, 18.620000000]: [WGN] Current position -0.015078 -0.018893 4.188984
[ INFO] [1611185865.491495298, 18.620000000]: Input cloud size 3072 
[ INFO] [1611185865.496645837, 18.624000000]: [WGN] Not a land waypoint
[ INFO] [1611185865.496755143, 18.624000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185865.496802184, 18.624000000]: [WGN] Landing Radius: xy  nan, z 4.381362 
[ INFO] [1611185865.560726550, 18.688000000]: [WGN] Current position -0.016971 -0.020095 4.286429
[ INFO] [1611185865.561993218, 18.688000000]: Input cloud size 3072 
[ INFO] [1611185865.566086846, 18.692000000]: [WGN] Not a land waypoint
[ INFO] [1611185865.566160297, 18.692000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185865.566207561, 18.692000000]: [WGN] Landing Radius: xy  nan, z 4.470679 
[ INFO] [1611185865.660125298, 18.788000000]: [WGN] Current position -0.019722 -0.021829 4.448903
[ INFO] [1611185865.664773703, 18.792000000]: Input cloud size 3072 
[ INFO] [1611185865.668247573, 18.796000000]: [WGN] Not a land waypoint
[ INFO] [1611185865.668347262, 18.796000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185865.668402834, 18.796000000]: [WGN] Landing Radius: xy  nan, z 4.625261 
[ INFO] [1611185865.761356671, 18.888000000]: [WGN] Current position -0.022192 -0.023641 4.612133
[ INFO] [1611185865.766877060, 18.892000000]: Input cloud size 3072 
[ INFO] [1611185865.771705680, 18.896000000]: [WGN] Not a land waypoint
[ INFO] [1611185865.771792213, 18.896000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185865.771854961, 18.896000000]: [WGN] Landing Radius: xy  nan, z 4.782573 
[ INFO] [1611185865.860846382, 18.988000000]: [WGN] Current position -0.025371 -0.026893 4.788279
[ INFO] [1611185865.866335438, 18.992000000]: Input cloud size 3072 
[ INFO] [1611185865.870935978, 18.996000000]: [WGN] Not a land waypoint
[ INFO] [1611185865.871021684, 18.996000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185865.871067907, 18.996000000]: [WGN] Landing Radius: xy  nan, z 4.953803 
[ INFO] [1611185865.962308293, 19.088000000]: [WGN] Current position -0.027515 -0.029025 4.937877
[ INFO] [1611185865.963047176, 19.088000000]: Input cloud size 3072 
[ INFO] [1611185865.968276978, 19.096000000]: [WGN] Not a land waypoint
[ INFO] [1611185865.968406244, 19.096000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185865.968497862, 19.096000000]: [WGN] Landing Radius: xy  nan, z 5.098744 
[ INFO] [1611185866.060973463, 19.188000000]: [WGN] Current position -0.029205 -0.030871 5.099540
[ INFO] [1611185866.073262874, 19.200000000]: Input cloud size 3072 
[ INFO] [1611185866.076027714, 19.200000000]: [WGN] Not a land waypoint
[ INFO] [1611185866.076105991, 19.200000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185866.076165774, 19.200000000]: [WGN] Landing Radius: xy  nan, z 5.256256 
[ INFO] [1611185866.161841257, 19.288000000]: [WGN] Current position -0.030408 -0.032213 5.260719
[ INFO] [1611185866.192835357, 19.320000000]: [WGN] Current position -0.030989 -0.032690 5.325080
[ INFO] [1611185866.192915977, 19.320000000]: Input cloud size 3072 
[ INFO] [1611185866.195144393, 19.320000000]: [WGN] Not a land waypoint
[ INFO] [1611185866.195192115, 19.320000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185866.195229091, 19.320000000]: [WGN] Landing Radius: xy  nan, z 5.478195 
[ INFO] [1611185866.261499915, 19.388000000]: [WGN] Current position -0.031605 -0.033178 5.421451
[ INFO] [1611185866.293088012, 19.420000000]: [WGN] Current position -0.031873 -0.033354 5.485552
[ INFO] [1611185866.293141903, 19.420000000]: Input cloud size 3072 
[ INFO] [1611185866.296235568, 19.420000000]: [WGN] Not a land waypoint
[ INFO] [1611185866.296329802, 19.420000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185866.296386026, 19.420000000]: [WGN] Landing Radius: xy  nan, z 5.635505 
[ INFO] [1611185866.362491552, 19.488000000]: [WGN] Current position -0.032094 -0.033412 5.581489
[ INFO] [1611185866.371630991, 19.496000000]: Input cloud size 3072 
[ INFO] [1611185866.381459817, 19.504000000]: [WGN] Not a land waypoint
[ INFO] [1611185866.381566368, 19.504000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185866.381638981, 19.504000000]: [WGN] Landing Radius: xy  nan, z 5.728996 
[ INFO] [1611185866.461890389, 19.588000000]: [WGN] Current position -0.032074 -0.033186 5.741064
[ INFO] [1611185866.462689771, 19.588000000]: Input cloud size 3072 
[ INFO] [1611185866.470911017, 19.596000000]: [WGN] Not a land waypoint
[ INFO] [1611185866.470984329, 19.596000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185866.471054911, 19.596000000]: [WGN] Landing Radius: xy  nan, z 5.885279 
[ INFO] [1611185866.561595534, 19.688000000]: [WGN] Current position -0.031249 -0.033969 5.914919
[ INFO] [1611185866.562929637, 19.688000000]: Input cloud size 3072 
[ INFO] [1611185866.567036520, 19.692000000]: [WGN] Not a land waypoint
[ INFO] [1611185866.567118986, 19.692000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185866.567184065, 19.692000000]: [WGN] Landing Radius: xy  nan, z 6.056733 
[ INFO] [1611185866.662795511, 19.788000000]: [WGN] Current position -0.029596 -0.037104 6.065866
[ INFO] [1611185866.693809608, 19.820000000]: [WGN] Current position -0.028805 -0.038267 6.130974
[ INFO] [1611185866.693905041, 19.820000000]: Input cloud size 3072 
[ INFO] [1611185866.696442163, 19.820000000]: [WGN] Not a land waypoint
[ INFO] [1611185866.696500966, 19.820000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185866.696536457, 19.820000000]: [WGN] Landing Radius: xy  nan, z 6.271107 
[ INFO] [1611185866.764532099, 19.888000000]: [WGN] Current position -0.027525 -0.039750 6.227948
[ INFO] [1611185866.767922371, 19.888000000]: Input cloud size 3072 
[ INFO] [1611185866.776647150, 19.900000000]: [WGN] Not a land waypoint
[ INFO] [1611185866.776735890, 19.900000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185866.776781538, 19.900000000]: [WGN] Landing Radius: xy  nan, z 6.366388 
[ INFO] [1611185866.865823763, 19.988000000]: Input cloud size 3072 
[ INFO] [1611185866.865832037, 19.988000000]: [WGN] Current position -0.025322 -0.041562 6.387890
[ INFO] [1611185866.872015942, 19.996000000]: [WGN] Not a land waypoint
[ INFO] [1611185866.872166042, 19.996000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185866.872268689, 19.996000000]: [WGN] Landing Radius: xy  nan, z 6.524361 
[ INFO] [1611185866.968321431, 20.092000000]: [WGN] Current position -0.023609 -0.043685 6.546645
[ INFO] [1611185866.970432482, 20.092000000]: Input cloud size 3072 
[ INFO] [1611185866.973445622, 20.096000000]: [WGN] Not a land waypoint
[ INFO] [1611185866.973501248, 20.096000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185866.973531461, 20.096000000]: [WGN] Landing Radius: xy  nan, z 6.680701 
[ INFO] [1611185867.064420240, 20.188000000]: [WGN] Current position -0.024064 -0.049045 6.705118
[ INFO] [1611185867.083222484, 20.204000000]: Input cloud size 3072 
[ INFO] [1611185867.095506456, 20.216000000]: [WGN] Not a land waypoint
[ INFO] [1611185867.095770976, 20.216000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185867.095880379, 20.216000000]: [WGN] Landing Radius: xy  nan, z 6.837156 
[ INFO] [1611185867.167367622, 20.288000000]: [WGN] Current position -0.024174 -0.052963 6.862250
[ INFO] [1611185867.167975338, 20.288000000]: Input cloud size 3072 
[ INFO] [1611185867.173312505, 20.292000000]: [WGN] Not a land waypoint
[ INFO] [1611185867.173477791, 20.292000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185867.173542604, 20.292000000]: [WGN] Landing Radius: xy  nan, z 6.991890 
[ INFO] [1611185867.267456775, 20.388000000]: [WGN] Current position -0.024060 -0.055519 7.017827
[ INFO] [1611185867.270008052, 20.392000000]: Input cloud size 3072 
[ INFO] [1611185867.280117063, 20.400000000]: [WGN] Not a land waypoint
[ INFO] [1611185867.280340641, 20.400000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185867.280422653, 20.400000000]: [WGN] Landing Radius: xy  nan, z 7.144918 
[ INFO] [1611185867.372011031, 20.488000000]: Input cloud size 3072 
[ INFO] [1611185867.372016208, 20.488000000]: [WGN] Current position -0.024111 -0.057708 7.172473
[ INFO] [1611185867.378878130, 20.488000000]: [WGN] Not a land waypoint
[ INFO] [1611185867.379098703, 20.488000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185867.379217711, 20.488000000]: [WGN] Landing Radius: xy  nan, z 7.297782 
[ INFO] [1611185867.478235478, 20.588000000]: [WGN] Current position -0.025340 -0.061695 7.328646
[ INFO] [1611185867.478903745, 20.588000000]: Input cloud size 3072 
[ INFO] [1611185867.489981450, 20.592000000]: [WGN] Not a land waypoint
[ INFO] [1611185867.490182300, 20.592000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185867.490294362, 20.592000000]: [WGN] Landing Radius: xy  nan, z 7.452179 
[ INFO] [1611185867.580642956, 20.692000000]: Input cloud size 3072 
[ INFO] [1611185867.585571485, 20.696000000]: [WGN] Current position -0.026081 -0.064094 7.484384
[ INFO] [1611185867.592160765, 20.696000000]: [WGN] Not a land waypoint
[ INFO] [1611185867.592404559, 20.700000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185867.592486590, 20.700000000]: [WGN] Landing Radius: xy  nan, z 7.606510 
[ INFO] [1611185867.678727301, 20.788000000]: [WGN] Current position -0.026442 -0.065111 7.638165
[ INFO] [1611185867.691290249, 20.800000000]: Input cloud size 3072 
[ INFO] [1611185867.695780749, 20.804000000]: [WGN] Not a land waypoint
[ INFO] [1611185867.695968824, 20.804000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185867.696056530, 20.804000000]: [WGN] Landing Radius: xy  nan, z 7.758813 
[ INFO] [1611185867.779588691, 20.888000000]: [WGN] Current position -0.026662 -0.065062 7.785421
[ INFO] [1611185867.788764501, 20.896000000]: Input cloud size 3072 
[ INFO] [1611185867.796399902, 20.904000000]: [WGN] Not a land waypoint
[ INFO] [1611185867.796590439, 20.904000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185867.796687472, 20.904000000]: [WGN] Landing Radius: xy  nan, z 7.904756 
[ INFO] [1611185867.879336904, 20.988000000]: [WGN] Current position -0.027332 -0.064179 7.926047
[ INFO] [1611185867.880927732, 20.988000000]: Input cloud size 3072 
[ INFO] [1611185867.887384321, 20.992000000]: [WGN] Not a land waypoint
[ INFO] [1611185867.887619441, 20.992000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185867.887729495, 20.992000000]: [WGN] Landing Radius: xy  nan, z 8.044272 
[ INFO] [1611185867.980488495, 21.088000000]: [WGN] Current position -0.027528 -0.062475 8.060285
[ INFO] [1611185867.997939633, 21.104000000]: Input cloud size 3072 
[ INFO] [1611185868.006817794, 21.112000000]: [WGN] Not a land waypoint
[ INFO] [1611185868.006954980, 21.112000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185868.007049376, 21.112000000]: [WGN] Landing Radius: xy  nan, z 8.177359 
[ INFO] [1611185868.081238606, 21.188000000]: [WGN] Current position -0.027396 -0.059857 8.199292
[ INFO] [1611185868.082229342, 21.188000000]: Input cloud size 3072 
[ INFO] [1611185868.089972746, 21.196000000]: [WGN] Not a land waypoint
[ INFO] [1611185868.090176396, 21.196000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185868.090281958, 21.196000000]: [WGN] Landing Radius: xy  nan, z 8.315219 
[ INFO] [1611185868.179897269, 21.288000000]: [WGN] Current position -0.026917 -0.057664 8.313455
[ INFO] [1611185868.182459101, 21.288000000]: Input cloud size 3072 
[ INFO] [1611185868.194749559, 21.300000000]: [WGN] Not a land waypoint
[ INFO] [1611185868.194920061, 21.300000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185868.194977505, 21.300000000]: [WGN] Landing Radius: xy  nan, z 8.428328 
[ INFO] [1611185868.281647323, 21.388000000]: [WGN] Current position -0.026037 -0.056611 8.434552
[ INFO] [1611185868.307139779, 21.412000000]: Input cloud size 3072 
[ INFO] [1611185868.316260236, 21.416000000]: [WGN] Current position -0.025638 -0.056007 8.481644
[ INFO] [1611185868.318665223, 21.424000000]: [WGN] Not a land waypoint
[ INFO] [1611185868.318810532, 21.424000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185868.318873048, 21.424000000]: [WGN] Landing Radius: xy  nan, z 8.595646 
[ INFO] [1611185868.386504984, 21.492000000]: [WGN] Current position -0.024972 -0.054923 8.550546
[ INFO] [1611185868.414367524, 21.520000000]: [WGN] Current position -0.024495 -0.054083 8.595676
[ INFO] [1611185868.414493061, 21.520000000]: Input cloud size 3072 
[ INFO] [1611185868.423043603, 21.524000000]: [WGN] Not a land waypoint
[ INFO] [1611185868.423346153, 21.524000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185868.423449015, 21.524000000]: [WGN] Landing Radius: xy  nan, z 8.708902 
[ INFO] [1611185868.484754175, 21.588000000]: [WGN] Current position -0.023651 -0.052488 8.670896
[ INFO] [1611185868.486078356, 21.588000000]: Input cloud size 3072 
[ INFO] [1611185868.489548393, 21.592000000]: [WGN] Not a land waypoint
[ INFO] [1611185868.489632697, 21.592000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185868.489673333, 21.592000000]: [WGN] Landing Radius: xy  nan, z 8.784039 
[ INFO] [1611185868.583863346, 21.688000000]: [WGN] Current position -0.022214 -0.050437 8.769427
[ INFO] [1611185868.583968811, 21.688000000]: Input cloud size 3072 
[ INFO] [1611185868.594212480, 21.696000000]: [WGN] Not a land waypoint
[ INFO] [1611185868.594572271, 21.696000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185868.594678361, 21.696000000]: [WGN] Landing Radius: xy  nan, z 8.882003 
[ INFO] [1611185868.781411569, 21.788000000]: [WGN] Current position -0.019872 -0.049497 8.871181
[ INFO] [1611185868.794465772, 21.800000000]: Input cloud size 3072 
[ INFO] [1611185868.803486413, 21.808000000]: [WGN] Not a land waypoint
[ INFO] [1611185868.803656354, 21.808000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185868.803728340, 21.808000000]: [WGN] Landing Radius: xy  nan, z 8.983562 
[ INFO] [1611185868.883766158, 21.888000000]: [WGN] Current position -0.017613 -0.047902 8.975916
[ INFO] [1611185868.886252312, 21.888000000]: Input cloud size 3072 
[ INFO] [1611185868.890865562, 21.896000000]: [WGN] Not a land waypoint
[ INFO] [1611185868.890944133, 21.896000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185868.891009148, 21.896000000]: [WGN] Landing Radius: xy  nan, z 9.088147 
[ INFO] [1611185868.983531491, 21.988000000]: [WGN] Current position -0.015980 -0.046114 9.061420
[ INFO] [1611185869.005007957, 22.008000000]: Input cloud size 3072 
[ INFO] [1611185869.014965708, 22.016000000]: [WGN] Not a land waypoint
[ INFO] [1611185869.015202839, 22.016000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185869.015318465, 22.016000000]: [WGN] Landing Radius: xy  nan, z 9.173265 
[ INFO] [1611185869.083319786, 22.088000000]: [WGN] Current position -0.014158 -0.043980 9.150833
[ INFO] [1611185869.114805309, 22.120000000]: Input cloud size 3072 
[ INFO] [1611185869.115112213, 22.120000000]: [WGN] Current position -0.013070 -0.043160 9.186264
[ INFO] [1611185869.120329973, 22.124000000]: [WGN] Not a land waypoint
[ INFO] [1611185869.120439342, 22.124000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185869.120516243, 22.124000000]: [WGN] Landing Radius: xy  nan, z 9.297893 
[ INFO] [1611185869.183919400, 22.188000000]: [WGN] Current position -0.011360 -0.041631 9.244699
[ INFO] [1611185869.195053919, 22.200000000]: WP: reached #0
[ INFO] [1611185869.217947973, 22.220000000]: [WGN] Current position -0.010653 -0.040852 9.271297
[ INFO] [1611185869.218559238, 22.224000000]: Input cloud size 3072 
[ INFO] [1611185869.226853223, 22.232000000]: [WGN] Not a land waypoint
[ INFO] [1611185869.227071845, 22.232000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185869.227165765, 22.232000000]: [WGN] Landing Radius: xy  nan, z 9.383535 
[ INFO] [1611185869.283871764, 22.288000000]: [WGN] Current position -0.009400 -0.039366 9.320177
[ INFO] [1611185869.292109069, 22.296000000]: WP: reached #0
[ INFO] [1611185869.315225392, 22.320000000]: Input cloud size 3072 
[ INFO] [1611185869.315623064, 22.320000000]: [WGN] Current position -0.008593 -0.038382 9.351890
[ INFO] [1611185869.320439684, 22.320000000]: [WGN] Not a land waypoint
[ INFO] [1611185869.320550911, 22.320000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185869.320646761, 22.320000000]: [WGN] Landing Radius: xy  nan, z 9.463981 
[ INFO] [1611185869.385044238, 22.388000000]: [WGN] Current position -0.007059 -0.036811 9.397488
[ INFO] [1611185869.386894104, 22.388000000]: Input cloud size 3072 
[ INFO] [1611185869.393899777, 22.396000000]: WP: reached #0
[ INFO] [1611185869.397999388, 22.400000000]: [WGN] Not a land waypoint
[ INFO] [1611185869.398194306, 22.400000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185869.398311311, 22.400000000]: [WGN] Landing Radius: xy  nan, z 9.509554 
[ INFO] [1611185869.483271392, 22.488000000]: [WGN] Current position -0.001384 -0.033857 9.473974
[ INFO] [1611185869.491939821, 22.496000000]: WP: reached #0
[ INFO] [1611185869.515279882, 22.520000000]: [WGN] Current position 0.001456 -0.033089 9.495722
[ INFO] [1611185869.515318310, 22.520000000]: Input cloud size 3072 
[ INFO] [1611185869.520045403, 22.524000000]: [WGN] Not a land waypoint
[ INFO] [1611185869.520200868, 22.524000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185869.520272763, 22.524000000]: [WGN] Landing Radius: xy  nan, z 9.606624 
[ INFO] [1611185869.585449296, 22.588000000]: [WGN] Current position 0.010365 -0.029679 9.539386
[ INFO] [1611185869.593183073, 22.596000000]: WP: reached #0
[ INFO] [1611185869.603586713, 22.604000000]: Input cloud size 3072 
[ INFO] [1611185869.613163679, 22.612000000]: [WGN] Not a land waypoint
[ INFO] [1611185869.613332759, 22.612000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185869.613465537, 22.612000000]: [WGN] Landing Radius: xy  nan, z 9.647753 
[ INFO] [1611185869.688589271, 22.688000000]: [WGN] Current position 0.029858 -0.018974 9.592257
[ INFO] [1611185869.698291716, 22.696000000]: Input cloud size 3072 
[ INFO] [1611185869.704050037, 22.700000000]: WP: reached #0
[ INFO] [1611185869.711006914, 22.708000000]: [WGN] Not a land waypoint
[ INFO] [1611185869.711199249, 22.708000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185869.711284054, 22.708000000]: [WGN] Landing Radius: xy  nan, z 9.698289 
[ INFO] [1611185869.789757291, 22.788000000]: [WGN] Current position 0.062839 0.003456 9.643611
[ INFO] [1611185869.811300398, 22.808000000]: Input cloud size 3072 
[ INFO] [1611185869.818546478, 22.816000000]: WP: reached #0
[ INFO] [1611185869.820496685, 22.816000000]: [WGN] Not a land waypoint
[ INFO] [1611185869.820904839, 22.816000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185869.821030743, 22.816000000]: [WGN] Landing Radius: xy  nan, z 9.747070 
[ INFO] [1611185869.891354617, 22.888000000]: [WGN] Current position 0.111071 0.040965 9.689388
[ INFO] [1611185869.898953110, 22.896000000]: Input cloud size 3072 
[ INFO] [1611185869.909286516, 22.900000000]: [WGN] Not a land waypoint
[ INFO] [1611185869.909371215, 22.900000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185869.909432862, 22.900000000]: [WGN] Landing Radius: xy  nan, z 9.789683 
[ INFO] [1611185869.920007810, 22.912000000]: WP: reached #0
[ INFO] [1611185869.995180754, 22.988000000]: [WGN] Current position 0.176953 0.097347 9.728642
[ INFO] [1611185870.015071405, 23.004000000]: Input cloud size 3072 
[ INFO] [1611185870.024777722, 23.016000000]: [WGN] Not a land waypoint
[ INFO] [1611185870.024881895, 23.016000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185870.024936598, 23.016000000]: [WGN] Landing Radius: xy  nan, z 9.825034 
[ INFO] [1611185870.035970641, 23.028000000]: WP: reached #0
[ INFO] [1611185870.095693685, 23.088000000]: [WGN] Current position 0.261022 0.175581 9.763154
[ INFO] [1611185870.118178195, 23.108000000]: Input cloud size 3072 
[ INFO] [1611185870.126344078, 23.112000000]: [WGN] Not a land waypoint
[ INFO] [1611185870.126564201, 23.112000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185870.126691037, 23.112000000]: [WGN] Landing Radius: xy  nan, z 9.856153 
[ INFO] [1611185870.139639779, 23.128000000]: WP: reached #0
[ INFO] [1611185870.197826124, 23.188000000]: [WGN] Current position 0.365334 0.278682 9.794087
[ INFO] [1611185870.203845179, 23.192000000]: Input cloud size 3072 
[ INFO] [1611185870.215101983, 23.204000000]: [WGN] Not a land waypoint
[ INFO] [1611185870.215339179, 23.204000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185870.215440144, 23.204000000]: [WGN] Landing Radius: xy  nan, z 9.877786 
[ INFO] [1611185870.247081544, 23.232000000]: WP: reached #0
[ INFO] [1611185870.299049087, 23.288000000]: [WGN] Current position 0.484611 0.408655 9.818283
[ INFO] [1611185870.312696317, 23.300000000]: Input cloud size 3072 
[ INFO] [1611185870.325967110, 23.312000000]: [WGN] Not a land waypoint
[ INFO] [1611185870.326164681, 23.312000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185870.326254524, 23.312000000]: [WGN] Landing Radius: xy  nan, z 9.893612 
[ INFO] [1611185870.401744404, 23.388000000]: [WGN] Current position 0.618641 0.565932 9.835609
[ INFO] [1611185870.411291716, 23.396000000]: Input cloud size 3072 
[ INFO] [1611185870.422947724, 23.408000000]: [WGN] Not a land waypoint
[ INFO] [1611185870.423170307, 23.408000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185870.423287250, 23.408000000]: [WGN] Landing Radius: xy  nan, z 9.903405 
[ INFO] [1611185870.500683710, 23.488000000]: [WGN] Current position 0.769135 0.749823 9.849579
[ INFO] [1611185870.513695425, 23.500000000]: Input cloud size 3072 
[ INFO] [1611185870.517811964, 23.504000000]: [WGN] Not a land waypoint
[ INFO] [1611185870.517920592, 23.504000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185870.517982694, 23.504000000]: [WGN] Landing Radius: xy  nan, z 9.910595 
[ INFO] [1611185870.600493900, 23.588000000]: [WGN] Current position 0.940295 0.958561 9.868001
[ INFO] [1611185870.619611190, 23.604000000]: Input cloud size 3072 
[ INFO] [1611185870.624096881, 23.612000000]: [WGN] Not a land waypoint
[ INFO] [1611185870.624232513, 23.612000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185870.624293353, 23.612000000]: [WGN] Landing Radius: xy  nan, z 9.922915 
[ INFO] [1611185870.705405592, 23.692000000]: [WGN] Current position 1.143011 1.215217 9.888757
[ INFO] [1611185870.716233720, 23.700000000]: Input cloud size 3072 
[ INFO] [1611185870.724240985, 23.708000000]: [WGN] Not a land waypoint
[ INFO] [1611185870.724361386, 23.708000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185870.724461023, 23.708000000]: [WGN] Landing Radius: xy  nan, z 9.938180 
[ INFO] [1611185870.803602229, 23.788000000]: [WGN] Current position 1.330788 1.458090 9.906137
[ INFO] [1611185870.837061680, 23.820000000]: [WGN] Current position 1.417170 1.569889 9.912826
[ INFO] [1611185870.837193497, 23.820000000]: Input cloud size 3072 
[ INFO] [1611185870.843981833, 23.828000000]: [WGN] Not a land waypoint
[ INFO] [1611185870.844196983, 23.828000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185870.844294552, 23.828000000]: [WGN] Landing Radius: xy  nan, z 9.957307 
[ INFO] [1611185870.905771289, 23.888000000]: [WGN] Current position 1.572748 1.767161 9.921660
[ INFO] [1611185870.927220426, 23.908000000]: Input cloud size 3072 
[ INFO] [1611185870.932809251, 23.912000000]: [WGN] Not a land waypoint
[ INFO] [1611185870.932985561, 23.912000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185870.933078851, 23.912000000]: [WGN] Landing Radius: xy  nan, z 9.961693 
[ INFO] [1611185871.006031568, 23.988000000]: [WGN] Current position 1.797897 2.048210 9.928737
[ INFO] [1611185871.024888239, 24.004000000]: Input cloud size 3072 
[ INFO] [1611185871.029265516, 24.008000000]: [WGN] Not a land waypoint
[ INFO] [1611185871.029361710, 24.008000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185871.029420094, 24.008000000]: [WGN] Landing Radius: xy  nan, z 9.964767 
[ INFO] [1611185871.107170752, 24.088000000]: [WGN] Current position 2.053501 2.372771 9.933019
[ INFO] [1611185871.112006837, 24.092000000]: Input cloud size 3072 
[ INFO] [1611185871.123176491, 24.100000000]: [WGN] Not a land waypoint
[ INFO] [1611185871.123325936, 24.100000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185871.123420122, 24.100000000]: [WGN] Landing Radius: xy  nan, z 9.965446 
[ INFO] [1611185871.212251853, 24.188000000]: [WGN] Current position 2.315533 2.716750 9.935272
[ INFO] [1611185871.224606174, 24.200000000]: Input cloud size 3072 
[ INFO] [1611185871.233227095, 24.208000000]: [WGN] Not a land waypoint
[ INFO] [1611185871.233539839, 24.208000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185871.234924682, 24.208000000]: [WGN] Landing Radius: xy  nan, z 9.964457 
[ INFO] [1611185871.310880127, 24.288000000]: [WGN] Current position 2.580642 3.078652 9.935872
[ INFO] [1611185871.317696486, 24.292000000]: Input cloud size 3072 
[ INFO] [1611185871.325851980, 24.300000000]: [WGN] Not a land waypoint
[ INFO] [1611185871.326023657, 24.300000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185871.326106035, 24.300000000]: [WGN] Landing Radius: xy  nan, z 9.962137 
[ INFO] [1611185871.414141163, 24.388000000]: [WGN] Current position 2.847769 3.455547 9.936199
[ INFO] [1611185871.423828412, 24.396000000]: Input cloud size 3072 
[ INFO] [1611185871.433407807, 24.404000000]: [WGN] Not a land waypoint
[ INFO] [1611185871.433648765, 24.404000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185871.433748762, 24.404000000]: [WGN] Landing Radius: xy  nan, z 9.960032 
[ INFO] [1611185871.515545362, 24.488000000]: [WGN] Current position 3.111602 3.845847 9.936203
[ INFO] [1611185871.517961273, 24.488000000]: Input cloud size 3072 
[ INFO] [1611185871.527227211, 24.496000000]: [WGN] Not a land waypoint
[ INFO] [1611185871.527333895, 24.496000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185871.527396568, 24.496000000]: [WGN] Landing Radius: xy  nan, z 9.958052 
[ INFO] [1611185871.616228832, 24.588000000]: [WGN] Current position 3.371924 4.246523 9.935914
[ INFO] [1611185871.637502985, 24.608000000]: Input cloud size 3072 
[ INFO] [1611185871.647538379, 24.616000000]: [WGN] Not a land waypoint
[ INFO] [1611185871.647756398, 24.616000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185871.647894287, 24.616000000]: [WGN] Landing Radius: xy  nan, z 9.964545 
[ INFO] [1611185871.717393682, 24.688000000]: [WGN] Current position 3.641148 4.687047 9.934532
[ INFO] [1611185871.732808849, 24.704000000]: Input cloud size 3072 
[ INFO] [1611185871.738888281, 24.708000000]: [WGN] Not a land waypoint
[ INFO] [1611185871.738975941, 24.708000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185871.739042035, 24.708000000]: [WGN] Landing Radius: xy  nan, z 9.959879 
[ INFO] [1611185871.817608205, 24.788000000]: [WGN] Current position 3.857839 5.065991 9.933211
[ INFO] [1611185871.837900950, 24.808000000]: Input cloud size 3072 
[ INFO] [1611185871.846687936, 24.816000000]: [WGN] Not a land waypoint
[ INFO] [1611185871.846890787, 24.816000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185871.846965783, 24.816000000]: [WGN] Landing Radius: xy  nan, z 9.925561 
[ INFO] [1611185871.919204856, 24.888000000]: [WGN] Current position 4.080297 5.478910 9.931307
[ INFO] [1611185871.919785598, 24.888000000]: Input cloud size 3072 
[ INFO] [1611185871.923683119, 24.892000000]: [WGN] Not a land waypoint
[ INFO] [1611185871.923772547, 24.892000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185871.923828643, 24.892000000]: [WGN] Landing Radius: xy  nan, z 9.744148 
[ INFO] [1611185872.020995617, 24.988000000]: [WGN] Current position 4.312055 5.923268 9.929258
[ INFO] [1611185872.033648517, 25.000000000]: Input cloud size 3072 
[ INFO] [1611185872.041078745, 25.008000000]: [WGN] Not a land waypoint
[ INFO] [1611185872.041189386, 25.008000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185872.041246989, 25.008000000]: [WGN] Landing Radius: xy  nan, z 9.539582 
[ INFO] [1611185872.119552077, 25.088000000]: [WGN] Current position 4.499585 6.300319 9.928035
[ INFO] [1611185872.134318753, 25.100000000]: Input cloud size 3072 
[ INFO] [1611185872.142120745, 25.108000000]: [WGN] Not a land waypoint
[ INFO] [1611185872.142261593, 25.108000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185872.142357983, 25.108000000]: [WGN] Landing Radius: xy  nan, z 9.305382 
[ INFO] [1611185872.220047758, 25.188000000]: [WGN] Current position 4.700567 6.711297 9.926981
[ INFO] [1611185872.221674261, 25.188000000]: Input cloud size 3072 
[ INFO] [1611185872.231376988, 25.192000000]: [WGN] Not a land waypoint
[ INFO] [1611185872.231511606, 25.192000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185872.231580426, 25.192000000]: [WGN] Landing Radius: xy  nan, z 9.048829 
[ INFO] [1611185872.323034536, 25.288000000]: [WGN] Current position 4.898728 7.121045 9.926197
[ INFO] [1611185872.330189695, 25.292000000]: Input cloud size 3072 
[ INFO] [1611185872.340964893, 25.304000000]: [WGN] Not a land waypoint
[ INFO] [1611185872.341087516, 25.304000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185872.341179629, 25.304000000]: [WGN] Landing Radius: xy  nan, z 8.883307 
[ INFO] [1611185872.424540589, 25.388000000]: [WGN] Current position 5.096511 7.530548 9.926355
[ INFO] [1611185872.440074679, 25.404000000]: Input cloud size 3072 
[ INFO] [1611185872.450077585, 25.412000000]: [WGN] Not a land waypoint
[ INFO] [1611185872.450334697, 25.412000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185872.450414130, 25.412000000]: [WGN] Landing Radius: xy  nan, z 8.740189 
[ INFO] [1611185872.523881771, 25.488000000]: [WGN] Current position 5.295158 7.940558 9.927835
[ INFO] [1611185872.524916440, 25.488000000]: Input cloud size 3072 
[ INFO] [1611185872.537019286, 25.500000000]: [WGN] Not a land waypoint
[ INFO] [1611185872.537359427, 25.500000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185872.537487618, 25.500000000]: [WGN] Landing Radius: xy  nan, z 8.668828 
[ INFO] [1611185872.624368664, 25.588000000]: [WGN] Current position 5.496491 8.352085 9.932775
[ INFO] [1611185872.650445152, 25.612000000]: Input cloud size 3072 
[ INFO] [1611185872.655534418, 25.620000000]: [WGN] Current position 5.576662 8.516676 9.934461
[ INFO] [1611185872.658804544, 25.624000000]: [WGN] Not a land waypoint
[ INFO] [1611185872.659037426, 25.624000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185872.659150216, 25.624000000]: [WGN] Landing Radius: xy  nan, z 8.675443 
[ INFO] [1611185872.724668600, 25.688000000]: [WGN] Current position 5.696537 8.763525 9.936624
[ INFO] [1611185872.756612339, 25.720000000]: [WGN] Current position 5.776271 8.928089 9.937796
[ INFO] [1611185872.756736991, 25.720000000]: Input cloud size 3072 
[ INFO] [1611185872.761483363, 25.724000000]: [WGN] Not a land waypoint
[ INFO] [1611185872.761601326, 25.724000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185872.761649690, 25.724000000]: [WGN] Landing Radius: xy  nan, z 8.687778 
[ INFO] [1611185872.824349191, 25.788000000]: [WGN] Current position 5.895571 9.175023 9.939151
[ INFO] [1611185872.852326844, 25.812000000]: Input cloud size 3072 
[ INFO] [1611185872.857513064, 25.820000000]: [WGN] Current position 5.974932 9.339692 9.940166
[ INFO] [1611185872.858067687, 25.820000000]: [WGN] Not a land waypoint
[ INFO] [1611185872.858141752, 25.820000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185872.858201620, 25.820000000]: [WGN] Landing Radius: xy  nan, z 8.749889 
[ INFO] [1611185872.924346866, 25.888000000]: [WGN] Current position 6.094698 9.587186 9.941861
[ INFO] [1611185872.956914948, 25.920000000]: [WGN] Current position 6.175571 9.752695 9.943542
[ INFO] [1611185872.956975861, 25.920000000]: Input cloud size 3072 
[ INFO] [1611185872.969950661, 25.932000000]: [WGN] Not a land waypoint
[ INFO] [1611185872.970166525, 25.932000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185872.970258638, 25.932000000]: [WGN] Landing Radius: xy  nan, z 8.757591 
[ INFO] [1611185873.025997825, 25.988000000]: [WGN] Current position 6.312684 10.034186 9.946255
[ INFO] [1611185873.026425416, 25.988000000]: Input cloud size 3072 
[ INFO] [1611185873.037600814, 25.996000000]: [WGN] Not a land waypoint
[ INFO] [1611185873.037833935, 25.996000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185873.038021956, 25.996000000]: [WGN] Landing Radius: xy  nan, z 8.858775 
[ INFO] [1611185873.125438757, 26.088000000]: [WGN] Current position 6.497320 10.415127 9.948750
[ INFO] [1611185873.148563450, 26.108000000]: Input cloud size 3072 
[ INFO] [1611185873.158525026, 26.120000000]: [WGN] Current position 6.577388 10.580868 9.949427
[ INFO] [1611185873.158815648, 26.120000000]: [WGN] Not a land waypoint
[ INFO] [1611185873.158976652, 26.120000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185873.159104245, 26.120000000]: [WGN] Landing Radius: xy  nan, z 8.982099 
[ INFO] [1611185873.226232493, 26.188000000]: [WGN] Current position 6.697240 10.829700 9.950230
[ INFO] [1611185873.249458794, 26.208000000]: Input cloud size 3072 
[ INFO] [1611185873.258139228, 26.216000000]: [WGN] Not a land waypoint
[ INFO] [1611185873.258247527, 26.216000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185873.258302680, 26.216000000]: [WGN] Landing Radius: xy  nan, z 9.090873 
[ INFO] [1611185873.326945618, 26.288000000]: [WGN] Current position 6.896884 11.245630 9.951008
[ INFO] [1611185873.360676753, 26.320000000]: [WGN] Current position 6.977214 11.413180 9.951743
[ INFO] [1611185873.360844625, 26.320000000]: Input cloud size 3072 
[ INFO] [1611185873.374402312, 26.328000000]: [WGN] Not a land waypoint
[ INFO] [1611185873.374732112, 26.328000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185873.374825840, 26.328000000]: [WGN] Landing Radius: xy  nan, z 9.189543 
[ INFO] [1611185873.431935808, 26.388000000]: [WGN] Current position 7.097355 11.664502 9.952553
[ INFO] [1611185873.444756711, 26.400000000]: Input cloud size 3072 
[ INFO] [1611185873.452888420, 26.408000000]: [WGN] Not a land waypoint
[ INFO] [1611185873.453016794, 26.408000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185873.453165656, 26.408000000]: [WGN] Landing Radius: xy  nan, z 9.277979 
[ INFO] [1611185873.534988139, 26.488000000]: [WGN] Current position 7.297418 12.083560 9.954137
[ INFO] [1611185873.540239095, 26.492000000]: Input cloud size 3072 
[ INFO] [1611185873.549323418, 26.500000000]: [WGN] Not a land waypoint
[ INFO] [1611185873.549415687, 26.500000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185873.549490466, 26.500000000]: [WGN] Landing Radius: xy  nan, z 9.358444 
[ INFO] [1611185873.633921407, 26.588000000]: [WGN] Current position 7.498681 12.502976 9.957603
[ INFO] [1611185873.655230584, 26.608000000]: Input cloud size 3072 
[ INFO] [1611185873.666688357, 26.620000000]: [WGN] Not a land waypoint
[ INFO] [1611185873.666850974, 26.620000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185873.666914521, 26.620000000]: [WGN] Landing Radius: xy  nan, z 9.432990 
[ INFO] [1611185873.735248331, 26.688000000]: [WGN] Current position 7.699033 12.922482 9.959977
[ INFO] [1611185873.738594363, 26.692000000]: Input cloud size 3072 
[ INFO] [1611185873.744342063, 26.696000000]: [WGN] Not a land waypoint
[ INFO] [1611185873.744466048, 26.696000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185873.744526308, 26.696000000]: [WGN] Landing Radius: xy  nan, z 9.499255 
[ INFO] [1611185873.834979070, 26.788000000]: [WGN] Current position 7.898701 13.342247 9.961720
[ INFO] [1611185873.834987501, 26.788000000]: Input cloud size 3072 
[ INFO] [1611185873.844664496, 26.796000000]: [WGN] Not a land waypoint
[ INFO] [1611185873.845084137, 26.796000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185873.845351675, 26.796000000]: [WGN] Landing Radius: xy  nan, z 9.558414 
[ INFO] [1611185873.936133585, 26.888000000]: [WGN] Current position 8.098289 13.762874 9.963395
[ INFO] [1611185873.953350256, 26.904000000]: Input cloud size 3072 
[ INFO] [1611185873.965836181, 26.912000000]: [WGN] Not a land waypoint
[ INFO] [1611185873.966194783, 26.912000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185873.966337664, 26.912000000]: [WGN] Landing Radius: xy  nan, z 9.611755 
[ INFO] [1611185874.037477833, 26.988000000]: [WGN] Current position 8.315042 14.219548 9.965937
[ INFO] [1611185874.054173347, 27.004000000]: Input cloud size 3072 
[ INFO] [1611185874.063151014, 27.012000000]: [WGN] Not a land waypoint
[ INFO] [1611185874.063463576, 27.012000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185874.063589143, 27.012000000]: [WGN] Landing Radius: xy  nan, z 9.660831 
[ INFO] [1611185874.138530669, 27.088000000]: [WGN] Current position 8.499081 14.608518 9.967058
[ INFO] [1611185874.152969475, 27.100000000]: Input cloud size 3072 
[ INFO] [1611185874.162105149, 27.112000000]: [WGN] Not a land waypoint
[ INFO] [1611185874.162304855, 27.112000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185874.162384213, 27.112000000]: [WGN] Landing Radius: xy  nan, z 9.703812 
[ INFO] [1611185874.238638440, 27.188000000]: [WGN] Current position 8.714690 15.065438 9.967551
[ INFO] [1611185874.247159095, 27.196000000]: Input cloud size 3072 
[ INFO] [1611185874.255822666, 27.204000000]: [WGN] Not a land waypoint
[ INFO] [1611185874.256029804, 27.204000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185874.256144902, 27.204000000]: [WGN] Landing Radius: xy  nan, z 9.741976 
[ INFO] [1611185874.340112374, 27.288000000]: [WGN] Current position 8.914578 15.489965 9.968527
[ INFO] [1611185874.362530631, 27.308000000]: Input cloud size 3072 
[ INFO] [1611185874.372883456, 27.308000000]: [WGN] Not a land waypoint
[ INFO] [1611185874.373168397, 27.308000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185874.373292630, 27.308000000]: [WGN] Landing Radius: xy  nan, z 9.776956 
[ INFO] [1611185874.440948560, 27.388000000]: [WGN] Current position 9.099353 15.882483 9.970631
[ INFO] [1611185874.450285806, 27.396000000]: Input cloud size 3072 
[ INFO] [1611185874.454737342, 27.400000000]: [WGN] Not a land waypoint
[ INFO] [1611185874.454830048, 27.400000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185874.454897162, 27.400000000]: [WGN] Landing Radius: xy  nan, z 9.809836 
[ INFO] [1611185874.542050447, 27.488000000]: [WGN] Current position 9.316511 16.344372 9.973066
[ INFO] [1611185874.572539685, 27.516000000]: [WGN] Current position 9.381170 16.482016 9.974363
[ INFO] [1611185874.572821430, 27.520000000]: Input cloud size 3072 
[ INFO] [1611185874.582684284, 27.528000000]: [WGN] Not a land waypoint
[ INFO] [1611185874.582862763, 27.528000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185874.582985856, 27.528000000]: [WGN] Landing Radius: xy  nan, z 9.841603 
[ INFO] [1611185874.746729235, 27.588000000]: [WGN] Current position 9.502333 16.740038 9.976343
[ INFO] [1611185874.772989623, 27.612000000]: Input cloud size 3072 
[ INFO] [1611185874.779715986, 27.620000000]: [WGN] Current position 9.582988 16.911892 9.977117
[ INFO] [1611185874.788235042, 27.624000000]: [WGN] Not a land waypoint
[ INFO] [1611185874.788559579, 27.624000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185874.788776782, 27.624000000]: [WGN] Landing Radius: xy  nan, z 9.869781 
[ INFO] [1611185874.848341736, 27.688000000]: [WGN] Current position 9.719923 17.203894 9.977950
[ INFO] [1611185874.854870194, 27.692000000]: Input cloud size 3072 
[ INFO] [1611185874.857792283, 27.696000000]: [WGN] Not a land waypoint
[ INFO] [1611185874.857957260, 27.696000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185874.858046671, 27.696000000]: [WGN] Landing Radius: xy  nan, z 9.893503 
[ INFO] [1611185874.948673574, 27.788000000]: [WGN] Current position 9.904839 17.598482 9.978115
[ INFO] [1611185874.961443040, 27.800000000]: Input cloud size 3072 
[ INFO] [1611185874.969215226, 27.808000000]: [WGN] Not a land waypoint
[ INFO] [1611185874.969301544, 27.808000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185874.969357049, 27.808000000]: [WGN] Landing Radius: xy  nan, z 9.914316 
[ INFO] [1611185875.050021943, 27.888000000]: [WGN] Current position 10.105331 18.027897 9.979030
[ INFO] [1611185875.074347700, 27.912000000]: Input cloud size 3072 
[ INFO] [1611185875.082415219, 27.920000000]: [WGN] Current position 10.185151 18.200689 9.980278
[ INFO] [1611185875.085968474, 27.924000000]: [WGN] Not a land waypoint
[ INFO] [1611185875.086045991, 27.924000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185875.086093963, 27.924000000]: [WGN] Landing Radius: xy  nan, z 9.935120 
[ INFO] [1611185875.149866202, 27.988000000]: [WGN] Current position 10.304893 18.459591 9.982188
[ INFO] [1611185875.171270227, 28.008000000]: Input cloud size 3072 
[ INFO] [1611185875.180777564, 28.016000000]: [WGN] Not a land waypoint
[ INFO] [1611185875.181432605, 28.016000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185875.181625736, 28.016000000]: [WGN] Landing Radius: xy  nan, z 9.953749 
[ INFO] [1611185875.252124051, 28.088000000]: [WGN] Current position 10.504524 18.890528 9.983978
[ INFO] [1611185875.271175009, 28.108000000]: Input cloud size 3072 
[ INFO] [1611185875.280290849, 28.112000000]: [WGN] Not a land waypoint
[ INFO] [1611185875.280620252, 28.112000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185875.280773808, 28.112000000]: [WGN] Landing Radius: xy  nan, z 9.970656 
[ INFO] [1611185875.351467783, 28.188000000]: [WGN] Current position 10.704181 19.320686 9.983823
[ INFO] [1611185875.372304325, 28.208000000]: Input cloud size 3072 
[ INFO] [1611185875.379089612, 28.216000000]: [WGN] Not a land waypoint
[ INFO] [1611185875.379193545, 28.216000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185875.379258542, 28.216000000]: [WGN] Landing Radius: xy  nan, z 9.984147 
[ INFO] [1611185875.450422762, 28.288000000]: [WGN] Current position 10.902845 19.748608 9.983002
[ INFO] [1611185875.459146475, 28.296000000]: Input cloud size 3072 
[ INFO] [1611185875.464393330, 28.300000000]: [WGN] Not a land waypoint
[ INFO] [1611185875.464575320, 28.300000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185875.464649736, 28.300000000]: [WGN] Landing Radius: xy  nan, z 9.995964 
[ INFO] [1611185875.551416593, 28.388000000]: [WGN] Current position 11.114404 20.204805 9.986215
[ INFO] [1611185875.551775078, 28.388000000]: Input cloud size 3072 
[ INFO] [1611185875.562844393, 28.396000000]: [WGN] Not a land waypoint
[ INFO] [1611185875.563109956, 28.396000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185875.563252501, 28.396000000]: [WGN] Landing Radius: xy  nan, z 10.011203 
[ INFO] [1611185875.651672034, 28.488000000]: [WGN] Current position 11.291895 20.584164 9.988698
[ INFO] [1611185875.652457664, 28.488000000]: Input cloud size 3072 
[ INFO] [1611185875.663343112, 28.500000000]: [WGN] Not a land waypoint
[ INFO] [1611185875.663547961, 28.500000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185875.663777914, 28.500000000]: [WGN] Landing Radius: xy  nan, z 10.024183 
[ INFO] [1611185875.751785872, 28.588000000]: [WGN] Current position 11.481811 20.984415 9.994059
[ INFO] [1611185875.775813927, 28.608000000]: Input cloud size 3072 
[ INFO] [1611185875.782641557, 28.616000000]: [WGN] Not a land waypoint
[ INFO] [1611185875.782719850, 28.616000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185875.782769095, 28.616000000]: [WGN] Landing Radius: xy  nan, z 10.039873 
[ INFO] [1611185875.856637749, 28.688000000]: [WGN] Current position 11.666900 21.369980 9.997103
[ INFO] [1611185875.874632167, 28.704000000]: Input cloud size 3072 
[ INFO] [1611185875.885446947, 28.716000000]: [WGN] Not a land waypoint
[ INFO] [1611185875.885921411, 28.716000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185875.886105385, 28.716000000]: [WGN] Landing Radius: xy  nan, z 10.052469 
[ INFO] [1611185875.957754257, 28.788000000]: [WGN] Current position 11.846729 21.741459 9.998201
[ INFO] [1611185875.968684929, 28.800000000]: Input cloud size 3072 
[ INFO] [1611185875.972836875, 28.804000000]: [WGN] Not a land waypoint
[ INFO] [1611185875.972925020, 28.804000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185875.972983472, 28.804000000]: [WGN] Landing Radius: xy  nan, z 10.062212 
[ INFO] [1611185876.056278955, 28.888000000]: [WGN] Current position 12.020729 22.100504 9.998867
[ INFO] [1611185876.077859242, 28.908000000]: Input cloud size 3072 
[ INFO] [1611185876.083382686, 28.912000000]: [WGN] Not a land waypoint
[ INFO] [1611185876.083476884, 28.912000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185876.083542295, 28.912000000]: [WGN] Landing Radius: xy  nan, z 10.070662 
[ INFO] [1611185876.156315388, 28.988000000]: [WGN] Current position 12.201527 22.476847 10.002789
[ INFO] [1611185876.158441665, 28.988000000]: Input cloud size 3072 
[ INFO] [1611185876.171302422, 29.000000000]: [WGN] Not a land waypoint
[ INFO] [1611185876.171603207, 29.000000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185876.171733414, 29.000000000]: [WGN] Landing Radius: xy  nan, z 10.081679 
[ INFO] [1611185876.256317022, 29.088000000]: [WGN] Current position 12.350090 22.786581 10.005487
[ INFO] [1611185876.279467355, 29.108000000]: Input cloud size 3072 
[ INFO] [1611185876.290038136, 29.116000000]: [WGN] Current position 12.412693 22.919062 10.008499
[ INFO] [1611185876.291332932, 29.120000000]: [WGN] Not a land waypoint
[ INFO] [1611185876.291621665, 29.120000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185876.291744016, 29.120000000]: [WGN] Landing Radius: xy  nan, z 10.093716 
[ INFO] [1611185876.359515492, 29.188000000]: [WGN] Current position 12.505019 23.113892 10.011990
[ INFO] [1611185876.362767543, 29.192000000]: Input cloud size 3072 
[ INFO] [1611185876.367287053, 29.196000000]: [WGN] Not a land waypoint
[ INFO] [1611185876.367364971, 29.196000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185876.367414307, 29.196000000]: [WGN] Landing Radius: xy  nan, z 10.103165 
[ INFO] [1611185876.463054471, 29.292000000]: [WGN] Current position 12.654492 23.428509 10.015643
[ INFO] [1611185876.479615066, 29.308000000]: Input cloud size 3072 
[ INFO] [1611185876.487696015, 29.316000000]: [WGN] Not a land waypoint
[ INFO] [1611185876.487880907, 29.316000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185876.488016373, 29.316000000]: [WGN] Landing Radius: xy  nan, z 10.111866 
[ INFO] [1611185876.559498894, 29.388000000]: [WGN] Current position 12.798409 23.730925 10.016820
[ INFO] [1611185876.577205012, 29.404000000]: Input cloud size 3072 
[ INFO] [1611185876.587028329, 29.412000000]: [WGN] Not a land waypoint
[ INFO] [1611185876.587270592, 29.412000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185876.587389973, 29.412000000]: [WGN] Landing Radius: xy  nan, z 10.117072 
[ INFO] [1611185876.659157185, 29.488000000]: [WGN] Current position 12.947788 24.045370 10.017735
[ INFO] [1611185876.675815057, 29.504000000]: Input cloud size 3072 
[ INFO] [1611185876.684223029, 29.512000000]: [WGN] Not a land waypoint
[ INFO] [1611185876.684518108, 29.512000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185876.684608884, 29.512000000]: [WGN] Landing Radius: xy  nan, z 10.121674 
[ INFO] [1611185876.761411433, 29.588000000]: [WGN] Current position 13.070194 24.304491 10.020000
[ INFO] [1611185876.770588802, 29.596000000]: Input cloud size 3072 
[ INFO] [1611185876.779123294, 29.604000000]: [WGN] Not a land waypoint
[ INFO] [1611185876.779230527, 29.604000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185876.779288718, 29.604000000]: [WGN] Landing Radius: xy  nan, z 10.126719 
[ INFO] [1611185876.860902796, 29.688000000]: [WGN] Current position 13.198183 24.574623 10.021228
[ INFO] [1611185876.867378910, 29.692000000]: Input cloud size 3072 
[ INFO] [1611185876.876490003, 29.700000000]: [WGN] Not a land waypoint
[ INFO] [1611185876.876682116, 29.700000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185876.876767521, 29.700000000]: [WGN] Landing Radius: xy  nan, z 10.128021 
[ INFO] [1611185876.962852024, 29.788000000]: [WGN] Current position 13.321797 24.832384 10.022909
[ INFO] [1611185876.990865998, 29.812000000]: Input cloud size 3072 
[ INFO] [1611185876.999132249, 29.820000000]: [WGN] Current position 13.369555 24.932352 10.023168
[ INFO] [1611185877.006082788, 29.824000000]: [WGN] Not a land waypoint
[ INFO] [1611185877.006272128, 29.824000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185877.006341739, 29.828000000]: [WGN] Landing Radius: xy  nan, z 10.126938 
[ INFO] [1611185877.066935460, 29.888000000]: [WGN] Current position 13.439360 25.078972 10.022670
[ INFO] [1611185877.069631364, 29.892000000]: Input cloud size 3072 
[ INFO] [1611185877.073195194, 29.892000000]: [WGN] Not a land waypoint
[ INFO] [1611185877.073416789, 29.892000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185877.073515320, 29.892000000]: [WGN] Landing Radius: xy  nan, z 10.094358 
[ INFO] [1611185877.167662474, 29.988000000]: [WGN] Current position 13.550867 25.314688 10.020785
[ INFO] [1611185877.186359887, 29.996000000]: Input cloud size 3072 
[ INFO] [1611185877.191289950, 30.012000000]: [WGN] Not a land waypoint
[ INFO] [1611185877.191375685, 30.012000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185877.191449322, 30.012000000]: [WGN] Landing Radius: xy  nan, z 10.011435 
[ INFO] [1611185877.267869906, 30.088000000]: [WGN] Current position 13.655733 25.539709 10.018944
[ INFO] [1611185877.296280850, 30.116000000]: Input cloud size 3072 
[ INFO] [1611185877.299393719, 30.120000000]: [WGN] Current position 13.695562 25.626516 10.019406
[ INFO] [1611185877.303527006, 30.124000000]: [WGN] Not a land waypoint
[ INFO] [1611185877.303647938, 30.124000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185877.303725813, 30.124000000]: [WGN] Landing Radius: xy  nan, z 9.782636 
[ INFO] [1611185877.367758483, 30.188000000]: [WGN] Current position 13.753552 25.753757 10.019665
[ INFO] [1611185877.369245576, 30.188000000]: Input cloud size 3072 
[ INFO] [1611185877.372418296, 30.192000000]: [WGN] Not a land waypoint
[ INFO] [1611185877.372512761, 30.192000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185877.372600866, 30.192000000]: [WGN] Landing Radius: xy  nan, z 9.538326 
[ INFO] [1611185877.466557050, 30.288000000]: [WGN] Current position 13.846128 25.958067 10.018986
[ INFO] [1611185877.483341624, 30.300000000]: Input cloud size 3072 
[ INFO] [1611185877.497443040, 30.316000000]: [WGN] Not a land waypoint
[ INFO] [1611185877.497549288, 30.316000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185877.497614557, 30.316000000]: [WGN] Landing Radius: xy  nan, z 9.156827 
[ INFO] [1611185877.572322533, 30.388000000]: [WGN] Current position 13.934525 26.153002 10.017329
[ INFO] [1611185877.572468686, 30.388000000]: Input cloud size 3072 
[ INFO] [1611185877.581807701, 30.396000000]: [WGN] Not a land waypoint
[ INFO] [1611185877.581948383, 30.396000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185877.582029592, 30.396000000]: [WGN] Landing Radius: xy  nan, z 8.810158 
[ INFO] [1611185877.672265190, 30.488000000]: [WGN] Current position 14.019149 26.338892 10.016058
[ INFO] [1611185877.684399145, 30.500000000]: Input cloud size 3072 
[ INFO] [1611185877.688381634, 30.504000000]: [WGN] Not a land waypoint
[ INFO] [1611185877.688449483, 30.504000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185877.688528315, 30.504000000]: [WGN] Landing Radius: xy  nan, z 8.475663 
[ INFO] [1611185877.770303446, 30.588000000]: [WGN] Current position 14.100296 26.516012 10.018077
[ INFO] [1611185877.784534693, 30.600000000]: Input cloud size 3072 
[ INFO] [1611185877.788412554, 30.604000000]: [WGN] Not a land waypoint
[ INFO] [1611185877.788494602, 30.604000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185877.788563175, 30.604000000]: [WGN] Landing Radius: xy  nan, z 8.120487 
[ INFO] [1611185877.870079519, 30.688000000]: [WGN] Current position 14.177979 26.684414 10.018377
[ INFO] [1611185877.884476532, 30.700000000]: Input cloud size 3072 
[ INFO] [1611185877.895796935, 30.712000000]: [WGN] Not a land waypoint
[ INFO] [1611185877.895892968, 30.712000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185877.895967810, 30.712000000]: [WGN] Landing Radius: xy  nan, z 7.777297 
[ INFO] [1611185877.974087487, 30.788000000]: [WGN] Current position 14.252199 26.844456 10.017241
[ INFO] [1611185877.985752428, 30.800000000]: Input cloud size 3072 
[ INFO] [1611185877.990436597, 30.804000000]: [WGN] Not a land waypoint
[ INFO] [1611185877.991078190, 30.804000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185877.991284420, 30.804000000]: [WGN] Landing Radius: xy  nan, z 7.496437 
[ INFO] [1611185878.073317950, 30.888000000]: [WGN] Current position 14.322453 26.996250 10.016436
[ INFO] [1611185878.080359565, 30.892000000]: Input cloud size 3072 
[ INFO] [1611185878.085297768, 30.900000000]: [WGN] Not a land waypoint
[ INFO] [1611185878.085405347, 30.900000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185878.085482371, 30.900000000]: [WGN] Landing Radius: xy  nan, z 7.271556 
[ INFO] [1611185878.172438649, 30.988000000]: [WGN] Current position 14.387203 27.139311 10.017771
[ INFO] [1611185878.177897264, 30.992000000]: Input cloud size 3072 
[ INFO] [1611185878.182665091, 30.996000000]: [WGN] Not a land waypoint
[ INFO] [1611185878.182769906, 30.996000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185878.182837369, 30.996000000]: [WGN] Landing Radius: xy  nan, z 7.153239 
[ INFO] [1611185878.241838868, 31.056000000]: WP: reached #1
[ INFO] [1611185878.261987609, 31.076000000]: WP: reached #1
[ INFO] [1611185878.273238489, 31.088000000]: [WGN] Current position 14.449007 27.274996 10.018043
[ INFO] [1611185878.273971873, 31.088000000]: Input cloud size 3072 
[ INFO] [1611185878.283940630, 31.096000000]: [WGN] Not a land waypoint
[ INFO] [1611185878.284043787, 31.096000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185878.284110400, 31.096000000]: [WGN] Landing Radius: xy  nan, z 6.901974 
[ INFO] [1611185878.361623711, 31.176000000]: WP: reached #1
[ INFO] [1611185878.373412700, 31.188000000]: [WGN] Current position 14.509025 27.403549 10.016828
[ INFO] [1611185878.382081854, 31.196000000]: Input cloud size 3072 
[ INFO] [1611185878.386795764, 31.200000000]: [WGN] Not a land waypoint
[ INFO] [1611185878.386891338, 31.200000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185878.386948591, 31.200000000]: [WGN] Landing Radius: xy  nan, z 6.641070 
[ INFO] [1611185878.461808706, 31.276000000]: WP: reached #1
[ INFO] [1611185878.479342939, 31.288000000]: [WGN] Current position 14.566215 27.525211 10.008584
[ INFO] [1611185878.489775039, 31.300000000]: Input cloud size 3072 
[ INFO] [1611185878.496736287, 31.304000000]: [WGN] Not a land waypoint
[ INFO] [1611185878.496818112, 31.304000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185878.496889373, 31.304000000]: [WGN] Landing Radius: xy  nan, z 6.346541 
[ INFO] [1611185878.563924513, 31.376000000]: WP: reached #1
[ INFO] [1611185878.580489707, 31.392000000]: [WGN] Current position 14.620699 27.640444 9.986819
[ INFO] [1611185878.590285458, 31.400000000]: Input cloud size 3072 
[ INFO] [1611185878.596661098, 31.408000000]: [WGN] Not a land waypoint
[ INFO] [1611185878.596756127, 31.408000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185878.596797820, 31.408000000]: [WGN] Landing Radius: xy  nan, z 6.057493 
[ INFO] [1611185878.674441564, 31.488000000]: WP: reached #1
[ INFO] [1611185878.675302106, 31.488000000]: [WGN] Current position 14.671908 27.749275 9.947828
[ INFO] [1611185878.688739689, 31.500000000]: Input cloud size 3072 
[ INFO] [1611185878.699408742, 31.508000000]: [WGN] Not a land waypoint
[ INFO] [1611185878.699616887, 31.508000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185878.699729753, 31.508000000]: [WGN] Landing Radius: xy  nan, z 5.839668 
[ INFO] [1611185878.778181426, 31.588000000]: [WGN] Current position 14.722132 27.858782 9.884081
[ INFO] [1611185878.786938456, 31.596000000]: WP: reached #1
[ INFO] [1611185878.796782725, 31.600000000]: Input cloud size 3072 
[ INFO] [1611185878.804324989, 31.612000000]: [WGN] Not a land waypoint
[ INFO] [1611185878.804548198, 31.612000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185878.804650154, 31.612000000]: [WGN] Landing Radius: xy  nan, z 5.558540 
[ INFO] [1611185878.880280049, 31.688000000]: [WGN] Current position 14.766331 27.954954 9.798330
[ INFO] [1611185878.887569374, 31.696000000]: WP: reached #1
[ INFO] [1611185878.887775741, 31.696000000]: Input cloud size 3072 
[ INFO] [1611185878.893501498, 31.700000000]: [WGN] Not a land waypoint
[ INFO] [1611185878.893605483, 31.700000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185878.893686756, 31.700000000]: [WGN] Landing Radius: xy  nan, z 5.257234 
[ INFO] [1611185878.980232765, 31.788000000]: [WGN] Current position 14.808089 28.045887 9.694491
[ INFO] [1611185878.980468021, 31.788000000]: Input cloud size 3072 
[ INFO] [1611185878.988646961, 31.796000000]: [WGN] Not a land waypoint
[ INFO] [1611185878.988846065, 31.796000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185878.988989997, 31.796000000]: [WGN] Landing Radius: xy  nan, z 4.894016 
[ INFO] [1611185878.995172351, 31.804000000]: WP: reached #1
[ INFO] [1611185879.080662678, 31.888000000]: [WGN] Current position 14.844772 28.124350 9.592279
[ INFO] [1611185879.084354487, 31.892000000]: Input cloud size 3072 
[ INFO] [1611185879.089638383, 31.896000000]: [WGN] Not a land waypoint
[ INFO] [1611185879.089784186, 31.896000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185879.089855761, 31.896000000]: [WGN] Landing Radius: xy  nan, z 4.615294 
[ INFO] [1611185879.101309336, 31.908000000]: WP: reached #1
[ INFO] [1611185879.179666671, 31.988000000]: [WGN] Current position 14.883254 28.202827 9.484014
[ INFO] [1611185879.182728575, 31.988000000]: Input cloud size 3072 
[ INFO] [1611185879.186703541, 31.992000000]: [WGN] Not a land waypoint
[ INFO] [1611185879.186763098, 31.992000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185879.186809627, 31.992000000]: [WGN] Landing Radius: xy  nan, z 4.318976 
[ INFO] [1611185879.203161454, 32.008000000]: WP: reached #1
[ INFO] [1611185879.280919814, 32.088000000]: [WGN] Current position 14.919280 28.276014 9.378366
[ INFO] [1611185879.312114418, 32.120000000]: [WGN] Current position 14.932993 28.303871 9.337501
[ INFO] [1611185879.312167065, 32.120000000]: Input cloud size 3072 
[ INFO] [1611185879.316639747, 32.124000000]: [WGN] Not a land waypoint
[ INFO] [1611185879.316762035, 32.124000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185879.316817880, 32.124000000]: [WGN] Landing Radius: xy  nan, z 4.084487 
[ INFO] [1611185879.480055663, 32.188000000]: [WGN] Current position 14.955378 28.349346 9.271263
[ INFO] [1611185879.489439442, 32.196000000]: Input cloud size 3072 
[ INFO] [1611185879.492321439, 32.200000000]: [WGN] Not a land waypoint
[ INFO] [1611185879.492398111, 32.200000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185879.492459180, 32.200000000]: [WGN] Landing Radius: xy  nan, z 3.872761 
[ INFO] [1611185879.580545404, 32.288000000]: [WGN] Current position 14.983918 28.407303 9.189530
[ INFO] [1611185879.584475229, 32.292000000]: Input cloud size 3072 
[ INFO] [1611185879.586895292, 32.292000000]: [WGN] Not a land waypoint
[ INFO] [1611185879.586961613, 32.292000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185879.587002034, 32.292000000]: [WGN] Landing Radius: xy  nan, z 3.701969 
[ INFO] [1611185879.683257417, 32.388000000]: [WGN] Current position 15.013214 28.465649 9.105978
[ INFO] [1611185879.685448303, 32.388000000]: Input cloud size 3072 
[ INFO] [1611185879.688728459, 32.392000000]: [WGN] Not a land waypoint
[ INFO] [1611185879.689179860, 32.392000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185879.689263246, 32.392000000]: [WGN] Landing Radius: xy  nan, z 3.509528 
[ INFO] [1611185879.784228485, 32.488000000]: [WGN] Current position 15.039882 28.520624 9.018874
[ INFO] [1611185879.784720209, 32.488000000]: Input cloud size 3072 
[ INFO] [1611185879.789148970, 32.492000000]: [WGN] Not a land waypoint
[ INFO] [1611185879.789293460, 32.492000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185879.789347912, 32.492000000]: [WGN] Landing Radius: xy  nan, z 3.303853 
[ INFO] [1611185879.883182718, 32.588000000]: [WGN] Current position 15.066163 28.576267 8.921779
[ INFO] [1611185879.884323931, 32.588000000]: Input cloud size 3072 
[ INFO] [1611185879.887993102, 32.592000000]: [WGN] Not a land waypoint
[ INFO] [1611185879.888164331, 32.592000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185879.888264741, 32.592000000]: [WGN] Landing Radius: xy  nan, z 3.131367 
[ INFO] [1611185879.984813867, 32.688000000]: [WGN] Current position 15.087637 28.620405 8.839110
[ INFO] [1611185879.985160855, 32.688000000]: Input cloud size 3072 
[ INFO] [1611185879.988741910, 32.692000000]: [WGN] Not a land waypoint
[ INFO] [1611185879.988872399, 32.692000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185879.988926838, 32.692000000]: [WGN] Landing Radius: xy  nan, z 2.926024 
[ INFO] [1611185880.083328607, 32.788000000]: [WGN] Current position 15.112025 28.664276 8.753083
[ INFO] [1611185880.085164049, 32.788000000]: Input cloud size 3072 
[ INFO] [1611185880.089489108, 32.792000000]: [WGN] Not a land waypoint
[ INFO] [1611185880.089565004, 32.792000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185880.089603437, 32.792000000]: [WGN] Landing Radius: xy  nan, z 2.828118 
[ INFO] [1611185880.184007078, 32.888000000]: [WGN] Current position 15.134866 28.704958 8.665952
[ INFO] [1611185880.184685678, 32.888000000]: Input cloud size 3072 
[ INFO] [1611185880.188214789, 32.892000000]: [WGN] Not a land waypoint
[ INFO] [1611185880.188319426, 32.892000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185880.188374145, 32.892000000]: [WGN] Landing Radius: xy  nan, z 2.664958 
[ INFO] [1611185880.282915448, 32.988000000]: [WGN] Current position 15.157764 28.741438 8.581462
[ INFO] [1611185880.284811815, 32.988000000]: Input cloud size 3072 
[ INFO] [1611185880.287476396, 32.992000000]: [WGN] Not a land waypoint
[ INFO] [1611185880.287593331, 32.992000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185880.287645993, 32.992000000]: [WGN] Landing Radius: xy  nan, z 2.530238 
[ INFO] [1611185880.382375087, 33.088000000]: [WGN] Current position 15.177689 28.775572 8.494425
[ INFO] [1611185880.392054199, 33.096000000]: Input cloud size 3072 
[ INFO] [1611185880.396453828, 33.100000000]: [WGN] Not a land waypoint
[ INFO] [1611185880.396537855, 33.100000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185880.396594994, 33.100000000]: [WGN] Landing Radius: xy  nan, z 2.369843 
[ INFO] [1611185880.483580759, 33.188000000]: [WGN] Current position 15.194960 28.807461 8.404967
[ INFO] [1611185880.496707616, 33.200000000]: Input cloud size 3072 
[ INFO] [1611185880.500891319, 33.204000000]: [WGN] Not a land waypoint
[ INFO] [1611185880.500971330, 33.204000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185880.501026369, 33.204000000]: [WGN] Landing Radius: xy  nan, z 2.330940 
[ INFO] [1611185880.584268410, 33.288000000]: [WGN] Current position 15.210447 28.836884 8.315586
[ INFO] [1611185880.584612034, 33.288000000]: Input cloud size 3072 
[ INFO] [1611185880.591059342, 33.292000000]: [WGN] Not a land waypoint
[ INFO] [1611185880.591341260, 33.292000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185880.591422688, 33.292000000]: [WGN] Landing Radius: xy  nan, z 2.445742 
[ INFO] [1611185880.684354412, 33.388000000]: [WGN] Current position 15.225713 28.863285 8.228557
[ INFO] [1611185880.694785644, 33.396000000]: Input cloud size 3072 
[ INFO] [1611185880.698317656, 33.400000000]: [WGN] Not a land waypoint
[ INFO] [1611185880.698406006, 33.400000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185880.698458781, 33.400000000]: [WGN] Landing Radius: xy  nan, z 2.509429 
[ INFO] [1611185880.785965119, 33.488000000]: [WGN] Current position 15.238880 28.888113 8.139289
[ INFO] [1611185880.805442672, 33.508000000]: Input cloud size 3072 
[ INFO] [1611185880.811302428, 33.512000000]: [WGN] Not a land waypoint
[ INFO] [1611185880.811386618, 33.512000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185880.811457531, 33.512000000]: [WGN] Landing Radius: xy  nan, z 2.668182 
[ INFO] [1611185880.886515488, 33.588000000]: Input cloud size 3072 
[ INFO] [1611185880.886615350, 33.588000000]: [WGN] Current position 15.250148 28.911465 8.048780
[ INFO] [1611185880.898755113, 33.600000000]: [WGN] Not a land waypoint
[ INFO] [1611185880.898990247, 33.600000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185880.899089889, 33.600000000]: [WGN] Landing Radius: xy  nan, z 2.884185 
[ INFO] [1611185880.986909597, 33.688000000]: [WGN] Current position 15.260403 28.932381 7.959026
[ INFO] [1611185881.012193752, 33.712000000]: Input cloud size 3072 
[ INFO] [1611185881.018663586, 33.720000000]: [WGN] Current position 15.265156 28.939007 7.924798
[ INFO] [1611185881.019703326, 33.720000000]: [WGN] Not a land waypoint
[ INFO] [1611185881.019789481, 33.720000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185881.019854125, 33.720000000]: [WGN] Landing Radius: xy  nan, z 2.923185 
[ INFO] [1611185881.086397784, 33.788000000]: [WGN] Current position 15.272609 28.948153 7.867494
[ INFO] [1611185881.086709242, 33.788000000]: Input cloud size 3072 
[ INFO] [1611185881.092540698, 33.792000000]: [WGN] Not a land waypoint
[ INFO] [1611185881.092610997, 33.792000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185881.092655940, 33.792000000]: [WGN] Landing Radius: xy  nan, z 3.310178 
[ INFO] [1611185881.186023409, 33.888000000]: [WGN] Current position 15.282772 28.940483 7.806769
[ INFO] [1611185881.188980140, 33.888000000]: Input cloud size 3072 
[ INFO] [1611185881.193815829, 33.896000000]: [WGN] Not a land waypoint
[ INFO] [1611185881.193866913, 33.896000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185881.193897003, 33.896000000]: [WGN] Landing Radius: xy  nan, z 3.360783 
[ INFO] [1611185881.285890495, 33.988000000]: [WGN] Current position 15.293102 28.930820 7.745367
[ INFO] [1611185881.290558838, 33.992000000]: Input cloud size 3072 
[ INFO] [1611185881.294580014, 33.996000000]: [WGN] Not a land waypoint
[ INFO] [1611185881.294638506, 33.996000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185881.294677511, 33.996000000]: [WGN] Landing Radius: xy  nan, z 3.317915 
[ INFO] [1611185881.387188233, 34.088000000]: [WGN] Current position 15.308693 28.908638 7.685821
[ INFO] [1611185881.417572189, 34.120000000]: [WGN] Current position 15.319334 28.892082 7.661142
[ INFO] [1611185881.417615145, 34.120000000]: Input cloud size 3072 
[ INFO] [1611185881.420129841, 34.120000000]: [WGN] Not a land waypoint
[ INFO] [1611185881.420216034, 34.120000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185881.420265512, 34.120000000]: [WGN] Landing Radius: xy  nan, z 3.285732 
[ INFO] [1611185881.488141927, 34.188000000]: [WGN] Current position 15.339132 28.859047 7.623055
[ INFO] [1611185881.494486940, 34.192000000]: Input cloud size 3072 
[ INFO] [1611185881.497181256, 34.196000000]: [WGN] Not a land waypoint
[ INFO] [1611185881.497284841, 34.196000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185881.497338270, 34.196000000]: [WGN] Landing Radius: xy  nan, z 3.492194 
[ INFO] [1611185881.586718416, 34.288000000]: [WGN] Current position 15.359303 28.811890 7.585093
[ INFO] [1611185881.591460994, 34.292000000]: Input cloud size 3072 
[ INFO] [1611185881.594208448, 34.296000000]: [WGN] Not a land waypoint
[ INFO] [1611185881.594273883, 34.296000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185881.594320159, 34.296000000]: [WGN] Landing Radius: xy  nan, z 3.524418 
[ INFO] [1611185881.687101984, 34.388000000]: [WGN] Current position 15.364147 28.789656 7.577972
[ INFO] [1611185881.695997797, 34.396000000]: Input cloud size 3072 
[ INFO] [1611185881.699623011, 34.400000000]: [WGN] Not a land waypoint
[ INFO] [1611185881.699733015, 34.400000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185881.699794946, 34.400000000]: [WGN] Landing Radius: xy  nan, z 3.804696 
[ INFO] [1611185881.787309737, 34.488000000]: [WGN] Current position 15.362806 28.780533 7.573133
[ INFO] [1611185881.795614380, 34.496000000]: Input cloud size 3072 
[ INFO] [1611185881.799096493, 34.500000000]: [WGN] Not a land waypoint
[ INFO] [1611185881.799163396, 34.500000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185881.799211306, 34.500000000]: [WGN] Landing Radius: xy  nan, z 3.789637 
[ INFO] [1611185881.886354568, 34.588000000]: [WGN] Current position 15.360530 28.781744 7.570837
[ INFO] [1611185881.899429555, 34.600000000]: Input cloud size 3072 
[ INFO] [1611185881.903066756, 34.604000000]: [WGN] Not a land waypoint
[ INFO] [1611185881.903156719, 34.604000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185881.903224273, 34.604000000]: [WGN] Landing Radius: xy  nan, z 3.573243 
[ INFO] [1611185881.987477174, 34.688000000]: [WGN] Current position 15.359744 28.784529 7.570004
[ INFO] [1611185881.993319451, 34.692000000]: Input cloud size 3072 
[ INFO] [1611185881.999675956, 34.700000000]: [WGN] Not a land waypoint
[ INFO] [1611185881.999740483, 34.700000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185881.999785205, 34.700000000]: [WGN] Landing Radius: xy  nan, z 3.382329 
[ INFO] [1611185882.088290452, 34.788000000]: [WGN] Current position 15.359245 28.785320 7.570537
[ INFO] [1611185882.097758709, 34.796000000]: Input cloud size 3072 
[ INFO] [1611185882.101721339, 34.800000000]: [WGN] Not a land waypoint
[ INFO] [1611185882.101804353, 34.800000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185882.101856036, 34.800000000]: [WGN] Landing Radius: xy  nan, z 3.255682 
[ INFO] [1611185882.188263088, 34.888000000]: [WGN] Current position 15.355356 28.784748 7.567498
[ INFO] [1611185882.200859509, 34.900000000]: Input cloud size 3072 
[ INFO] [1611185882.205288857, 34.900000000]: [WGN] Not a land waypoint
[ INFO] [1611185882.205445476, 34.900000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185882.205486667, 34.900000000]: [WGN] Landing Radius: xy  nan, z 3.083969 
[ INFO] [1611185882.291832353, 34.988000000]: [WGN] Current position 15.346884 28.782806 7.559893
[ INFO] [1611185882.293716865, 34.992000000]: Input cloud size 3072 
[ INFO] [1611185882.296500501, 34.996000000]: [WGN] Not a land waypoint
[ INFO] [1611185882.296551343, 34.996000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185882.296582662, 34.996000000]: [WGN] Landing Radius: xy  nan, z 2.905108 
[ INFO] [1611185882.389630573, 35.088000000]: [WGN] Current position 15.343413 28.782307 7.553780
[ INFO] [1611185882.390553963, 35.088000000]: Input cloud size 3072 
[ INFO] [1611185882.392639611, 35.092000000]: [WGN] Not a land waypoint
[ INFO] [1611185882.392726871, 35.092000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185882.392780743, 35.092000000]: [WGN] Landing Radius: xy  nan, z 2.749439 
[ INFO] [1611185882.488901693, 35.188000000]: Input cloud size 3072 
[ INFO] [1611185882.489052416, 35.188000000]: [WGN] Current position 15.345001 28.781418 7.548135
[ INFO] [1611185882.490957894, 35.188000000]: [WGN] Not a land waypoint
[ INFO] [1611185882.491018812, 35.188000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185882.491049460, 35.188000000]: [WGN] Landing Radius: xy  nan, z 2.811503 
[ INFO] [1611185882.589324886, 35.288000000]: [WGN] Current position 15.346776 28.780848 7.544767
[ INFO] [1611185882.598011249, 35.292000000]: Input cloud size 3072 
[ INFO] [1611185882.606397588, 35.300000000]: [WGN] Not a land waypoint
[ INFO] [1611185882.606679690, 35.300000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185882.606761139, 35.304000000]: [WGN] Landing Radius: xy  nan, z 3.157466 
[ INFO] [1611185882.693206060, 35.388000000]: [WGN] Current position 15.349551 28.779161 7.546906
[ INFO] [1611185882.715366691, 35.408000000]: Input cloud size 3072 
[ INFO] [1611185882.719569536, 35.412000000]: [WGN] Not a land waypoint
[ INFO] [1611185882.719712190, 35.412000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185882.719772670, 35.412000000]: [WGN] Landing Radius: xy  nan, z 3.462858 
[ INFO] [1611185882.796485556, 35.488000000]: [WGN] Current position 15.351422 28.778009 7.546938
[ INFO] [1611185882.810972730, 35.504000000]: Input cloud size 3072 
[ INFO] [1611185882.815367468, 35.508000000]: [WGN] Not a land waypoint
[ INFO] [1611185882.815458521, 35.508000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185882.815517773, 35.508000000]: [WGN] Landing Radius: xy  nan, z 3.815344 
[ INFO] [1611185882.895948283, 35.588000000]: [WGN] Current position 15.352555 28.777248 7.545583
[ INFO] [1611185882.910846471, 35.600000000]: Input cloud size 3072 
[ INFO] [1611185882.921804660, 35.612000000]: [WGN] Not a land waypoint
[ INFO] [1611185882.922314868, 35.612000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185882.922603734, 35.612000000]: [WGN] Landing Radius: xy  nan, z 4.146003 
INFO  [commander] Landing detected
INFO  [navigator] Mission finished, landed.
[ INFO] [1611185882.997049730, 35.688000000]: [WGN] Current position 15.353125 28.776508 7.544014
[ INFO] [1611185882.998915398, 35.688000000]: Input cloud size 3072 
[ INFO] [1611185883.005517550, 35.692000000]: [WGN] Not a land waypoint
[ INFO] [1611185883.005622351, 35.692000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185883.005667999, 35.692000000]: [WGN] Landing Radius: xy  nan, z 3.959192 
[ INFO] [1611185883.100065530, 35.788000000]: [WGN] Current position 15.353419 28.774881 7.544915
[ INFO] [1611185883.100586208, 35.788000000]: Input cloud size 3072 
[ INFO] [1611185883.108198899, 35.792000000]: [WGN] Not a land waypoint
[ INFO] [1611185883.108274503, 35.792000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185883.108325071, 35.792000000]: [WGN] Landing Radius: xy  nan, z 3.767556 
[ INFO] [1611185883.202740702, 35.888000000]: [WGN] Current position 15.353566 28.774153 7.544885
[ INFO] [1611185883.203303809, 35.888000000]: Input cloud size 3072 
[ INFO] [1611185883.211956024, 35.896000000]: [WGN] Not a land waypoint
[ INFO] [1611185883.212306170, 35.896000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185883.212485603, 35.896000000]: [WGN] Landing Radius: xy  nan, z 3.594205 
[ INFO] [1611185883.304557190, 35.988000000]: [WGN] Current position 15.355244 28.775084 7.548841
[ INFO] [1611185883.304753205, 35.988000000]: Input cloud size 3072 
[ INFO] [1611185883.312709785, 35.996000000]: [WGN] Not a land waypoint
[ INFO] [1611185883.312919831, 35.996000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185883.313233101, 35.996000000]: [WGN] Landing Radius: xy  nan, z 3.355744 
[ INFO] [1611185883.403395496, 36.088000000]: [WGN] Current position 15.355840 28.775476 7.549524
[ INFO] [1611185883.434268893, 36.120000000]: [WGN] Current position 15.355841 28.775511 7.549066
[ INFO] [1611185883.434371259, 36.120000000]: Input cloud size 3072 
[ INFO] [1611185883.437685540, 36.120000000]: [WGN] Not a land waypoint
[ INFO] [1611185883.437885808, 36.120000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185883.437972619, 36.120000000]: [WGN] Landing Radius: xy  nan, z 3.110672 
[ INFO] [1611185883.503155574, 36.188000000]: [WGN] Current position 15.355680 28.775513 7.547766
[ INFO] [1611185883.508679868, 36.192000000]: Input cloud size 3072 
[ INFO] [1611185883.510953078, 36.196000000]: [WGN] Not a land waypoint
[ INFO] [1611185883.511028121, 36.196000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185883.511079413, 36.196000000]: [WGN] Landing Radius: xy  nan, z 2.888332 
[ INFO] [1611185883.603021767, 36.288000000]: [WGN] Current position 15.355345 28.775293 7.545734
[ INFO] [1611185883.608623982, 36.292000000]: Input cloud size 3072 
[ INFO] [1611185883.612567318, 36.296000000]: [WGN] Not a land waypoint
[ INFO] [1611185883.612636029, 36.296000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185883.612680574, 36.296000000]: [WGN] Landing Radius: xy  nan, z 2.701859 
[ INFO] [1611185883.704043405, 36.388000000]: [WGN] Current position 15.355998 28.775269 7.545828
[ INFO] [1611185883.706369284, 36.392000000]: Input cloud size 3072 
[ INFO] [1611185883.708865318, 36.392000000]: [WGN] Not a land waypoint
[ INFO] [1611185883.708935389, 36.392000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185883.708990258, 36.392000000]: [WGN] Landing Radius: xy  nan, z 2.561496 
[ INFO] [1611185883.803667233, 36.488000000]: [WGN] Current position 15.356430 28.775356 7.545724
[ INFO] [1611185883.809028794, 36.492000000]: Input cloud size 3072 
[ INFO] [1611185883.813061423, 36.496000000]: [WGN] Not a land waypoint
[ INFO] [1611185883.813167084, 36.496000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185883.813221026, 36.496000000]: [WGN] Landing Radius: xy  nan, z 2.435012 
[ INFO] [1611185883.903465007, 36.588000000]: [WGN] Current position 15.357212 28.776155 7.547742
[ INFO] [1611185883.909430975, 36.592000000]: Input cloud size 3072 
[ INFO] [1611185883.911614035, 36.596000000]: [WGN] Not a land waypoint
[ INFO] [1611185883.911692743, 36.596000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185883.911741390, 36.596000000]: [WGN] Landing Radius: xy  nan, z 2.323400 
[ INFO] [1611185884.003280036, 36.688000000]: [WGN] Current position 15.357493 28.776325 7.547813
[ INFO] [1611185884.014319668, 36.700000000]: Input cloud size 3072 
[ INFO] [1611185884.016622692, 36.700000000]: [WGN] Not a land waypoint
[ INFO] [1611185884.016697280, 36.700000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185884.016748369, 36.700000000]: [WGN] Landing Radius: xy  nan, z 2.271386 
[ INFO] [1611185884.103476260, 36.788000000]: [WGN] Current position 15.357202 28.775736 7.545833
[ INFO] [1611185884.109859176, 36.792000000]: Input cloud size 3072 
[ INFO] [1611185884.118213391, 36.804000000]: [WGN] Not a land waypoint
[ INFO] [1611185884.118305731, 36.804000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185884.118370274, 36.804000000]: [WGN] Landing Radius: xy  nan, z 2.229917 
[ INFO] [1611185884.204234007, 36.888000000]: [WGN] Current position 15.357037 28.775003 7.542868
[ INFO] [1611185884.212978638, 36.896000000]: Input cloud size 3072 
[ INFO] [1611185884.216043309, 36.900000000]: [WGN] Not a land waypoint
[ INFO] [1611185884.216126620, 36.900000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185884.216192818, 36.900000000]: [WGN] Landing Radius: xy  nan, z 2.191486 
[ INFO] [1611185884.302373447, 36.988000000]: [WGN] Current position 15.358229 28.775068 7.540500
[ INFO] [1611185884.334458840, 37.020000000]: Input cloud size 3072 
[ INFO] [1611185884.334493765, 37.020000000]: [WGN] Current position 15.358496 28.774895 7.538883
[ INFO] [1611185884.336417973, 37.020000000]: [WGN] Not a land waypoint
[ INFO] [1611185884.336467375, 37.020000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185884.336496971, 37.020000000]: [WGN] Landing Radius: xy  nan, z 2.155846 
[ INFO] [1611185884.404000632, 37.088000000]: [WGN] Current position 15.358720 28.774343 7.535954
[ INFO] [1611185884.409032981, 37.092000000]: Input cloud size 3072 
[ INFO] [1611185884.411492754, 37.096000000]: [WGN] Not a land waypoint
[ INFO] [1611185884.411550367, 37.096000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185884.411579492, 37.096000000]: [WGN] Landing Radius: xy  nan, z 2.096142 
[ INFO] [1611185884.504780340, 37.188000000]: [WGN] Current position 15.358528 28.773134 7.530738
[ INFO] [1611185884.508878397, 37.192000000]: Input cloud size 3072 
[ INFO] [1611185884.512631406, 37.196000000]: [WGN] Not a land waypoint
[ INFO] [1611185884.512736881, 37.196000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185884.512801823, 37.196000000]: [WGN] Landing Radius: xy  nan, z 2.068373 
[ INFO] [1611185884.603061961, 37.288000000]: [WGN] Current position 15.358221 28.771935 7.525502
[ INFO] [1611185884.613154379, 37.296000000]: Input cloud size 3072 
[ INFO] [1611185884.615451911, 37.300000000]: [WGN] Not a land waypoint
[ INFO] [1611185884.615507926, 37.300000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185884.615541858, 37.300000000]: [WGN] Landing Radius: xy  nan, z 2.051702 
[ INFO] [1611185884.704411318, 37.388000000]: [WGN] Current position 15.358804 28.772171 7.523484
[ INFO] [1611185884.710091624, 37.392000000]: Input cloud size 3072 
[ INFO] [1611185884.716157704, 37.400000000]: [WGN] Not a land waypoint
[ INFO] [1611185884.716228634, 37.400000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185884.716284798, 37.400000000]: [WGN] Landing Radius: xy  nan, z 2.040013 
[ INFO] [1611185884.803897347, 37.488000000]: [WGN] Current position 15.358784 28.771502 7.519433
[ INFO] [1611185884.804360353, 37.488000000]: Input cloud size 3072 
[ INFO] [1611185884.806939062, 37.488000000]: [WGN] Not a land waypoint
[ INFO] [1611185884.807011334, 37.488000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185884.807069870, 37.488000000]: [WGN] Landing Radius: xy  nan, z 2.025275 
[ INFO] [1611185884.906129159, 37.588000000]: [WGN] Current position 15.358309 28.770283 7.514070
[ INFO] [1611185884.911460836, 37.592000000]: Input cloud size 3072 
[ INFO] [1611185884.915331989, 37.596000000]: [WGN] Not a land waypoint
[ INFO] [1611185884.915405251, 37.596000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185884.915450466, 37.596000000]: [WGN] Landing Radius: xy  nan, z 2.005597 
INFO  [commander] Disarmed by landing
INFO  [tone_alarm] notify neutral
[ INFO] [1611185885.006503151, 37.688000000]: [WGN] Current position 15.357970 28.769161 7.509120
[ INFO] [1611185885.014778546, 37.696000000]: Input cloud size 3072 
[ INFO] [1611185885.016964427, 37.700000000]: [WGN] Not a land waypoint
[ INFO] [1611185885.017042427, 37.700000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185885.017113901, 37.700000000]: [WGN] Landing Radius: xy  nan, z 1.988020 
[ INFO] [1611185885.108830382, 37.788000000]: [WGN] Current position 15.359433 28.769838 7.508461
[ INFO] [1611185885.111661620, 37.792000000]: Input cloud size 3072 
[ INFO] [1611185885.115103780, 37.796000000]: [WGN] Not a land waypoint
[ INFO] [1611185885.115196666, 37.796000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185885.115256756, 37.796000000]: [WGN] Landing Radius: xy  nan, z 1.976568 
[ INFO] [1611185885.207949824, 37.888000000]: Input cloud size 3072 
[ INFO] [1611185885.209515153, 37.888000000]: [WGN] Current position 15.360808 28.770210 7.506812
[ INFO] [1611185885.214659814, 37.896000000]: [WGN] Not a land waypoint
[ INFO] [1611185885.214822694, 37.896000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185885.214888015, 37.896000000]: [WGN] Landing Radius: xy  nan, z 1.965429 
[ INFO] [1611185885.308122213, 37.988000000]: [WGN] Current position 15.363778 28.771929 7.508333
[ INFO] [1611185885.311189529, 37.992000000]: Input cloud size 3072 
[ INFO] [1611185885.314869992, 37.996000000]: [WGN] Not a land waypoint
[ INFO] [1611185885.314977528, 37.996000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185885.315030047, 37.996000000]: [WGN] Landing Radius: xy  nan, z 1.958586 
[ INFO] [1611185885.406120735, 38.088000000]: [WGN] Current position 15.366016 28.772533 7.506312
[ INFO] [1611185885.438413650, 38.120000000]: [WGN] Current position 15.366723 28.772533 7.504777
[ INFO] [1611185885.438505868, 38.120000000]: Input cloud size 3072 
[ INFO] [1611185885.443659722, 38.124000000]: [WGN] Not a land waypoint
[ INFO] [1611185885.443755211, 38.124000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185885.443809388, 38.124000000]: [WGN] Landing Radius: xy  nan, z 1.947419 
[ INFO] [1611185885.507192850, 38.188000000]: [WGN] Current position 15.367608 28.772322 7.501867
[ INFO] [1611185885.514343081, 38.196000000]: Input cloud size 3072 
[ INFO] [1611185885.516866903, 38.196000000]: [WGN] Not a land waypoint
[ INFO] [1611185885.516931029, 38.196000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185885.516989858, 38.196000000]: [WGN] Landing Radius: xy  nan, z 1.937792 
[ INFO] [1611185885.607950900, 38.288000000]: [WGN] Current position 15.369160 28.772167 7.497350
[ INFO] [1611185885.618791983, 38.300000000]: Input cloud size 3072 
[ INFO] [1611185885.624230655, 38.304000000]: [WGN] Not a land waypoint
[ INFO] [1611185885.624318232, 38.304000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185885.624375204, 38.304000000]: [WGN] Landing Radius: xy  nan, z 1.927425 
[ INFO] [1611185885.707967574, 38.388000000]: [WGN] Current position 15.370810 28.772917 7.495962
[ INFO] [1611185885.711807917, 38.392000000]: Input cloud size 3072 
[ INFO] [1611185885.715164648, 38.396000000]: [WGN] Not a land waypoint
[ INFO] [1611185885.715244847, 38.396000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185885.715289914, 38.396000000]: [WGN] Landing Radius: xy  nan, z 1.921292 
[ INFO] [1611185885.808836168, 38.488000000]: [WGN] Current position 15.372108 28.772985 7.492333
[ INFO] [1611185885.814409152, 38.492000000]: Input cloud size 3072 
[ INFO] [1611185885.819594923, 38.500000000]: [WGN] Not a land waypoint
[ INFO] [1611185885.909528933, 38.588000000]: [WGN] Current position 15.372941 28.772306 7.487212
[ INFO] [1611185885.910161207, 38.588000000]: Input cloud size 3072 
[ INFO] [1611185885.916126866, 38.596000000]: [WGN] Not a land waypoint
[ INFO] [1611185885.916242781, 38.596000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185885.916303259, 38.596000000]: [WGN] Landing Radius: xy  nan, z 1.905005 
INFO  [logger] closed logfile, bytes written: 2268073
[ INFO] [1611185886.010471036, 38.688000000]: [WGN] Current position 15.373319 28.771637 7.481340
[ INFO] [1611185886.013137090, 38.692000000]: Input cloud size 3072 
[ INFO] [1611185886.016131027, 38.692000000]: [WGN] Not a land waypoint
[ INFO] [1611185886.016219255, 38.692000000]:  [WGN] goTo nan nan nan - nan nan nan 

[ INFO] [1611185886.016257035, 38.692000000]: [WGN] Landing Radius: xy  nan, z 1.896451 
[ INFO] [1611185886.112510828, 38.788000000]: [WGN] Current position 15.373356 28.772615 7.477322
[ INFO] [1611185886.115526912, 38.792000000]: Input cloud size 3072 
[ INFO] [1611185886.120828882, 38.796000000]: [WGN] Not a land waypoint
[ INFO] [1611185886.120936844, 38.796000000]:  [WGN] goTo nan nan nan - nan nan nan
AnujAgrawal7 commented 3 years ago

Hey @pirate-lofy were you able to figure out the problem? I am also facing a similar issue.

pirate-lofy commented 3 years ago

No, i could not

AnujAgrawal7 commented 3 years ago

I figured it out. Unlike the Local and Global Planner the value of COM_OBS_AVOID parameter is not set to 1 by default. Hope this helps!